A misoperation prevention end effector of a surgical robot

Abstract

The utility model discloses a kind of end effector of surgical robot of anti-misoperation, it includes operating handle, the first end of operating handle is connected probe through mounting seat, the second end of operating handle is installed in the execution end of mechanical arm, first control switch and second control switch are provided on operating handle, first control switch is used when being pressed alone first control switch, mechanical arm switches to first motion state, first motion state is linear motion state in the advancing direction or the retreating direction of probe, second control switch is used when being pressed simultaneously with first control switch, mechanical arm switches to second motion state, second motion state is follow-up state of the moving track of probe. The end effector of surgical robot of above-mentioned anti-misoperation is matched by first control switch and second control switch, simple operation, avoid the phenomenon of misoperation, and high safety.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, and in particular relates to an end effector for a surgical robot that prevents misoperation. Background Technology

[0002] When using a robotic arm as a surgical robot to perform surgery on vital organs, the process begins with a CT scan of the patient's vital organs. Then, 3D reconstruction imaging technology is used to reconstruct a three-dimensional image of the patient's vital organs. During the surgery, ultrasound scans are used to reconstruct the 3D image of the human organ. Throughout this process, the robotic arm records the patient's location information and then automatically tracks to the patient's organ site for puncture treatment. During automatic tracking, the location information obtained from ultrasound imaging is used for guidance. At this stage, only an ultrasound probe is required at the end of the robotic arm. Once the patient's location is reached, a puncture needle is inserted for puncture examination and treatment.

[0003] Existing puncture navigation and positioning systems require one-handed operation for their robotic arm end effectors, which lack directionality and rely on the operator to manually control the probe's forward or backward movement. Clearly, existing robotic arm end effectors are prone to misoperation. Utility Model Content

[0004] The purpose of this invention is to provide an end effector for a surgical robot that prevents misoperation, in order to solve the problem that the end effector of a surgical robot in the prior art is prone to misoperation.

[0005] To achieve this objective, the present invention adopts the following technical solution:

[0006] An end effector for a surgical robot designed to prevent misoperation includes an operating handle. A first end of the operating handle is provided with a mounting base on which a probe is detachably mounted. The second end of the operating handle is mounted on the execution end of a robotic arm. The operating handle is provided with a first control switch and a second control switch. The first control switch and the second control switch are communicatively connected to the robotic arm to control the robotic arm to switch to a first motion state or a second motion state.

[0007] The first control switch is configured such that when the first control switch is pressed alone, the robotic arm switches to a first motion state, which is a linear motion state along the forward or backward direction of the probe.

[0008] The second control switch is configured such that when it is pressed simultaneously with the first control switch, the robotic arm switches to a second motion state, which is a follow-up state that follows the movement trajectory of the probe.

[0009] Furthermore, the operating handle has a "mouth" - shaped structure, and the first control switch and the second control switch are respectively arranged on two opposite sides of the operating handle at intervals along the length direction of the probe.

[0010] Furthermore, the second control switch can be in a working state or a non - working state. When the second control switch is pressed in the working state, the robotic arm switches to the first motion state. An insurance switch is also provided on the operating handle, and the insurance switch is electrically connected to the second control switch. The insurance switch is configured to control the second control switch to switch to the working state or the non - working state.

[0011] Furthermore, the first control switch is installed on the inner wall of the first side of the operating handle along the length direction of the probe, and the second control switch and the insurance switch are installed on the inner wall of the second side of the operating handle along the length direction of the probe at intervals.

[0012] Furthermore, an accommodation cavity is formed inside the operating handle. The first control switch includes a first pressing member and a first sensing member. The first sensing member is installed in the accommodation cavity. The first side of the first end of the first pressing member is located outside the operating handle, the second side of the first end of the first pressing member is located inside the accommodation cavity, and the second end of the first pressing member is hinged in the accommodation cavity through a hinge member.

[0013] Furthermore, an operating protrusion extending towards the outside of the operating handle is provided on the first side of the first end of the first pressing member, and a contact protrusion extending towards the first sensing member is provided on the second side of the first end of the first pressing member;

[0014] By pressing the operating protrusion, the first pressing member, with the cooperation of the hinge member, pushes out the contact protrusion to contact the first sensing member, and the robotic arm switches to the first motion state.

