Teleoperated master hand and surgical robot

Abstract

The utility model provides a kind of teleoperation master hand and surgical robot, wherein teleoperation master hand includes: translation joint, for doing translation movement;Far end roll joint is connected with translation joint, and far end roll joint is used to do roll movement;Middle end roll joint is connected with far end roll joint, and middle end roll joint is used to do roll movement;Near end pitch joint is connected with middle end roll joint, and near end pitch joint is used to do pitch movement;Near end yaw joint is connected with near end pitch joint, and near end yaw joint is used to do yaw movement;Near end roll joint is with near end yaw joint, and near end roll joint is used to do roll movement.Through using above-mentioned technical scheme, high degree of freedom movement of teleoperation master hand, accurate attitude adjustment and enhanced operation flexibility are realized.

Description

Technical Field

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

[0002] In the field of minimally invasive surgery, the application of surgical robots is becoming increasingly widespread with the development of precision medicine. The teleoperated master hand, as the core human-machine interface component of the surgical robot system, functions to convert the surgeon's hand movements into electrical signals, which are then transmitted to the slave surgical instruments via a master-slave control link, thereby achieving remote and precise control of the surgical procedure. The technological development of these devices has always revolved around the specific needs of medical scenarios, including the pursuit of extreme operational precision, strict assurance of patient and medical staff safety, and optimized design for surgeon comfort during prolonged surgeries.

[0003] Currently, the design of the master hand for surgical robot teleoperation generally adopts a master-slave teleoperation structure. The core logic of this structure is to map the movement of the master hand to the slave execution tool through mechanical transmission or electrical signal transmission. Its advantages are: reduced infection risk: doctors do not need to directly contact the surgical area, reducing the transmission route of germs; reduced human error: through mechanical precision compensation or algorithm optimization, the impact of physiological factors such as hand tremors on the operation is reduced; and improved surgical immersion: some systems use force feedback technology to allow doctors to perceive changes in resistance at the slave end, enhancing the sense of immersion in the operation.

[0004] However, existing technologies still have the following shortcomings in practical applications:

[0005] Limitations in joint motion accuracy and posture acquisition: Traditional master hand joint structures often use single bearings or simple hinges, making it difficult to achieve multi-dimensional, high-precision posture capture. For example, when simulating complex movements such as finger rolling, pitching, and lateral swaying, existing devices lack sufficient angle acquisition accuracy, leading to distortion of the slave instrument's movements and affecting the precision of surgical procedures. Utility Model Content

[0006] The purpose of this invention is to provide a remote operating master hand and a surgical robot to solve the technical problem of insufficient joint movement precision in the remote operating master hand of surgical robots in the prior art.

[0007] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0008] Firstly, a remote-operated master hand is provided, including:

[0009] Translational joints are used for 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 intermediate tumbling joint is connected to the distal tumbling joint, and the intermediate tumbling joint is used to perform tumbling motion;

[0012] The proximal pitch joint is connected to the mid-tumble joint, and the proximal pitch joint is used to perform pitch motion;

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

[0014] The proximal tumbling joint and the proximal lateral joint are used for tumbling motion.

[0015] By adopting the above technical solutions, high degrees of freedom of movement, precise posture adjustment, and enhanced operational flexibility of the remote control master hand are achieved.

[0016] In one embodiment, the translational joint includes a slide rail, a slider slidably mounted on the slide rail, a sensing element mounted on the slider, and a sensing receiver mounted on the slide rail. The slide rail is used to be mounted on the bottom of the surgical robot and defines a translational direction. The slider is slidable along the translational direction on the slide rail and is connected to the distal tumbling joint. The sensing receiver is used to collect the translational distance of the sensing element.

[0017] In one embodiment, the distal tumbling joint includes a first adapter, a first bearing disposed on the first adapter, and a first sensor disposed on the first bearing; the first adapter is disposed on the slider, the first bearing defines a first tumbling axis parallel to the translation direction, the intermediate tumbling joint is connected to the first bearing and is capable of rotating around the first tumbling axis, and the first sensor is used to collect the tumbling angle of the first bearing.

[0018] In one embodiment, the mid-end roll joint includes a second adapter, a second bearing disposed on the second adapter, and a second sensor disposed on the second bearing; the second adapter is connected to the first bearing, the second bearing defines a second roll axis, the proximal pitch joint is connected to the second bearing and is capable of rotating around the second roll axis, and the second sensor is used to collect the roll angle of the second bearing.

[0019] In one embodiment, the second adapter includes a first adapter portion and a second adapter portion connected to the first adapter portion. The first adapter portion is connected to the first bearing and has a first rotating shaft. The second adapter portion is connected to the first rotating shaft and is rotatable around the first rotating shaft. The second adapter portion is connected to the second bearing.

[0020] In one embodiment, the second adapter further includes a third adapter connected to the second adapter portion, the third adapter portion being perpendicular to the second adapter portion, the second adapter portion having a second rotating shaft parallel to the first rotating shaft, the third adapter portion being connected to the second rotating shaft and capable of rotating around the second rotating shaft, and the second adapter portion connecting the third adapter portion and the second bearing.

[0021] In one embodiment, the proximal pitch joint includes a third adapter, a third bearing disposed on the third adapter, and a third sensor disposed on the third bearing; the third adapter is connected to the second bearing, the third bearing defines a first pitch axis perpendicular to the second roll axis, the proximal yaw joint is connected to the third bearing and is rotatable about the first pitch axis; the third sensor is used to acquire the pitch angle of the third bearing.

