Medical system and instrument holding arm
By installing an input device on the outer peripheral wall of the arm housing, the problem of users having difficulty observing the positional relationship between the robotic arm and obstacles is solved, enabling more flexible and convenient robotic arm operation and enhancing the ease of operation of the surgical robot system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- CORNERSTONE TECH (SHENZHEN) LTD
- Filing Date
- 2025-06-10
- Publication Date
- 2026-06-26
AI Technical Summary
In surgical robot systems, it is difficult for users to clearly and intuitively observe the positional relationship between the robotic arm and obstacles directly from the patient's side of the operating device, resulting in inconvenience in operation, especially when it is necessary to avoid obstacles.
An input device, including operation buttons and plug-in components, is installed on the outer peripheral wall of the arm housing of the robotic arm. It communicates with the controller through a signal module, allowing the user to operate the device directly next to the patient and change the posture of the robotic arm to avoid obstacles.
This improves the ease of operation of the surgical robot system, enriches the operation methods, and allows users to control the robotic arm more intuitively, avoid obstacles, and enhance the flexibility and convenience of operation.
Smart Images
Figure CN224403768U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of medical device technology, specifically to a medical system and a medical arm. Background Technology
[0002] A surgical robotic system is a medical system capable of remotely manipulating surgical procedures. It typically includes a physician control console, patient-side operating devices, and imaging equipment. The patient-side operating devices consist of a base, a column mounted on the base, and a robotic arm connected to the column. The robotic arm comprises several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom, allowing the end effector to achieve multiple degrees of freedom. The end effector is equipped with a gripper arm for holding surgical instruments. The robotic arm system communicates with the physician control console to achieve master-slave remote control, enabling the surgeon to manipulate surgical instruments by manipulating the robotic arm instead of the human hand.
[0003] Normally, the patient-side operating device is remotely controlled via a doctor's console. However, in some scenarios, there is a need to operate directly on the patient-side operating device. For example, when there are obstacles in the movement path of the robotic arm, it is necessary to move the robotic arm to avoid the obstacles. The user at the doctor's console cannot clearly and intuitively observe the positional relationship between the robotic arm and the obstacles at all times, which is not conducive to operation. Utility Model Content
[0004] This application provides a robotic arm to improve the ease of operation of current medical systems.
[0005] In addition, the purpose of this application is to provide a medical system using the above-mentioned robotic arm.
[0006] In a first aspect, one embodiment provides a robotic arm, the robotic arm being applied to a medical system, comprising:
[0007] The arm shell has a proximal end and a distal end opposite each other along its length, and an outer peripheral sidewall extending between the proximal end and the distal end.
[0008] A mounting portion, disposed on the outer peripheral sidewall, is used for operably mounting surgical instruments; and
[0009] An input device for receiving user input is mounted on the outer peripheral sidewall and is arranged circumferentially with the mounting portion of the arm housing.
[0010] In one embodiment, the input device includes an operation button and a plug-in element. The operation button is movably disposed on the outer peripheral sidewall, and the plug-in element is disposed in the internal space enclosed by the arm housing. The operation button and the plug-in element are arranged at intervals in the direction of movement of the operation button, such that the operation button can contact the plug-in element when pressed.
[0011] In one embodiment, the input device further includes an elastic element for applying a reset force to the operation button.
[0012] In one embodiment, the outer peripheral sidewall has a through hole that communicates with the internal space. A mounting base is provided between the through hole and the plug-in element. The mounting base is fixed to the outer peripheral sidewall. The operation button is movably disposed on the mounting base and is exposed through the through hole on the outer peripheral sidewall for user operation. The elastic element is disposed between the mounting base and the operation button.
[0013] In one embodiment, the mounting base includes a cantilever, one end of which is fixed to the outer peripheral sidewall, and the operation button is mounted on the other end of the cantilever.
[0014] In one embodiment, the mounting base includes a base body fixed to the outer peripheral sidewall, and a plurality of cantilever arms, one end of each cantilever arm being fixed to the base body, and each cantilever arm being equipped with a corresponding operation button and a corresponding elastic element.