[0015] Furthermore, the first control switch further includes an elastic member arranged in the accommodation cavity. The first end of the elastic member abuts against the inner wall of the operating handle, and the second end of the elastic member abuts against the first pressing member;

[0016] By pressing the operating protrusion of the first pressing member, the first pressing member moves towards the first sensing member against the elastic force of the elastic member, so that the contact protrusion contacts the first sensing member, and the robotic arm switches to the first motion state.

[0017] Furthermore, the first end of the elastic element is sleeved on the guide shaft, the first end of the guide shaft is fixed on the inner wall of the operating handle, the second end of the guide shaft extends toward the first pressing member, and a clearance channel is opened on the first pressing member corresponding to the second end of the guide shaft for the guide shaft to extend into, and the second end of the elastic element extends into the clearance channel and abuts against the end of the clearance channel.

[0018] When the first pressing member is pressed, the guide shaft extends into the clearance channel to guide the movement of the first pressing member.

[0019] Furthermore, the second control switch includes a second pressing element and a second sensing element. The second sensing element is located within the accommodating cavity. The first side of the first end of the second pressing element is located outside the operating handle. The second side of the first end of the second pressing element is configured as a first clearance groove recessed toward the first side of the first end of the second pressing element. The first end of the second sensing element is mounted on the inner wall of the operating handle via a mounting plate. The second end of the second sensing element is disposed within the first clearance groove.

[0020] Furthermore, the safety switch includes a third pressing component and a control component. The operating handle has a clearance notch for accommodating the lifting and lowering of the third pressing component. The first end of the third pressing component is an operating end, and the second end of the third pressing component has a second clearance groove recessed towards the first end of the third pressing component. The end of the control component is electrically connected to the second control switch. The first end of the control component is mounted on the inner wall of the operating handle via a connecting plate. The second end of the control component has an operating protrusion located within the second clearance groove.

[0021] By operating the third pressing member to move up and down within the clearance notch, the second clearance groove cooperates with the operating protrusion to drive the operating protrusion to move relative to the second end of the control member, thereby controlling the second control switch to switch to the working state or the non-working state.

[0022] Compared with existing technologies, the beneficial effects of the end effector of the surgical robot that prevents misoperation are as follows:

[0023] 1) Through the cooperation of the first control switch and the second control switch, when the first control switch is pressed alone, the robotic arm switches to a linear motion state along the probe's forward or backward direction. When the second control switch is pressed at the same time as the first control switch, the robotic arm switches to a follow-up state that follows the probe's movement trajectory. The operation is simple, avoids the phenomenon of misoperation, and has high safety.

[0024] 2) By making the operating handle in a "mouth" - shaped structure and arranging the first control switch and the second control switch on two opposite sides of the operating handle at intervals along the length direction of the probe, it is convenient for the operator to hold, and further improves the control stability of the moving path of the probe.

[0025] 3) By setting an insurance switch, the insurance switch controls the second control switch to switch to the working state or the non - working state, avoiding the phenomenon that the robotic arm moves randomly due to the operator's mistake during the operation and preventing misoperation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate and understand the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the background technology and the description of the embodiments of the present invention. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the content of the embodiments of the present invention and these drawings.

[0027] Figure 1 FIG. 1 is a three - dimensional structure diagram of the end effector of the anti - misoperation surgical robot provided by the embodiment of the present invention;

[0028] Figure 2 FIG. 2 is an installation structure diagram of the end effector of the anti - misoperation surgical robot provided by the embodiment of the present invention;

[0029] Figure 3 FIG. 3 is a sectional structure diagram of the end effector of the anti - misoperation surgical robot provided by the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The following further illustrates the technical solutions of the present invention with reference to the drawings and through specific embodiments.