[0022] In one embodiment, the proximal yaw joint includes a fourth adapter, a fourth bearing disposed on the fourth adapter, and a fourth sensor disposed on the fourth bearing; the fourth adapter is connected to the third bearing, the fourth bearing defines a first yaw axis perpendicular to the first pitch axis, the proximal roll joint is connected to the fourth bearing and is capable of rotating about the first yaw axis, and the fourth sensor is used to collect the yaw angle of the fourth bearing.

[0023] In one embodiment, the proximal roll joint includes a fifth adapter, a fifth bearing disposed on the fifth adapter, and a fifth sensor disposed on the fifth bearing; the fifth adapter is connected to the fourth bearing, the fifth bearing defines a third roll axis perpendicular to the first pitch axis, and the fourth sensor is used to collect the roll angle of the fifth bearing.

[0024] Secondly, a surgical robot is provided, including a mobile mechanism and the aforementioned teleoperation master hand, wherein the mobile mechanism is connected to the teleoperation master hand.

[0025] By adopting the above technical solution, the surgical robot of this embodiment, in addition to having the advantages of the remote operation master hand of the above embodiment, also has the advantage of high joint motion precision. Attached Figure Description

[0026] 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.

[0027] Figure 1 This is a three-dimensional structural diagram of the teleoperation master hand provided in an embodiment of this utility model.

[0028] Figure 2 This is a three-dimensional structural diagram of the teleoperation master hand provided in another embodiment of this utility model.

[0029] Figure 3 This is an exploded view of the remote operation master hand provided in this embodiment of the utility model.

[0030] The labels for the attached figures are as follows:

[0031] 10. Surgical robot; 20. Teleoperation master hand; 21. Translation joint; 211. Slide rail; 212. Slider; 213. Sensing element; 214. Sensor receiver; 22. Distal tumbling joint; 221. First adapter; 222. First bearing; 223. First sensor; 23. Mid-tumbling joint; 231. Second adapter; 2311. First adapter part; 23111. First pivot; 2312. Second adapter part; 231 21. Second pivot; 232. Second bearing; 233. Second sensor; 231. Third adapter; 24. Proximal pitch joint; 241. Third adapter; 242. Third bearing; 243. Third sensor; 25. Proximal yaw joint; 251. Fourth adapter; 252. Fourth bearing; 253. Fourth sensor; 26. Proximal roll joint; 261. Fifth adapter; 262. Fifth bearing; 263. Fifth sensor. Detailed Implementation

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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:

[0036] like Figures 1 to 3 As shown, an embodiment of this utility model provides a remote operation master hand 20, comprising:

[0037] Translational joint 21 is used for translational movements;

[0038] The distal tumbling joint 22 is connected to the translational joint 21, and the distal tumbling joint 22 is used to perform tumbling motion.

[0039] The intermediate tumbling joint 23 is connected to the distal tumbling joint 22, and the intermediate tumbling joint 23 is used to perform tumbling motion.

[0040] The proximal pitch joint 24 is connected to the mid-tumble joint 23, and the proximal pitch joint 24 is used to perform pitching motion.

[0041] The proximal yaw joint 25 is connected to the proximal pitch joint 24, and the proximal yaw joint 25 is used to perform yaw motion;

[0042] The proximal tumbling joint 26 and the proximal lateral joint 25 are used for tumbling motion.

[0043] Specifically, the translational joint 21, as the starting part of the entire teleoperation master hand 20, is responsible for realizing translational motion. Through specific mechanical structure design, it can move linearly in a specific direction (such as the horizontal direction, depending on the actual application scenario and design requirements), providing a basic position adjustment for the subsequent joint movements.

[0044] The distal tumbling joint 22 is connected to the translational joint 21, and its structural design is centered around achieving tumbling motion. It typically includes a rotation axis and related support and connecting components, enabling the joint to perform tumbling motions within a 360-degree range around its own rotation axis, thereby changing the attitude angle of the teleoperator 20 in space.

[0045] The intermediate tumble joint 23 connects to the distal tumble joint 22 and is also used to perform tumble movements. It works in conjunction with the distal tumble joint 22 to further enrich the combinations of tumble movements that the primary hand can perform in space, enhancing the flexibility and precision of the primary hand in adjusting its posture. The presence of these two tumble joints allows the primary hand to more accurately simulate the posture adjustment movements of a human hand on an object when faced with complex operational tasks.

[0046] The proximal pitch joint 24 is connected to the mid-end tumble joint 23, focusing on achieving pitch motion. This allows the teleoperated master hand 20 to rotate up and down, just like a human arm raising and lowering itself, providing the operator with the ability to change the direction of the master hand in the vertical plane.

[0047] The proximal yaw joint 25 is connected to the proximal pitch joint 24 and is responsible for completing the yaw motion. Through a specific mechanical structure, it allows the teleoperated master hand 20 to swing left and right around the vertical axis, further expanding the degree of freedom of movement of the teleoperated master hand 20 in space, enabling the operator to control the direction of the teleoperated master hand 20 more flexibly.

[0048] The proximal tumbling joint 26, as the last joint of the master hand structure, once again assumes the function of tumbling motion. It works in conjunction with the proximal yaw joint 25 to further enhance the teleoperation master hand 20's ability to adjust its posture, enabling the teleoperation master hand 20 to achieve more complex and diverse posture changes in three-dimensional space to adapt to different operational tasks and environmental requirements.

[0049] In actual operation, the operator operates the remote control master hand 20 to drive the joints to move in sequence.

[0050] The various joints work together, and according to the operator's intentions, the combination of different joint movements enables the teleoperator 20 to achieve various complex position and posture adjustments in three-dimensional space. For example, when it is necessary to operate on an object located diagonally above and at a specific angle, the operator can simultaneously operate the translation joint 21 to adjust the horizontal position of the teleoperator 20, then adjust the angle of the teleoperator 20 in the vertical plane through the proximal pitch joint 24, then adjust the posture angle of the teleoperator 20 in space using the distal roll joint 22 and the mid-roll joint 23, and finally fine-tune the horizontal direction of the teleoperator 20 through the proximal yaw joint 25, so that the teleoperator 20 can accurately reach the target position and operate in a suitable posture.