[0015] In one embodiment, the mounting base has a mounting hole, and the operation button includes a keycap and a key lever that are fixed to each other. The keycap is exposed on the outer peripheral sidewall through the mounting hole for user operation, and the key lever is movably inserted into the mounting hole, so that the key lever can move between a position in contact with the plug-in element and a position separated from the plug-in element.
[0016] In one embodiment, the robotic arm further includes a signal module for communicating with the controller of the medical system, and the signal module is used to send an operation signal to the controller in response to the user input.
[0017] In one embodiment, the signal module includes a circuit board mounted in the internal space, and the plug-in element is disposed on the circuit board.
[0018] In a second aspect, one embodiment provides a medical system including a controller, a robotic arm, and a holding arm as described in any embodiment of the first aspect, the holding arm being mounted at the end of the robotic arm, the input device being used to receive user input, and the controller being used to control the robotic arm to change posture based on the user input.
[0019] According to the above embodiment, the robotic arm has an input device for receiving user input installed on the outer peripheral sidewall of the arm housing. The input device and the mounting part for mounting surgical instruments are arranged circumferentially at a distance, so that the surgical instruments will not affect the user's operation of the input device. By operating the input device, the user can operate the medical system on which the robotic arm is located, increasing the ways in which the medical system on which the robotic arm is located can be operated, diversifying the operation methods of the medical system, and thus improving the convenience of the user's operation of the medical system. Attached Figure Description
[0020] Figure 1 This is a schematic diagram of the structure of a medical system in one embodiment;
[0021] Figure 2 This is a schematic diagram of the structure of the patient-side operating device in one embodiment;
[0022] Figure 3 This is a schematic diagram of the structure of another patient-side operating device in one embodiment;
[0023] Figure 4 This is a schematic diagram of the structure of the mechanical arm in one embodiment;
[0024] Figure 5 An exploded view of the input device in one embodiment;
[0025] Figure 6 This is a cross-sectional view of the input device in one embodiment;
[0026] Figure 7 This is a cross-sectional view of the input device from another perspective in one embodiment.
[0027] List of feature names corresponding to the attached figures: 100, Doctor's console; 200, Patient-side operating device; 201, Robotic arm; 201', Robotic arm; 202, Instrument holding arm; 2021, Instrument drive unit; 203, Base; 204, Column; 205, Connecting platform; 300, Imaging equipment; 400, Surgical instrument; 401, Proximal drive module; 402, Distal actuator; 1, Arm housing; 11, Proximal end; 12, Distal end; 13, Peripheral sidewall; 131, Through hole; 1 311. Outer opening; 1312. Inner opening; 132. Stop structure; 2. Mounting part; 3. Input device; 31. Operation button; 311. Keycap; 3111. Exposed part; 3112. Cap edge; 312. Key lever; 32. Connecting element; 33. Elastic element; 34. Fastener; 4. Mounting base; 41. Base body; 42. Cantilever; 43. Mounting hole; 431. Mounting section; 44. Mounting base pin hole; 5. Proximity input device; 6. Signal module; 61. Circuit board.
[0028] Explanation of reference numerals in parentheses in the accompanying drawings: The feature referred to by the reference numerals in parentheses in the accompanying drawings is the feature represented by both the number inside the parentheses and the number outside the parentheses. Detailed Implementation
[0029] 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.
[0030] 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.
[0031] 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).
[0032] It should be noted that the terms “upper,” “lower,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this application are for illustrative purposes only and are not intended to be limiting.
[0033] The terms “distal” and “proximal” used in this application are directional terms commonly used in the field of interventional medical devices. “Distal” refers to the end that is far from the operator during the procedure, and “proximal” refers to the end that is close to the operator during the procedure.
[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] The medical system according to an embodiment of this application is a surgical robot system capable of remotely controlling surgery. Please refer to... Figure 1 The surgical robot system 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 imaging device 300 includes a display screen, an endoscope controller, system electronics, and an image processor. The imaging device 300 can capture images in the surgical area, process those images, and display and record the processed images and related information. The imaging device 300 can communicate with the patient-side operating device 200 and the doctor's console 100 to synchronize images and information to the display unit of the doctor's console 100 for viewing by the operator performing the surgical procedure. The imaging device 300 can be installed independently or integrated into the patient-side operating device 200 and / or the doctor's console 100.