[0031] To facilitate understanding of this utility model, a more complete description of it will be given below with reference to the accompanying drawings. Preferred embodiments of this utility model are shown in the drawings. However, this utility model can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this utility model. It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intermediate component. When a component is referred to as being "connected to" another component, it can be directly connected to the other component or there may be an intermediate component. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. The terminology used herein in the description of this utility model is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0032] Please see Figures 1 to 3 As shown, in this embodiment, the end effector of a surgical robot designed to prevent misoperation includes an operating handle 10. A mounting base 20 is provided at the first end of the operating handle 10, on which a probe 30 is detachably mounted. The second end of the operating handle 10 is mounted on the execution end of a robotic arm. A first control switch 40 and a second control switch 50 are provided on the operating handle 10. The first and second control switches 40 are communicatively connected to the robotic arm to control the robotic arm to switch to a first motion state or a second motion state. The first control switch 40 is configured so that when the first control switch 40 is pressed alone, the robotic arm switches to the first motion state, which is a linear motion state along the forward or backward direction of the probe 30. The second control switch 50 is configured so that when it is pressed simultaneously with the first control switch 40, the robotic arm switches to the second motion state, which is a follow-up state that follows the movement trajectory of the probe 30.

[0033] As can be seen, through the cooperation of the first control switch 40 and the second control switch 50, when the first control switch 40 is pressed alone, the robotic arm switches to a linear motion state along the forward or backward direction of the probe 30. When the second control switch 50 is pressed at the same time as the first control switch 40, the robotic arm switches to a follow-up state that follows the movement trajectory of the probe 30. The operation is simple, avoids the phenomenon of misoperation, and has high safety.

[0034] As an implementation manner, the operating handle 10 has a "mouth" - shaped structure, and the first control switch 40 and the second control switch 50 are respectively arranged on two opposite sides of the operating handle 10 at intervals along the length direction of the probe 30.

[0035] It can be seen that by making the operating handle 10 have a "mouth" - shaped structure and arranging the first control switch 40 and the second control switch 50 on two opposite sides of the operating handle 10 at intervals along the length direction of the probe 30, it is convenient for the operator to hold, and further improves the control stability of the moving path of the probe 30.

[0036] As an implementation manner, the second control switch 50 can be in a working state or a non - working state. When the second control switch 50 is pressed in the working state, the robotic arm switches to the first motion state. An insurance switch 60 is also arranged on the operating handle 10, and the insurance switch 60 is electrically connected to the second control switch 50. The insurance switch 60 is configured to control the second control switch 50 to switch to the working state or the non - working state.

[0037] It can be seen that by setting the insurance switch 60, the insurance switch 60 controls the second control switch 50 to switch to the working state or the non - working state, avoiding the phenomenon that the robotic arm moves randomly due to the operator's mistake during the operation and preventing misoperation.

[0038] As an implementation manner, the first control switch 40 is installed on the inner wall of the first side of the operating handle 10 along the length direction of the probe 30, and the second control switch 50 and the insurance switch 60 are installed on the inner wall of the second side of the operating handle 10 along the length direction of the probe 30 at intervals.

[0039] As an implementation manner, an accommodation cavity 11 is formed inside the operating handle 10. The first control switch 40 includes a first pressing member 41 and a first sensing member 42. The first sensing member 42 is installed in the accommodation cavity 11. The first side of the first end of the first pressing member 41 is located outside the operating handle 10, the second side of the first end of the first pressing member 41 is located inside the accommodation cavity 11, and the second end of the first pressing member 41 is hinged in the accommodation cavity 11 through a hinge member 43.

[0040] As an implementation manner, an operating protrusion 410 extending towards the outside of the operating handle 10 is arranged on the first side of the first end of the first pressing member 41, and a contact protrusion 411 extending towards the first sensing member 42 is provided on the second side of the first end of the first pressing member 41. By pressing the operating protrusion 410, the first pressing member 41 cooperates with the hinge member 43 to push out the contact protrusion 411 to contact the first sensing member 42, and the robotic arm switches to the first motion state.