[0051] By adopting the above technical solution:

[0052] High degree of freedom of movement: Through the combination of these six different types of joints, the teleoperating master hand 20 can achieve multiple degrees of freedom of movement in three-dimensional space, including translational and rotational degrees of freedom (achieved through different rotational combinations of the distal tumble joint 22, mid-tumble joint 23, proximal tumble joint 26, proximal pitch joint 24, and proximal yaw joint 25). This high degree of freedom of movement allows the master hand to simulate almost all movements of the human arm in space, greatly improving its adaptability to complex operational tasks.

[0053] Precise posture adjustment: The coordinated work of multiple roll joints and pitch / yaw joints provides operators with extremely precise posture adjustment capabilities. In scenarios requiring extremely high operational precision, such as minimally invasive surgery, surgeons control surgical instruments via the remote control hand 20. The various joints of the hand can precisely respond to the surgeon's commands, achieving minute-angle posture adjustments to ensure that surgical instruments accurately reach the lesion site for delicate manipulation, avoiding damage to surrounding healthy tissues. Compared to traditional operating methods, this precise posture adjustment capability significantly improves the success rate and safety of surgery.

[0054] Enhanced operational flexibility: The structural design and working principle of this main arm give it extremely high flexibility during operation. Operators can freely combine the movements of each joint to achieve diverse operational actions according to different operational tasks and environmental requirements.

[0055] In one embodiment, the translation joint 21 includes a slide rail 211, a slider 212 slidably mounted on the slide rail 211, a sensing element 213 mounted on the slider 212, and a sensing receiver 214 mounted on the slide rail 211. The slide rail 211 is used to be mounted on the bottom of the surgical robot 10 and defines a translation direction X. The slider 212 can slide along the translation direction X on the slide rail 211 and is connected to the distal tumbling joint 22. The sensing receiver 214 is used to collect the translation distance of the sensing element 213.

[0056] Specifically, the slide rail base 211, as the basic support component of the translation joint 21, primarily provides the mounting base and motion guide for the entire translation joint 21. The slide rail base 211 is installed at the bottom of the surgical robot 10, defining the translation direction X, thus specifying the trajectory and range of the slider 212. The slide rail base 211 is typically manufactured using high-strength, high-precision materials to ensure structural stability and motion accuracy. It contains a specially shaped track (such as a linear guide rail) to provide precise guidance for the slider 212's sliding, enabling the slider 212 to move smoothly and accurately along the preset translation direction X.

[0057] The slider 212 is a key component for realizing translational motion. It is slidably mounted on the slide rail 211 and can slide along the preset translational direction X on the slide rail 211. The slider 212 is connected to the distal tumble joint 22. When the slider 212 moves on the slide rail 211, it will cause the distal tumble joint 22 connected to it and other parts of the entire teleoperated master hand 20 to produce corresponding positional changes.

[0058] The sensing element 213 is mounted on the slider 212 and moves with the slider 212. The function of the sensing element 213 is to provide position information to the sensing receiver 214, and it is usually a sensor with high precision and high sensitivity (such as an encoder).

[0059] The sensor receiver 214 is mounted on the slide rail base 211, and its main function is to collect the translational distance of the sensing element 213. The sensor receiver 214 can be an encoder receiver, capable of receiving the position signals output by the sensing element 213 and converting these signals into actual translational distance data of the slider 212 relative to the slide rail base 211 through specific signal processing circuits and algorithms. This data can be fed back to the control system in real time, enabling the operator to accurately understand the motion state of the translation joint 21, and also providing a basis for subsequent precise control of the remote control master arm 20.

[0060] As slider 212 slides, sensing element 213 mounted on slider 212 moves along with it. Sensing element 213 detects its own position changes in real time and outputs the position information as a specific signal. Sensor receiver 214 continuously receives the signals output by sensing element 213, amplifies, filters, and decodes these signals through internal signal processing circuitry, and then uses a corresponding algorithm to calculate the actual translational distance of slider 212 relative to slide rail 211. The calculated translational distance data is transmitted to the control system of surgical robot 10. The control system can display this data in real time on the operating interface, allowing the operator to intuitively understand the movement status of translational joint 21. Simultaneously, the control system will adjust and optimize subsequent operations based on this data to ensure that the remote control hand 20 can move precisely according to the operator's intentions. For example, if the operator wants to move surgical robot 10 to a specific position, the control system can determine the difference between the current position and the target position based on the translational distance data fed back by sensor receiver 214, and then adjust the magnitude and direction of the driving force of the drive device to make slider 212 continue to slide until the target position is reached.

[0061] By adopting the above technical solution:

[0062] Precise translation control: Through the high-precision fit between the slide rail 211 and the slider 212, and the position feedback system composed of the sensing element 213 and the sensor receiver 214, the translation joint 21 can achieve precise translational motion control. Precise translation control is crucial in the application scenarios of the surgical robot 10. For example, in minimally invasive surgery, the surgeon needs to accurately move the surgical instruments to the lesion site. The translation joint 21 can control the positional error of the surgical robot 10 within an extremely small range (such as sub-millimeter level), ensuring that the surgical instruments can accurately reach the target position, improving the accuracy and success rate of the surgery, and reducing damage to the patient's healthy tissues.