[0038] The patient-side operating device 200 communicates with the doctor's control console 100 to achieve master-slave remote control. Figure 2 and Figure 3 Two types of patient-side manipulation devices are shown, among which Figure 2 The robotic arm 201 of the patient-side manipulation device shown in the diagram achieves the movement of the holding arm 202 around the remote center of motion (RCM) through mechanical constraints. Figure 3 The robotic arm 201' of the patient-side manipulation device shown is used to achieve the movement of the holding arm 202 around the RCM through software constraints. Please refer to... Figure 2 and Figure 3 The patient-side manipulation device 200 may include a controller (not shown), a robotic arm 201, and a holding arm 202, wherein the controller is used to control the movement of the robotic arm 201 and the holding arm 202. The robotic arm 201 includes several connecting arms, with adjacent connecting arms moving relative to each other with specific degrees of freedom, allowing the end effector of the robotic arm 201 to achieve multi-degree-of-freedom movement. The holding arm 202 is mounted on the end effector of the robotic arm 201 and is used to operatively mount one or more surgical instruments 400.
[0039] In one application scenario, please refer to Figure 2 and Figure 3 The patient-side operating device 200 also includes a base 203 and a column 204 mounted on the base 203. The base 203 can be placed on the ground, for example, the bottom of the base 203 can be provided with casters for easy movement. Of course, in other embodiments not shown, the base 203 can also be suspended from a wall or ceiling, for example, the base 203 can be mounted on a wall or ceiling via guide rails for easy movement; or, the base 203 can also be mounted on an operating table, or integrated into the operating table. In one embodiment, a movable connecting platform 205 is provided on the column 204, and the robotic arm 201 is mounted on the connecting platform 205, and the position of the robotic arm 201 is adjusted by moving the connecting platform 205.
[0040] Surgical instruments 400 can be instruments used to perform surgical procedures, such as electrocautery devices, clamps, vascular occluders, anastomosing devices, ultrasonic scalpels, etc.; they can also be cameras used to acquire images of the surgical area, such as endoscopes; or other auxiliary outer shell instruments, such as uterine manipulators. Please refer to [reference needed]. Figure 2 Surgical instruments 400 typically include a proximal drive module 401 and a distal actuator 402. The proximal drive module 401 is connected to and driven by a power source, thereby driving the distal actuator 402 to perform pitch, yaw, rolling, opening and closing movements to perform surgical operations such as cutting, clamping and suturing during surgery.
[0041] The surgical arm 202 may include an arm housing, a linear motion drive unit mounted on the arm housing, and an instrument drive unit 2021. When the surgical instrument 400 is mounted on the surgical arm 202, the proximal drive module 401 of the surgical instrument 400 interfaces with the power output interface of the instrument drive unit 2021, allowing the instrument drive unit 2021 to output power to the proximal drive module 401 of the surgical instrument 400. The instrument drive unit 2021 is mounted on the linear motion drive unit, thus enabling the linear motion drive unit to drive the instrument drive unit 2021 and the surgical instrument 400 to move linearly relative to the arm housing, allowing them to approach or move away from the lesion area during surgery.
[0042] Operators typically remotely control the patient-side operating device 200 via the doctor's console 100. The movement of the robotic arm 201 of the patient-side operating device 200 is also usually controlled by the operator via the doctor's console 100. However, in some situations, there is a need to operate directly on the patient-side operating device.
[0043] For example, the surgical arm 202 may need to be manually moved to adjust the posture of the surgical instrument 400. For this purpose, a proximal input device 5 is typically provided on the proximal end face of the surgical arm 202 (see reference). Figure 4This is typically presented as a button. When the button is pressed, the joints of the robotic arm are unlocked, allowing the user to manually move the robotic arm, for example, by making it move around the RCM; when the button is released, the joints of the robotic arm are locked, and the robotic arm cannot be moved manually.
[0044] For example, when there are obstacles in the movement path of the robotic arm 201, it is necessary to move the robotic arm 201 to avoid the obstacles. The user at the doctor's console 100 cannot clearly and intuitively observe the positional relationship between the robotic arm 201 and the obstacles at all times, which is not conducive to operation. In this case, it is also necessary to set up additional input devices on the robotic arm 202 to meet other operational needs.
