Flexible instrument robot and operating handle for a flexible instrument robot

Abstract

The application discloses a flexible instrument robot and an operating handle of the flexible instrument robot. The operating handle comprises a handle body, the handle body comprises a first handle part and a second handle part, the first handle part and the second handle part are rotationally connected to switch between an open state and a closed state, in the closed state, an accommodating channel is formed between the first handle part and the second handle part, the accommodating channel comprises a first section and a second section, the first section is tightly matched with the flexible instrument, and the second section is loosely matched with the flexible instrument. The operating handle can be adapted to clamp the bending area of the flexible instrument, and has relatively better versatility.

Description

Technical Field

[0001] This application relates to the field of medical device technology, specifically to a flexible medical device robot and its operating handle. Background Technology

[0002] For interventional surgeries involving the body's natural cavities, flexible instrument robots are auxiliary robots that provide simple operating procedures and stable surgical results. They can replace nurses to assist doctors in the delivery, retrieval, and biopsy of flexible instruments such as flexible endoscopes during interventional surgeries, thereby reducing the involvement of medical staff and lowering the risk of cross-infection.

[0003] Flexible instrument robots consist of a robot body and an operating handle. When using a flexible instrument robot to assist in interventional surgery, the surgeon's left hand needs to hold the operating part of the flexible instrument, such as a flexible endoscope, while the right hand needs to hold the operating handle to send operating commands to the robot body. The robot body then performs operations such as gripping, transporting, retracting, and rotating the flexible instrument. In related technologies, the operating handle cannot be used in the curved areas of flexible instruments such as flexible endoscopes. This forces the surgeon to put down the operating handle when operating in these curved areas, and then operate the operating part of the flexible instrument while directly operating the control buttons on the robot body. This is inconvenient and defeats the purpose of having an operating handle.

[0004] Therefore, how to provide a solution to overcome or alleviate the above-mentioned defects remains a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] The purpose of this application is to provide a flexible mechanical robot and a manipulator for the flexible mechanical robot, wherein the manipulator is adaptable to clamping the curved area of ​​the flexible mechanical robot and has relatively good versatility.

[0006] To address the aforementioned technical problems, in a first aspect, this application provides an operating handle for a flexible robotic device, comprising a handle body, the handle body including a first handle portion and a second handle portion, the first handle portion and the second handle portion being rotatably connected to switch between an open state and a closed state, wherein in the closed state, a receiving channel is formed between the first handle portion and the second handle portion, the receiving channel including a first segment and a second segment, the first segment being tightly fitted to the flexible device, and the second segment being loosely fitted to the flexible device.

[0007] In some embodiments, the inner wall surfaces of both the first handle and the second handle are provided with a flexible layer.

[0008] In some embodiments, the flexible robotic system includes a robot body, and the operating handle further includes a control unit mounted on the first handle portion. The control unit is configured to communicate with the robot body.

[0009] In some embodiments, the control unit includes a control motherboard, a connecting cable, a mounting frame, and a control panel. The first handle is provided with a mounting groove, the control motherboard is disposed in the mounting groove, one end of the connecting cable is connected to the control motherboard, the mounting frame is sealed to the peripheral wall plate in the first handle for enclosing the mounting groove, and the mounting frame can press the connecting cable tightly, the control panel is provided with control buttons, and the control panel is connected to the mounting frame.

[0010] In some embodiments, the control panel is made of a flexible material.

[0011] In some embodiments, the operating handle further includes a locking unit for locking the first handle portion and the second handle portion in the closed state.

[0012] In some embodiments, the locking unit includes: a ratchet tooth disposed on the second shank; a pawl including a hinge portion, a driven portion, and a hook portion, the hinge portion being hinged to the first shank, the hook portion being used to engage with the ratchet tooth; a first elastic member acting on the pawl to drive the hook portion of the pawl to engage with the ratchet tooth; and a push switch including a sliding portion and a driving portion, the sliding portion being slidably connected to the first shank to switch between a first position and a second position, wherein in the second position, the driving portion can drive the pawl to rotate through the driven portion, causing the hook portion to separate from the ratchet tooth.

[0013] In some embodiments, at least one of the driving part and the driven part is provided with a guide surface, the sliding direction of the guide surface and the sliding part are at an angle, and the driving part drives the pawl to rotate through the guide surface.

[0014] In some embodiments, the locking unit further includes a second elastic element that acts on the push switch to drive the push switch to move toward the first position.

[0015] Secondly, this application also provides a flexible medical robot, including a robot body and an operating handle, wherein the operating handle is the operating handle of the aforementioned flexible medical robot.