[0063] Real-time position feedback: The sensor element 213 and the sensor receiver 214 enable the translation joint 21 to collect and provide feedback on the translation distance information of the slider 212 in real time. This real-time position feedback function allows the operator to understand the movement status of the teleoperated master hand 20 in a timely manner, facilitating adjustments to the operation based on the actual situation. During complex surgical procedures, the surgeon can adjust the position of the surgical robot 10 at any time based on the position information fed back by the translation joint 21 to adapt to minor changes in the patient's body or the needs of the surgical procedure, thereby improving the safety and controllability of the surgery.

[0064] In one embodiment, the distal tumbling joint 22 includes a first adapter 221, a first bearing 222 disposed on the first adapter 221, and a first sensor 223 disposed on the first bearing 222; the first adapter 221 is disposed on the slider 212, the first bearing 222 defines a first tumbling axis R1 parallel to the translation direction X, the intermediate tumbling joint 23 is connected to the first bearing 222 and can rotate around the first tumbling axis R1, and the first sensor 223 is used to collect the tumbling angle of the first bearing 222.

[0065] Specifically, the first adapter 221 is the basic component connecting the distal rolling joint 22 to other components, and it is mounted on the slider 212. On one hand, it is firmly connected to the slider 212, connecting the structure of the distal rolling joint 22 with the slider 212 of the translation joint 21, allowing the distal rolling joint 22 to move with the translation of the slider 212; on the other hand, it provides a mounting base for the first bearing 222, ensuring that the first bearing 222 can be stably installed and function normally on it. The first adapter 221 is typically made of a high-strength, high-rigidity material to ensure that its structure does not deform when subjected to the movement of subsequent components and external forces, thereby maintaining the stability and reliability of the entire distal rolling joint 22.

[0066] The first bearing 222 is a key component for realizing the tumbling motion of the distal tumbling joint 22, and it is mounted on the first adapter 221. The first bearing 222 defines a first tumbling axis R1 parallel to the translational direction X, which provides the axis and rotational trajectory for the rotation of the intermediate tumbling joint 23. The intermediate tumbling joint 23 is connected to the first bearing 222, and when subjected to external force, it can rotate around the first tumbling axis R1, thereby realizing the tumbling motion.

[0067] The first sensor 223 is mounted on the first bearing 222, and its main function is to collect the roll angle of the first bearing 222. The first sensor 223 is typically a high-precision angle sensor, such as a Hall angle sensor or a photoelectric encoder. These sensors can detect changes in the rotation angle of the first bearing 222 in real time and output the angle information in the form of an electrical signal or other specific signal. The collected roll angle data can be fed back to the control system, allowing the operator to understand the attitude changes of the remote roll joint 22 in real time, and also providing data support for the subsequent precise control of the remote control master 20.

[0068] Angle feedback process: While the first bearing 222 rotates, the first sensor 223 installed on the first bearing 222 will detect the change in the roll angle of the first bearing 222 in real time. The first sensor 223 converts the detected angle information into a specific signal (such as an electrical signal, pulse signal, etc.) and outputs it. The sensor receiver 214 continuously receives the signal output by the first sensor 223, and performs amplification, filtering, decoding and other processing on these signals through the internal signal processing circuit. Then, the actual roll angle of the first bearing 222 relative to the initial position is calculated using the corresponding algorithm.

[0069] By adopting the above technical solution, the first sensor 223 enables the distal tumbling joint 22 to collect and provide real-time feedback on the tumbling angle information of the first bearing 222. This real-time angle feedback function allows the operator to promptly understand the posture changes of the remote control hand 20, facilitating adjustments to the operation based on the actual situation. During complex surgical procedures, the surgeon can adjust the posture of the surgical instruments at any time based on the angle information fed back by the distal tumbling joint 22 to adapt to subtle changes in the patient's body or the needs of the surgical procedure, thereby improving the safety and controllability of the surgery.

[0070] In one embodiment, the mid-end roll joint 23 includes a second adapter 231, a second bearing 232 disposed on the second adapter 231, and a second sensor 233 disposed on the second bearing 232; the second adapter 231 is connected to the first bearing 222, the second bearing 232 defines a second roll axis R2, the proximal pitch joint 24 is connected to the second bearing 232 and is capable of rotating around the second roll axis R2, and the second sensor 233 is used to collect the roll angle of the second bearing 232.

[0071] Specifically, the second adapter 231 is a key component for the connection function of the intermediate rolling joint 23, and it is connected to the first bearing 222. On the one hand, it receives the motion and force from the distal rolling joint 22, transmitting the motion of the first bearing 222 to the intermediate rolling joint 23; on the other hand, it provides a stable mounting base for the second bearing 232, ensuring its stable operation. The second adapter 231 is typically made of high-strength, high-rigidity materials, such as aluminum alloy or high-strength alloy steel, and manufactured using precision machining processes to ensure its structural stability under complex motion and stress conditions, maintaining the reliable operation of the entire intermediate rolling joint 23.

[0072] The second bearing 232 is the core component for the mid-end roll joint 23 to achieve roll motion, and it is mounted on the second adapter 231. It defines the second roll axis R2, which provides the axis and trajectory for the rotation of the proximal pitch joint 24. The proximal pitch joint 24 is connected to the second bearing 232 and can rotate around the second roll axis R2 under the action of external driving force, thereby realizing the roll motion.

[0073] The second sensor 233 is mounted on the second bearing 232, and its main function is to acquire the roll angle of the second bearing 232 in real time. High-precision Hall angle sensors or photoelectric encoders are typically used. These sensors can sensitively capture changes in the angle of the second bearing 232 and convert the angle information into electrical signals or other specific signals for output. The acquired roll angle data is transmitted to the control system, providing real-time feedback to the operator on the attitude information of the mid-end roll joint 23, and also providing data support for the precise control of the remote control arm 20.