[0045] Based on this, this application proposes a robotic arm to improve the convenience of user operation of a medical system. The robotic arm's housing is equipped with an input device, which allows operation of the medical system, thereby increasing the operational methods and enriching the ways in which the medical system can be operated, ultimately improving its ease of use. The robotic arm of this application can be used for, for example... Figure 1-3 The medical system shown.
[0046] Please refer to Figures 2 to 5 According to an embodiment of this application, the surgical arm 202 includes an arm housing 1, a mounting portion 2, and an input device 3. The arm housing 1 has a proximal end 11 and a distal end 12 opposite to each other along its length direction. The arm housing 1 also has an outer peripheral sidewall 13 extending between the proximal end 11 and the distal end 12. The mounting portion 2 is used to operably mount a surgical instrument 400, and the mounting portion 2 is disposed on the outer peripheral sidewall 13. The input device 3 is mounted on the outer peripheral sidewall 13 and is spaced apart from the mounting portion 2 in the circumferential direction of the arm housing 1. This arrangement minimizes interference between the input device 3 and the surgical instrument 400 mounted on the mounting portion 2, ensuring the normal operation of both the input device 3 and the surgical instrument 400. The input device 3 is used to receive user input, allowing the user to operate the input device 3 at the location of the surgical arm 202, and also to operate the medical system. Compared with the current method of operating only through the doctor's console 100, the surgical arm 202 of this application adds the input device 3 to the outer peripheral side wall 13 of the arm shell 1. This does not affect the normal operation of the surgical instrument 400, but enriches the operation style of the medical system and makes it more convenient to operate.
[0047] Understandably, the functions to be implemented by the input device 3 can be set as needed. For example, the posture of the robotic arm 201 can be changed by operating the input device 3. Specifically, the input device 3 is used to receive user input, and the controller controls the robotic arm 201 to change its posture based on the user input. Specific forms in which the input device 3 changes the posture of the robotic arm 201 include: the controller can control the movement of some or all joints in the robotic arm 201 by operating the input device 3, causing the holding arm 202 to rotate around an axis to avoid obstacles; the controller can also keep the holding arm 202 in a constant posture while changing the posture of the robotic arm 201 to avoid obstacles; the controller can also control some joints of the robotic arm 201 by operating the input device 3, causing the elbow of the robotic arm 201 to move around the rotation axis of the end joint, making the elbow perpendicular or approximately perpendicular to the holding arm 202.
[0048] In one embodiment, please refer to Figure 6 The robotic arm 202 also includes a signal module 6, which is communicatively connected to the controller. The communication connection between the signal module 6 and the controller can be either wired or wireless. In response to user input received by the input device 3, the signal module 6 sends an operation signal to the controller, causing the controller to control the movement of the corresponding component in the medical system according to the operation signal. User input refers to the user's mechanical operation on the input device 3, such as pressing or touching. The signal module 6 can generate a corresponding operation signal based on the user input received by the input device 3 and send the operation signal to the controller, so that the controller can generate and send a corresponding operation command based on the operation signal. The signal module 6 may include, for example, a circuit board 61, which is installed in the internal space enclosed by the arm housing 1, and the electronic components of the input device 3 can be mounted on this circuit board 61.
[0049] Understandably, the user's mechanical operation of the input device 3 is related to the structure of the input device 3. For example, the input device 3 may include operation buttons 31, in which case the user input can be a pressing operation. Alternatively, the input device 3 may include touch keys, in which case the user input can be a touch operation.
[0050] To minimize the impact of the input device 3 on the lateral dimension of the robotic arm 202, in one embodiment, please refer to... Figure 6 The input device 3 includes an operation button 31 and a connector 32. The operation button 31 is movably disposed on the outer peripheral sidewall 13, and the connector 32 is disposed in the internal space enclosed by the arm housing 1. When the user presses the operation button 31, the operation button 31 can contact the connector 32. The connector 32 can be disposed, for example, on the circuit board 61 of the signal module 6, or it can be disposed on the circuit board of other modules that can communicate with the signal module 6.