[0041] In one embodiment, the first control switch 40 further includes an elastic element 44 disposed in the accommodating cavity 11. The first end of the elastic element 44 abuts against the inner wall of the operating handle 10, and the second end of the elastic element 44 abuts against the first pressing element 41. By pressing the operating protrusion 410 of the first pressing element 41, the first pressing element 41 overcomes the elastic force of the elastic element 44 and moves toward the first sensing element 42, so that the contact protrusion 411 contacts the first sensing element 42, and the robotic arm switches to the first motion state.

[0042] In one embodiment, the first end of the elastic member 44 is sleeved on the guide shaft 45, the first end of the guide shaft 45 is fixed on the inner wall of the operating handle 10, and the second end of the guide shaft 45 extends toward the first pressing member 41. A clearance channel 46 is provided on the first pressing member 41 corresponding to the second end of the guide shaft 45 for the guide shaft 45 to extend into. The second end of the elastic member 44 extends into the clearance channel 46 and abuts against the end of the clearance channel 46. When the first pressing member 41 is pressed, the guide shaft 45 extends into the clearance channel 46 to guide the movement stroke of the first pressing member 41.

[0043] In one embodiment, the second control switch 50 includes a second pressing member 51 and a second sensing member 52. The second sensing member 52 is located in the accommodating cavity 11. The first side of the first end of the second pressing member 51 is located outside the operating handle 10. The second side of the first end of the second pressing member 51 is configured as a first relief groove 510 recessed toward the first side of the first end of the second pressing member 51. The first end of the second sensing member 52 is mounted on the inner wall of the operating handle 10 through a mounting plate 53. The second end of the second sensing member 52 is disposed in the first relief groove 510.

[0044] In one embodiment, the safety switch 60 includes a third pressing member 61 and a control member 62. The operating handle 10 has a clearance notch for accommodating the raising and lowering of the third pressing member 61. The first end of the third pressing member 61 is the operating end, and the second end of the third pressing member has a second clearance groove 610 recessed towards the first end of the third pressing member 61. The end of the control member 62 is electrically connected to the second control switch 50. The first end of the control member 62 is mounted on the inner wall of the operating handle 10 via a connecting plate 63. The second end of the control member 62 has an operating protrusion 620 located within the second clearance groove 610. By operating the third pressing member 61 to raise and lower within the clearance notch, the second clearance groove 610 and the operating protrusion 620 cooperate to move the operating protrusion 620 relative to the second end of the control member 62, thereby controlling the second control switch 50 to switch to the working state or the non-working state.

[0045] Specifically, the end face of the third pressing member 61 is provided with an operating slope 611 that facilitates pushing.

[0046] When the end effector of the surgical robot described above is in operation: first, the operator holds both ends of the operating handle 10 with both hands and presses the first control switch 40 and the second control switch 50 at the same time. The robotic arm switches to a follow-up state that follows the movement trajectory of the probe 30. Then, after it moves into position, the operator presses the first control switch 40 alone. The robotic arm switches to a linear movement state along the forward or backward direction of the probe 30 and works in coordination with the probe 30.

[0047] It should be noted that, for safety reasons, a safety switch 60 is provided below the second control switch 50. By flipping the safety switch 60 upwards, the second control switch 50 is turned off and becomes unusable. The robotic arm can only move in a single linear direction, thus preventing the robotic arm from moving arbitrarily due to operator error during the operation.

[0048] The above embodiments merely illustrate the basic principles and characteristics of this utility model. This utility model is not limited to the above examples. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An end effector for a surgical robot designed to prevent misoperation, characterized in that, The end effector of the surgical robot for preventing misoperation includes an operating handle. An installation base is provided at the first end of the operating handle. A probe is detachably installed on the installation base. The second end of the operating handle is installed at the execution end of the robotic arm. A first control switch and a second control switch are provided on the operating handle. The first control switch and the second control switch are communicatively connected to the robotic arm to control the robotic arm to switch to a first motion state or a second motion state; The first control switch is configured such that when the first control switch is pressed alone, the robotic arm switches to the first motion state, and the first motion state is a linear motion state along the forward or backward direction of the probe; The second control switch is configured such that when it is pressed simultaneously with the first control switch, the robotic arm switches to the second motion state, and the second motion state is a follow-up state following the movement trajectory of the probe.