[0074] In actual operation, the components of the mid-section tumbling joint 23 work together to achieve tumbling motion and angle feedback:

[0075] During the rotation of the second bearing 232, the second sensor 233 monitors the change in its roll angle in real time and converts the detected angle information into a specific signal output. The sensor receiving device in the control system receives these signals, and after amplification, filtering, decoding, and other processing by the signal processing circuit, it calculates the actual roll angle of the second bearing 232 relative to its initial position using a corresponding algorithm. The calculated angle data is transmitted to the control system, which displays it in real time on the operating interface, allowing the operator to intuitively understand the movement status of the mid-end roll joint 23. On the other hand, the control system adjusts and optimizes subsequent operations based on this data to ensure that the remote control master hand 20 moves accurately according to the operator's intention. For example, if the operator sets the proximal pitch joint 24 to roll to a specific angle, the control system will determine the difference between the current angle and the target angle based on the data fed back by the second sensor 233, and then adjust the drive device so that the proximal pitch joint 24 accurately reaches the target angle.

[0076] By adopting the above technical solution, the second sensor 233 realizes the real-time acquisition and feedback of the rolling angle of the mid-end rolling joint 23. The operator can grasp the joint movement status in a timely manner based on the feedback information. During the operation, the operator can quickly adjust the posture of the surgical instruments according to the subtle changes in the patient's body or the needs of the operation, thereby improving the safety and controllability of the operation.

[0077] In one embodiment, the second adapter 231 includes a first adapter portion 2311 and a second adapter portion 2312 connected to the first adapter portion 2311. The first adapter portion 2311 is connected to the first bearing 222. The first adapter portion 2311 is provided with a first rotating shaft 23111. The second adapter portion 2312 is connected to the first rotating shaft 23111 and can rotate around the first rotating shaft 23111. The second adapter portion 2312 is connected to the second bearing 232.

[0078] Specifically, the first adapter 2311 is the key part connecting the second adapter 231 and the distal rolling joint 22, and it is connected to the first bearing 222. As a connecting hub, the first adapter 2311 needs to have sufficient strength and stability to withstand the force and motion transmission from the first bearing 222. Its material is typically a high-strength alloy, formed by precision casting or machining. The first adapter 2311 is equipped with a first rotating shaft 23111, which is the core component for realizing the rotation of the second adapter 2312. Its machining accuracy and material properties directly affect the flexibility and stability of the rotation of the second adapter 2312. The first rotating shaft 23111 is generally made of a high-hardness, low-friction material, such as stainless steel or a special alloy, and undergoes fine grinding and polishing to ensure that the second adapter 2312 can rotate smoothly around it.

[0079] The second adapter 2312 connects to the first pivot 23111 of the first adapter 2311 and is capable of rotating around the first pivot 23111. On one hand, by rotating around the first pivot 23111, it adjusts its own posture, further transmitting motion to the subsequent second bearing 232; on the other hand, it connects to the second bearing 232, providing a mounting base for the second bearing 232. The design of the second adapter 2312 needs to balance strength and flexibility, ensuring it can withstand the forces generated by the second bearing 232 and subsequent joint movements while ensuring smooth rotation around the first pivot 23111. Its structural shape and dimensions are optimized based on actual mechanical analysis and motion requirements to achieve the best motion transmission effect.

[0080] When the first bearing 222 of the distal roll joint 22 rotates, it drives the connected first adapter 2311 to move. Since the first adapter 2311 is securely connected to the first bearing 222, the rotation angle and direction of the first bearing 222 are accurately transmitted to the first adapter 2311. After receiving the motion, the first adapter 2311 transmits the motion to the second adapter 2312 via the first shaft 23111. The second adapter 2312 can rotate around the first shaft 23111. Driven by the first adapter 2311, the second adapter 2312 rotates accordingly around the first shaft 23111 based on the movement of the first bearing 222. This rotation is further transmitted to the second bearing 232 connected to the second adapter 2312, thus gradually transmitting the motion of the distal roll joint 22 to the second bearing 232 of the intermediate roll joint 23, laying the foundation for the rotation of the proximal pitch joint 24 around the second roll shaft R2. This layered motion transmission method can effectively reduce the accumulation of errors during the motion process and improve the accuracy of the entire mid-tumble joint 23 motion.

[0081] By adopting the above technical solution, the split design of the second adapter 231 enhances the movement flexibility of the mid-end tumbling joint 23. Compared with the traditional one-piece adapter, this design allows the mid-end tumbling joint 23 to achieve more diverse posture adjustments in space.

[0082] In one embodiment, the second adapter 231 further includes a third adapter 23113 connected to the second adapter 2312. The third adapter 23113 is perpendicular to the second adapter 2312. The second adapter 2312 is provided with a second rotating shaft 23121 parallel to the first rotating shaft 23111. The third adapter 23113 is connected to the second rotating shaft 23121 and can rotate around the second rotating shaft 23121. The second adapter 2312 connects the third adapter 23113 and the second bearing 232.

[0083] Specifically, the third adapter 23113 is perpendicular to the second adapter 2312, connected to the second pivot 23121 of the second adapter 2312, and can rotate around the second pivot 23121. It is a key new component in this design. It further enriches the motion dimensions of the second adapter 231, providing more posture adjustment possibilities for the mid-end tumbling joint 23. The material selection and structural design of the third adapter 23113 also need to consider strength and motion flexibility to adapt to the complex operational requirements in application scenarios such as the surgical robot 10.

[0084] When the remote control master hand 20 is in operation, the three parts of the second adapter 231 work together to achieve complex motion transmission and attitude adjustment:

[0085] When the attitude of the mid-end tumble joint 23 needs to be adjusted, for the second transition section 2312, the driving torque causes it to rotate around the first rotation axis 23111, changing its attitude; for the third transition section 23113, the driving torque causes it to rotate around the second rotation axis 23121. By controlling the rotation angle, speed, and direction of the second transition section 2312 and the third transition section 23113 separately or in combination, the attitude adjustment of the mid-end tumble joint 23 in multiple dimensions can be achieved.