[0051] For example, in one embodiment, the plug-in element 32 can change the on / off state of the connected circuit, thereby causing the signal module 6 to issue different operation signals. For instance, pressing the operation button 31 to contact the plug-in element 32 connects the circuit, and releasing the operation button 31 to separate it from the plug-in element 32 disconnects the circuit. The signal module 6 can detect the on / off state of the circuit and send different operation signals based on the detection results.
[0052] In one embodiment, please refer to Figures 5 to 7 The operation button 31 and the plug-in element 32 are arranged at intervals in the direction of movement of the operation button 31. When the operation button 31 is pressed, the interval between the operation button 31 and the plug-in element 32 gradually decreases until the operation button 31 can contact the plug-in element 32. In this way, the button travel of the operation button 31 can be adjusted by adjusting the distance between the operation button 31 and the plug-in element 32, so that the button travel of the operation button 31 meets the design requirements, improves the user experience, and prevents accidental touches.
[0053] For easier operation of button 31, please refer to some examples. Figures 5 to 7 The input device 3 also includes an elastic element 33, which applies a reset force to the operation button 31. When the operation button 31 is pressed and released, it automatically resets under the action of the elastic element 33, waiting for the next press. The elastic element 33 not only facilitates the operation of the operation button 31, but also allows adjustment of the pressing force of the operation button 31 by adjusting the length and elastic coefficient of the elastic element 33, thereby improving the user experience.
[0054] It is understandable that the elastic element 33 can be a spring, as springs have a simpler structure, a larger adjustable stroke, and are easier to install. Different specifications of springs can be used depending on the required button force. In some other embodiments, in addition to a spring, the elastic element 33 can also be a sheet spring structure.
[0055] For ease of installation of button 31, in one embodiment, please refer to... Figures 5 to 7 The outer peripheral sidewall 13 has a through hole 131, which communicates with the internal space enclosed by the arm housing 1. A mounting base 4 is provided between the through hole 131 and the plug-in element 32. The mounting base 4 is fixed to the outer peripheral sidewall 13. The operation button 31 is movably mounted on the mounting base 4. The through hole 131 is used to expose the operation button 31 for the operator to contact and press. An elastic element 33 is provided between the mounting base 4 and the operation button 31.
[0056] Specifically, the through hole 131 has an outer opening 1311 on the outer wall surface of the outer peripheral sidewall 13 and an inner opening 1312 on the inner side of the outer peripheral sidewall 13. The outer opening 1311 allows a portion of the operation button 31 to be exposed for the operator to press. The inner opening 1312 allows the operation button 31 to be inserted into the through hole 131 from its internal space, with the elastic element 33 press-fitted between the mounting base 4 and the operation button 31. The outer peripheral sidewall 13 has a stop structure 132 to prevent the operation button 31 from dislodging from the through hole 131. For some examples, please refer to... Figure 6 and Figure 7 The stop structure 132 is a stepped structure located inside the through hole 131.
[0057] Therefore, the operating button 31 and the elastic element 33 can be installed through the inner hole 1312. After installation, the mounting base 4 is located in the internal space enclosed by the arm housing 1, and the mounting base 4 and the elastic element 33 are protected by the outer peripheral sidewall 13. In addition, compared with arranging the mounting base 4 outside the arm housing 1, arranging the mounting base 4 in the internal space does not expose the gap between it and the outer peripheral sidewall 13, and no additional sealing structure is required.
[0058] Regarding the method of fixing the mounting base 4 to the outer peripheral sidewall 13, in one embodiment, please refer to... Figure 6 and Figure 7 The mounting base 4 is fixed to the outer peripheral sidewall 13 by fasteners 34. Specifically, the fasteners 34 can be bolts or rivets. To prevent the mounting base 4 from rotating relative to the outer peripheral sidewall 13, the holding arm 202 also includes an anti-rotation pin (not shown in the figure), which is fixed to the outer peripheral sidewall 13. The mounting base 4 has a mounting base pin hole 44, in which the anti-rotation pin is inserted. In some other embodiments, the mounting base 4 can also be fixed to the outer peripheral sidewall 13 by snap-fit, welding, or other methods.