2. The end effector of the surgical robot for preventing misoperation according to claim 1, characterized in that, The operating handle has a "mouth" - shaped structure, and the first control switch and the second control switch are respectively provided on two opposite sides of the operating handle spaced along the length direction of the probe.

3. The end effector of the surgical robot for preventing misoperation according to claim 1, characterized in that, The second control switch can be in a working state or a non - working state. When the second control switch in the working state is pressed, the robotic arm switches to the first motion state. An insurance switch is also provided on the operating handle. The insurance switch is electrically connected to the second control switch, and the insurance switch is configured to control the second control switch to switch to the working state or the non - working state.

4. The end effector of the surgical robot for preventing misoperation according to claim 3, characterized in that, The first control switch is installed on the inner wall of the first side of the operating handle along the length direction of the probe, and the second control switch and the insurance switch are spaced and installed on the inner wall of the second side of the operating handle along the length direction of the probe.

5. The end effector of the surgical robot for preventing misoperation according to claim 2, characterized in that, A receiving cavity is formed inside the operating handle. The first control switch includes a first pressing member and a first sensing member. The first sensing member is installed in the receiving cavity. The first side of the first end of the first pressing member is located outside the operating handle, and the second side of the first end of the first pressing member is located inside the receiving cavity. The second end of the first pressing member is hinged in the receiving cavity through a hinge member.

6. The end effector of the surgical robot for preventing misoperation according to claim 5, characterized in that, An operating protrusion extending towards the outside of the operating handle is provided on the first side of the first end of the first pressing member, and a contact protrusion extending towards the first sensing member is provided on the second side of the first end of the first pressing member; By pressing the operating protrusion, the first pressing member, with the cooperation of the hinge member, pushes out the contact protrusion to contact the first sensing member, and the robotic arm switches to the first motion state.

7. The end effector of the surgical robot for preventing misoperation according to claim 6, characterized in that, The first control switch further includes an elastic member provided in the receiving cavity. The first end of the elastic member abuts against the inner wall of the operating handle, and the second end of the elastic member abuts against the first pressing member; By pressing the operating protrusion of the first pressing member, the first pressing member moves towards the first sensing member against the elastic force of the elastic member, so that the contact protrusion contacts the first sensing member, and the robotic arm switches to the first motion state.

8. The end effector of the surgical robot for preventing misoperation according to claim 7, characterized in that, The first end of the elastic element is sleeved on the guide shaft, the first end of the guide shaft is fixed on the inner wall of the operating handle, the second end of the guide shaft extends toward the first pressing element, and a clearance channel is opened on the first pressing element corresponding to the second end of the guide shaft for the guide shaft to extend into, and the second end of the elastic element extends into the clearance channel and abuts against the end of the clearance channel. When the first pressing member is pressed, the guide shaft extends into the clearance channel to guide the movement of the first pressing member.

9. The end effector of the surgical robot for preventing misoperation according to claim 5, characterized in that, The second control switch includes a second pressing element and a second sensing element. The second sensing element is located in the accommodating cavity. The first side of the first end of the second pressing element is located outside the operating handle. The second side of the first end of the second pressing element is configured as a first relief groove that is recessed toward the first side of the first end of the second pressing element. The first end of the second sensing element is mounted on the inner wall of the operating handle through a mounting plate. The second end of the second sensing element is disposed in the first relief groove.

10. The end effector of the surgical robot for preventing misoperation according to claim 3, characterized in that, The safety switch includes a third pressing component and a control component. The operating handle has a clearance notch for accommodating the lifting and lowering of the third pressing component. The first end of the third pressing component is an operating end, and the second end of the third pressing component has a second clearance groove recessed towards the first end of the third pressing component. The end of the control component is electrically connected to the second control switch. The first end of the control component is mounted on the inner wall of the operating handle via a connecting plate. The second end of the control component has an operating protrusion located within the second clearance groove. By operating the third pressing member to move up and down within the clearance notch, the second clearance groove cooperates with the operating protrusion to drive the operating protrusion to move relative to the second end of the control member, thereby controlling the second control switch to switch to the working state or the non-working state.

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