[0086] By adopting the above technical solution: the addition of the third transition part 23113 enables the mid-end tumbling joint 23 to achieve more dimensional posture adjustments in space, and the mobility is greatly improved.

[0087] In one embodiment, the proximal pitch joint 24 includes a third adapter 241, a third bearing 242 disposed on the third adapter 241, and a third sensor 243 disposed on the third bearing 242; the third adapter 241 is connected to the second bearing 232, the third bearing 242 defines a first pitch axis R3 perpendicular to the second roll axis R2, the proximal yaw joint 25 is connected to the third bearing 242 and is capable of rotating about the first pitch axis R3; the third sensor 243 is used to collect the pitch angle of the third bearing 242.

[0088] Specifically, the third adapter 241 serves as the connecting link between the proximal pitch joint 24 and the mid-end roll joint 23, and is connected to the second bearing 232. It provides a stable mounting base for the third bearing 242. Its material is typically a high-strength, high-rigidity alloy, manufactured using precision machining processes to ensure structural stability and prevent deformation under complex motion and stress conditions, thus maintaining the reliable operation of the entire proximal pitch joint 24. Simultaneously, the design of the third adapter 241 must consider its compatibility with the second bearing 232 and the subsequent proximal yaw joint 25, ensuring smooth motion transmission.

[0089] The third bearing 242, mounted on the third adapter 241, is the core component for realizing the pitch movement of the proximal pitch joint 24. It defines a first pitch axis R3 perpendicular to the second roll axis R2, which provides the axis and trajectory for the rotation of the proximal yaw joint 25. The proximal yaw joint 25 is connected to the third bearing 242 and can rotate around the first pitch axis R3 under the action of external driving force, thereby realizing the pitch movement.

[0090] The third sensor 243 is mounted on the third bearing 242, and its main function is to acquire the pitch angle of the third bearing 242 in real time. High-precision angle sensors, such as Hall effect angle sensors or photoelectric encoders, are typically used. These sensors can sensitively capture changes in the angle of the third bearing 242 and convert the angle information into electrical signals or other specific signals for output. The acquired pitch angle data is transmitted to the control system, providing real-time feedback to the operator on the attitude information of the proximal pitch joint 24, and also providing data support for the precise control of the remote control master hand 20.

[0091] During the operation of the teleoperation master hand 20, the components of the proximal pitch joint 24 work together to achieve pitch motion and angle feedback:

[0092] During the rotation of the third bearing 242, the third sensor 243 monitors its pitch angle change in real time and converts the detected angle information into a specific signal output. The sensing receiver in the control system receives these signals, which are then amplified, filtered, and decoded by the signal processing circuit. The corresponding algorithm is then used to calculate the actual pitch angle of the third bearing 242 relative to its initial position. The calculated angle data is transmitted to the control system. On one hand, it is displayed in real time on the operating interface, allowing the operator to intuitively understand the movement status of the proximal pitch joint 24. On the other hand, the control system uses this data to adjust and optimize subsequent operations, ensuring that the remote control master hand 20 moves precisely according to the operator's intentions. For example, if the operator sets the proximal yaw joint 25 to pitch to a specific angle, the control system will determine the difference between the current angle and the target angle based on the data fed back by the third sensor 243, and then adjust the drive device to ensure that the proximal yaw joint 25 accurately reaches the target angle.

[0093] By employing the aforementioned technical solution—the cooperation of the third bearing 242 and the third sensor 243—the proximal pitch joint 24 is endowed with precise pitch control capabilities. During surgical procedures, surgeons often need to adjust surgical instruments to specific pitch angles to adapt to different surgical sites and operational requirements. The proximal pitch joint 24 can control the pitch angle error within a minimal range, achieving high-precision posture adjustment. This ensures that surgical instruments accurately reach the target position and posture, improving the accuracy and success rate of surgical procedures and reducing unnecessary damage to patient tissues.

[0094] In one embodiment, the proximal yaw joint 25 includes a fourth adapter 251, a fourth bearing 252 disposed on the fourth adapter 251, and a fourth sensor 253 disposed on the fourth bearing 252; the fourth adapter 251 is connected to the third bearing 242, the fourth bearing 252 defines a first yaw axis R4 perpendicular to the first pitch axis R3, the proximal tumble joint 26 is connected to the fourth bearing 252 and is capable of rotating around the first yaw axis R4, and the fourth sensor 253 is used to collect the yaw angle of the fourth bearing 252.

[0095] Specifically, the fourth adapter 251 is a key component connecting the proximal yaw joint 25 and the proximal pitch joint 24, and it is connected to the third bearing 242. The fourth adapter 251 needs to possess high strength and stability to ensure that its structure does not deform or break when transmitting motion and bearing external forces. It is typically made of high-strength alloy materials, such as titanium alloy or high-strength aluminum alloy, and manufactured through precision casting or machining processes to ensure the connection accuracy and reliability with the third bearing 242 and the subsequent proximal tumble joint 26. Simultaneously, the fourth adapter 251 provides a stable mounting base for the fourth bearing 252, and its internal structural design must be compatible with the shape and installation method of the fourth bearing 252 to ensure stable installation and normal operation of the fourth bearing 252.

[0096] The fourth bearing 252, mounted on the fourth adapter 251, is the core component for realizing the yaw motion of the proximal yaw joint 25. It defines a first yaw axis R4 perpendicular to the first pitch axis R3, which provides the axis and trajectory for the rotation of the proximal tumble joint 26. The proximal tumble joint 26 is connected to the fourth bearing 252 and, under the action of an external driving force, can rotate around the first yaw axis R4, thereby realizing the yaw motion.