[0059] For some examples, please refer to Figures 5 to 7 The mounting base 4 includes a cantilever 42, one end of which is fixed to the outer peripheral sidewall 13. The operation button 31 is mounted on the other end of the cantilever 42. In this way, the elastic element 33 also applies force to the end of the cantilever 42 where the operation button 31 is mounted. Under the elastic force of the elastic element 33, the cantilever 42 will also produce a certain elastic deformation and has a certain reset function. In this way, under the combined action of the cantilever 42 and the elastic element 33, the reset movement of the operation button 31 is more stable.
[0060] For further details, please refer to... Figures 5 to 7The mounting base 4 includes a base body 41, which is fixed to the outer peripheral sidewall 13. The mounting base 4 is fixed to the outer peripheral sidewall 13 via the base body 41. Specifically, fasteners 34 fix the base body 41 to the outer peripheral sidewall 13. There are multiple cantilever arms 42, one end of which is fixed to the base body 41. Each cantilever arm 42 is equipped with a corresponding operation button 31 and a corresponding elastic element 33. That is, there are multiple operation buttons 31 and multiple elastic elements 33, with each cantilever arm 42 equipped with both an operation button 31 and an elastic element 33. In this way, multiple elastic elements 33, used to apply a reset force to different operation buttons 31, press against the same mounting base 4. This reduces the number of parts, lowers processing costs, and increases assembly speed. Please refer to [reference needed]. Figure 4 and Figure 5 The cantilever 42 is arranged radially around the base 41.
[0061] Since there are multiple operation buttons 31, it is understood that some functions implemented by the operation input device 3 described in the above embodiments can be implemented by operating one operation button 31 or by operating two or more different operation buttons 31. For example, the locking and unlocking of the robotic arm 201 can be achieved by operating two operation buttons 31 respectively.
[0062] In one embodiment, please refer to Figures 5 to 7 The operation button 31 includes a keycap 311 and a key lever 312. When the keycap 311 is pressed, it can drive the key lever 312 to move together. The outer opening 1311 exposes the keycap 311 for easy pressing, while the inner opening 1312 allows the keycap 311 to be inserted into the outer peripheral sidewall 13. The key lever 312 is located inside the keycap 311, and the elastic element 33 is press-fitted between the mounting base 4 and the keycap 311.
[0063] Understandably, when the keycap 311 is pressed, the through hole 131 can guide the keycap 311 to move in a straight line, so that the keycap 311 is not easily tilted after being pressed, and the operation of the key 31 is smoother.
[0064] The keycap 311 includes an exposed portion 3111 and a cap stop 3112. The cap stop 3112 and the stepped structure inside the through hole 131 stop the keycap 311 from moving outward from the outer peripheral sidewall 13. During installation, the keycap 311 is inserted into the through hole 131 from the inside of the outer peripheral sidewall 13, and then the elastic element 33 and the mounting base 4 are installed. The base 41 of the mounting base 4 is then fixed to the outer peripheral sidewall 13.
[0065] In one embodiment, please refer to Figures 5 to 7The key lever 312 passes through the mounting base 4. One end of the key lever 312 is connected to the keycap 311, and the other end protrudes from the mounting base 4 to contact the plug-in element 32. Specifically, the mounting base 4 has a mounting hole 43, into which the key lever 312 can be movably inserted, allowing the key lever 312 to move between a position in contact with the plug-in element 32 and a position separate from the plug-in element 32.
[0066] The mounting hole 43 is located at the end of the cantilever 42 away from the base 41, and the elastic element 33 is press-fitted between the cantilever 42 and the keycap 311. Specifically, the mounting hole 43 includes a mounting section 431 for mounting the elastic element 33. The elastic element 33 is sleeved around the key bar 312 and partially extends into the mounting section 431. The positioning effect of the mounting section 431 makes the position of the elastic element 33 more stable.
[0067] The above embodiments describe in detail the structure of the input device 3 using operation buttons 31. It is understood that in some other embodiments not shown, the input device 3 may also use touch keys in addition to operation buttons 31. The signal module 6 includes a signal processing module connected to the touch-sensitive keys. The signal processing module processes the signals generated by the touch keys and transmits them to the controller. Furthermore, in addition to operation buttons 31, the input device 3 may also use push-pull buttons, rotary knobs, etc.