[0097] The fourth sensor 253 is mounted on the fourth bearing 252, and its main function is to acquire the yaw angle of the fourth bearing 252 in real time. High-precision angle sensors, such as magnetic grating angle sensors or photoelectric encoders, are typically used. These sensors can sensitively detect changes in the angle of the fourth bearing 252 and convert the angle information into electrical signals or other specific forms of signal output. The acquired yaw angle data is transmitted to the control system, providing the operator with real-time attitude information of the proximal yaw joint 25. It also provides data support for the precise control of the remote control arm 20, enabling the control system to accurately adjust the proximal yaw joint 25 according to the operator's instructions and the actual movement state.

[0098] During the actual operation of the teleoperation master hand 20, the components of the proximal yaw joint 25 work together to achieve yaw motion and angle feedback:

[0099] While the fourth bearing 252 rotates, the fourth sensor 253 mounted on it monitors the change in its yaw angle in real time. The fourth sensor 253 converts the detected angle information into a specific electrical signal or other signal form and outputs it. The signal receiving device in the control system receives these signals, which are then amplified, filtered, and decoded by the signal processing circuit. The corresponding algorithm is then used to calculate the actual yaw angle of the fourth bearing 252 relative to its initial position. The calculated yaw angle data is transmitted to the central processing unit of the control system. On one hand, it is displayed in real time on the operating interface, allowing the operator to intuitively understand the movement status of the proximal yaw joint 25. On the other hand, the control system compares and analyzes this data with the target angle given by the operator, determines the difference between the current angle and the target angle, and then adjusts the output of the drive device to correct and optimize the movement of the proximal yaw joint 25 in real time, ensuring that the remote control master hand 20 can move precisely according to the operator's intentions.

[0100] By employing the aforementioned technical solution—the cooperation of the fourth bearing 252 and the fourth sensor 253—the proximal yaw joint 25 acquires high-precision yaw control capability. In scenarios requiring extremely high precision, such as surgical procedures, surgeons need to precisely yaw surgical instruments to specific angles to achieve accurate manipulation of the lesion site.

[0101] The presence of the proximal yaw joint 25 further enriches the motion freedom of the teleoperation master hand 20, and works in conjunction with the translation joint 21, each roll joint and the proximal pitch joint 24, enabling the master hand to achieve more complex and diverse movements in three-dimensional space.

[0102] The fourth sensor 253 can collect and feedback the yaw angle information of the proximal yaw joint 25 in real time, enabling the operator to grasp the joint's movement status in a timely and accurate manner.

[0103] In one embodiment, the proximal roll joint 26 includes a fifth adapter 261, a fifth bearing 262 disposed on the fifth adapter 261, and a fifth sensor 263 disposed on the fifth bearing 262; the fifth adapter 261 is connected to the fourth bearing 252, the fifth bearing 262 defines a third roll axis perpendicular to the first pitch axis R3, and the fifth sensor 263 is used to collect the roll angle of the fifth bearing 262.

[0104] Specifically, the fifth adapter 261 is a key component connecting the proximal tumbling joint 26 and the proximal yaw joint 25, and it is connected to the fourth bearing 252. As a connecting hub, the fifth adapter 261 needs to possess high strength and stability to ensure that its structure will not deform or be damaged when transmitting motion and bearing external forces. Its material is typically a high-strength alloy, such as stainless steel or titanium alloy, manufactured through precision casting or machining processes to ensure the connection accuracy and reliability with the fourth bearing 252 and subsequent connecting components. Simultaneously, the fifth adapter 261 provides a stable mounting base for the fifth bearing 262, and its internal structural design must be compatible with the shape and installation method of the fifth bearing 262 to ensure stable installation and normal operation of the fifth bearing 262.

[0105] The fifth bearing 262, mounted on the fifth adapter 261, is the core component for realizing the tumbling motion of the proximal tumbling joint 26. It defines a third tumbling axis R5 perpendicular to the first pitch axis R3, which provides the axis and trajectory for the rotation of the proximal tumbling joint 26 itself. Under the action of an external driving force, the proximal tumbling joint 26 can rotate around the third tumbling axis R5, thereby achieving the tumbling motion. The selection of the fifth bearing 262 requires comprehensive consideration of factors such as load-bearing capacity, rotational accuracy, wear resistance, and lubrication performance. In high-precision operation scenarios such as the surgical robot 10, the fifth bearing 262 is required to possess extremely high rotational accuracy and stability to ensure that the proximal tumbling joint 26 can accurately control the angle and speed during tumbling motion, while also being able to withstand various forces and torques generated during surgical operations, ensuring the smoothness and reliability of joint movement.

[0106] The fifth sensor 263 is mounted on the fifth bearing 262, and its main function is to acquire the roll angle of the fifth bearing 262 in real time. High-precision angle sensors, such as magnetic grating angle sensors and photoelectric encoders, are typically used. These sensors can sensitively detect changes in the angle of the fifth bearing 262 and convert the angle information into electrical signals or other specific forms of signal output. The acquired roll angle data is transmitted to the control system, providing the operator with real-time attitude information of the proximal roll joint 26. It also provides data support for the precise control of the remote control arm 20, enabling the control system to accurately adjust the proximal roll joint 26 according to the operator's instructions and the actual movement state.

[0107] During the actual operation of the remote control master hand 20, the components of the proximal tumbling joint 26 work together to achieve tumbling motion and angle feedback:

[0108] While the fifth bearing 262 rotates, the fifth sensor 263 mounted on it monitors the change in its roll angle in real time. The fifth sensor 263 converts the detected angle information into a specific electrical signal or other signal form and outputs it. The signal receiving device in the control system receives these signals, which are then amplified, filtered, and decoded by the signal processing circuit. The corresponding algorithm is then used to calculate the actual roll angle of the fifth bearing 262 relative to its initial position. The calculated roll angle data is transmitted to the central processing unit of the control system. On one hand, it is displayed in real time on the operating interface, allowing the operator to intuitively understand the movement status of the proximal roll joint 26. On the other hand, the control system compares and analyzes this data with the target angle given by the operator, determines the difference between the current angle and the target angle, and then adjusts the output of the drive device to correct and optimize the movement of the proximal roll joint 26 in real time, ensuring that the remote control master hand 20 can move precisely according to the operator's intentions.

[0109] By adopting the above technical solution: the cooperation between the fifth bearing 262 and the fifth sensor 263 enables the proximal tumbling joint 26 to have high-precision tumbling control capability.

[0110] The presence of the proximal tumble joint 26 further enriches the degrees of freedom of movement of the teleoperation master hand 20. It works in conjunction with the translation joint 21, other tumble joints, the proximal pitch joint 24, and the proximal yaw joint 25, enabling the master hand to achieve more complex and diverse movements in three-dimensional space.

[0111] The fifth sensor 263 can collect and provide feedback on the tumbling angle information of the proximal tumbling joint 26 in real time, enabling operators to grasp the joint's motion status in a timely and accurate manner.

[0112] Secondly, a surgical robot 10 is provided, including a moving mechanism and the aforementioned teleoperation master hand 20, wherein the moving mechanism is connected to the teleoperation master hand 20.

[0113] By adopting the above technical solution, the surgical robot 10 of this embodiment, in addition to having the advantages of the remote operation master hand 20 of the above embodiment, also has the advantage of high joint motion precision.

[0114] The above are merely preferred embodiments of the present utility model and are 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 teleoperation master hand characterized by, include: Translational joints are used for translational movements. The distal tumbling joint is connected to the translational joint, and the distal tumbling joint is used to perform tumbling motion; The intermediate tumbling joint is connected to the distal tumbling joint, and the intermediate tumbling joint is used to perform tumbling motion; The proximal pitch joint is connected to the mid-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 and the proximal lateral joint are used for tumbling motion.

2. The teleoperation master hand of claim 1, wherein, The translational joint includes a slide rail, a slider slidably mounted on the slide rail, a sensing element mounted on the slider, and a sensing receiver mounted on the slide rail. The slide rail is used to be mounted on the bottom of the surgical robot and defines a translational direction. The slider can slide along the translational direction on the slide rail and is connected to the distal tumbling joint. The sensing receiver is used to collect the translational distance of the sensing element.

3. The teleoperation master hand of claim 2, wherein, The distal tumbling joint includes a first adapter seat, a first bearing disposed on the first adapter seat, and a first sensor disposed on the first bearing; the first adapter seat is disposed on the slider, the first bearing defines a first tumbling axis parallel to the translation direction, the intermediate tumbling joint is connected to the first bearing and can rotate around the first tumbling axis, and the first sensor is used to collect the tumbling angle of the first bearing.

4. The teleoperation master hand of claim 3, wherein, The mid-end roll joint includes a second adapter, a second bearing mounted on the second adapter, and a second sensor mounted on the second bearing; the second adapter is connected to the first bearing, the second bearing defines a second roll axis, the proximal pitch joint is connected to the second bearing and can rotate around the second roll axis, and the second sensor is used to collect the roll angle of the second bearing.

5. The teleoperation master hand of claim 4, wherein, The second adapter includes a first adapter portion and a second adapter portion connected to the first adapter portion. The first adapter portion is connected to the first bearing and has a first rotating shaft. The second adapter portion is connected to the first rotating shaft and can rotate around the first rotating shaft. The second adapter portion is connected to the second bearing.

6. The teleoperation master hand of claim 5, wherein, The second adapter also includes a third adapter connected to the second adapter portion. The third adapter portion is perpendicular to the second adapter portion. The second adapter portion is provided with a second rotating shaft parallel to the first rotating shaft. The third adapter portion is connected to the second rotating shaft and can rotate around the second rotating shaft. The second adapter portion connects the third adapter portion to the second bearing.

7. The teleoperation master hand of claim 4, wherein, The proximal pitch joint includes a third adapter, a third bearing mounted on the third adapter, and a third sensor mounted on the third bearing; the third adapter is connected to the second bearing, the third bearing defines a first pitch axis perpendicular to the second roll axis, the proximal yaw joint is connected to the third bearing and is capable of rotating around the first pitch axis; the third sensor is used to acquire the pitch angle of the third bearing.

8. The teleoperation master hand of claim 7, wherein, The proximal yaw joint includes a fourth adapter, a fourth bearing disposed on the fourth adapter, and a fourth sensor disposed on the fourth bearing; the fourth adapter is connected to the third bearing, the fourth bearing defines a first yaw axis perpendicular to the first pitch axis, the proximal roll joint is connected to the fourth bearing and is capable of rotating around the first yaw axis, and the fourth sensor is used to collect the yaw angle of the fourth bearing.

9. The teleoperation master hand of claim 8, wherein, The proximal roll joint includes a fifth adapter, a fifth bearing mounted on the fifth adapter, and a fifth sensor mounted on the fifth bearing; the fifth adapter is connected to the fourth bearing, the fifth bearing defines a third roll axis perpendicular to the first pitch axis, and the fifth sensor is used to collect the roll angle of the fifth bearing.

10. A surgical robot, characterised in that, It includes a moving mechanism and a remote operating master hand as described in any one of claims 1 to 9, wherein the moving mechanism is connected to the remote operating master hand.

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