[0068] Regarding the location of the input device 3, in one embodiment, please refer to... Figure 4 The input device 3 is located near the proximal end 11 of the arm housing 1 and far from the distal end 12 of the arm housing 1. Because the input device 3 is close to the proximal end 11 of the arm housing 1, it is relatively close to the operator and is more convenient to operate.
[0069] In one embodiment, please refer to Figure 4 The mounting part 2 and the input device 3 are located on opposite sides of the arm housing 1. This distance between the input device 3 and the mounting part 2 allows each to utilize more space within the arm housing 1 and reduces the likelihood of interference. Specifically, in one embodiment, the mounting part 2 is a movable seat movably mounted on the arm housing 1. The movable seat is used to mount the surgical instrument 400, and a linear motion drive unit drives the movable seat, causing the surgical instrument 400 to move linearly.
[0070] In some other embodiments, the input device 3 may also be mounted on the side wall of the arm housing 1 adjacent to the side where the mounting part 2 is located. For example, in one embodiment, the outer peripheral side wall 13 includes a first side wall, a second side wall, a third side wall, and a fourth side wall connected in sequence, wherein the mounting part 2 and the input device 3 are located on the first side wall and the third side wall, respectively. In yet another embodiment, the mounting part 2 and the input device 3 are located on the first side wall and the second side wall, respectively.
[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. A tool holding arm applied to a medical system, characterized by, include: The arm shell has a proximal end and a distal end opposite each other along its length, and an outer peripheral sidewall extending between the proximal end and the distal end. The mounting part is disposed on the outer peripheral sidewall and is used for operably mounting surgical instruments; as well as An input device for receiving user input is mounted on the outer peripheral sidewall and is arranged circumferentially with the mounting portion of the arm housing.
2. The weapon arm of claim 1, wherein, The input device includes an operation button and a plug-in element. The operation button is movably disposed on the outer peripheral sidewall, and the plug-in element is disposed in the internal space enclosed by the arm shell. The operation button and the plug-in element are arranged at intervals in the direction of movement of the operation button, so that the operation button can contact the plug-in element when it is pressed.
3. The weapon arm of claim 2, wherein, The input device also includes an elastic element for applying a reset force to the operation button.
4. The weapon arm of claim 3, wherein, The outer peripheral sidewall has a through hole that communicates with the internal space. A mounting base is provided between the through hole and the plug-in element. The mounting base is fixed to the outer peripheral sidewall. The operation button is movably mounted on the mounting base and is exposed through the through hole on the outer peripheral sidewall for user operation. The elastic element is provided between the mounting base and the operation button.
5. The weapon arm of claim 4, wherein, The mounting base includes a cantilever, one end of which is fixed to the outer peripheral sidewall, and the operation button is mounted on the other end of the cantilever.
6. The weapon arm of claim 5, wherein, The mounting base includes a base body, which is fixed to the outer peripheral sidewall. There are multiple cantilever arms, one end of each cantilever arm is fixed to the base body, and each cantilever arm is equipped with a corresponding operation button and a corresponding elastic element.
7. An arm as claimed in claim 4 or 5 or 6, characterized in that The mounting base has a mounting hole, and the operation button includes a keycap and a key rod that are fixed to each other. The keycap is exposed on the outer peripheral sidewall through the through hole for user operation, and the key rod is movably inserted into the mounting hole so that the key rod can move between a position in contact with the plug-in element and a position separated from the plug-in element.
8. The robotic arm as described in any one of claims 1 to 6, characterized in that, The robotic arm also includes a signal module, which is used to communicate with the controller of the medical system and to send operation signals to the controller in response to user input.
9. The robotic arm as described in any one of claims 2-6, characterized in that, The robotic arm also includes a signal module for communicating with the controller of the medical system. The signal module is used to send an operation signal to the controller in response to the user input. The signal module includes a circuit board installed in the internal space, and the plug-in element is disposed on the circuit board.
10. A medical system, characterized in that, The device includes a controller, a robotic arm, and a holding arm as described in any one of claims 1-9, the holding arm being mounted at the end of the robotic arm, the input device being used to receive user input, and the controller being used to control the robotic arm to change its posture based on the user input.