[0016] In this embodiment, the receiving channel of the handle body includes a first section and a second section. The first section is tightly fitted with the flexible device, and the second section is loosely fitted with the flexible device. Thus, when the flexible device passes through the receiving channel, the first section can position and clamp the flexible device, allowing the operating handle to reliably attach to it for reliable clamping. The second section provides space for the bending area of ​​the flexible device, preventing it from being rigidly restricted by the handle body. In other words, this embodiment does not tightly clamp the flexible device along the entire length of the receiving channel, but rather achieves a balance between "reliable fixation" and "allowing bending" through the cooperation of the first and second sections. Therefore, even if the operating handle is installed near the bending area of ​​the flexible device, interference between them is unlikely, making the operating handle more suitable for clamping the bending area of ​​the flexible device and improving its versatility. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a flexible robotic device provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of the operating handle of a flexible robotic device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the handle body in the closed state. Figure 4 This is a schematic diagram of the handle body in the open state. Figure 5 This is a structural diagram showing the fit between the handle body and the bending area of ​​the flexible device in the closed state. Figure 6 An exploded view of the control unit and the first handle; Figure 7 This is a connection diagram of the control panel and the main control board; Figure 8 This is a schematic diagram of the push switch in the first position of the locking unit; Figure 9 This is a schematic diagram of the push switch in the second position of the locking unit; Figure 10 An exploded view of the locking unit and the first handle; Figure 11 This is a schematic diagram of the push-button switch and the ratchet.

[0018] The annotations in the attached figures are explained as follows: 100 flexible mechanical robots; 200 flexible mechanical devices; 1000 robot bodies; 2000 Operating handle; 2100 Handle body; 2110 First handle portion; 2111 Mounting slot; 2112 First shaft; 2113 Second shaft; 2114 Peripheral wall plate; 2120 Second handle portion; 2130 Receiving channel; 2131 First section; 2132 Second section; 2140 Flexible layer; 2200 Control unit; 2210 Control motherboard; 2220 Connecting cable; 2230 Mounting frame; 2240 Control panel; 2241 Control button; 2300 Locking unit; 2310 Ratchet tooth; 2320 Pawl; 2321 Hinge; 2322 Driven part; 2323 Hook part; 2330 First elastic element; 2340 Press switch; 2341 Sliding part; 2342 Drive part; 2342A Guide surface; 2350 Second elastic element. Detailed Implementation

[0019] To enable those skilled in the art to better understand the technical solutions of this application, the specific embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0020] In the description of the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" and "second" may explicitly or implicitly include one or more of that feature.

[0021] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, "joining" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. "Rotary connection" refers to connections that allow relative rotation after connection. "Sliding connection" refers to connections that allow relative sliding after connection.

[0022] The directional terms used in the embodiments of this application, such as "inner" and "outer," are merely for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of this application, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application. Furthermore, unless otherwise stated in this application, "multiple" as used in this application refers to two or more.

[0023] In the description of embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0024] Please refer to Figure 1 , Figure 1 This is a schematic diagram of the structure of a flexible robotic robot 100 provided in an embodiment of this application.

[0025] like Figure 1 As shown, this application embodiment provides a flexible mechanical robot 100, including a robot body 1000 and an operating handle 2000.

[0026] The robot body 1000 is the main structure of the flexible medical device robot 100, and can be used to perform gripping, transporting, retraction, rotation, positioning, or other auxiliary operations on flexible medical devices. Here, the embodiments of this application do not limit the specific type of flexible medical device; in practical applications, those skilled in the art can select one according to specific needs. For example, the flexible medical device can be a medical device capable of entering, bending, or turning along natural body cavities, such as a flexible endoscope, bronchoscope, gastroscope, colonoscope, laryngoscope, or ureteroscope.

[0027] The operating handle 2000 is an auxiliary structure of the flexible instrument robot 100, used to grip the flexible instrument. Signal interaction can occur between the operating handle 2000 and the robot body 1000 to send control commands to the robot body 1000. During operation, the doctor can hold the operating part of the flexible instrument with one hand and the operating handle 2000 with the other, controlling the robot body 1000 to perform actions related to the delivery of the flexible instrument via the operating handle 2000.

[0028] However, as described in the background section, in related technologies, operating handles are typically only suitable for fixing to the straight areas of flexible instruments, and cannot be applied to the curved areas of flexible instruments, thus greatly limiting the design applications of the operating handles. To address this, this application provides an operating handle 2000, which, through structural modifications, allows the operating handle 2000 to be used not only for clamping the straight areas of flexible instruments but also for clamping the curved areas of flexible instruments. This significantly improves the versatility of the operating handle 2000 and further enhances the assistive effect of the flexible instrument robot 100 for doctors performing flexible instrument interventional procedures.

[0029] Please refer to Figures 2-5 , Figure 2 This is a schematic diagram of the structure of the operating handle of a flexible robotic device provided in an embodiment of this application; Figure 3 This is a schematic diagram of the handle body in the closed state. Figure 4 This is a schematic diagram of the handle body in the open state. Figure 5 This is a diagram showing the fit between the handle body and the bending area of ​​the flexible device in the closed state.

[0030] like Figures 2-4 As shown in the embodiments of this application, the operating handle 2000 may include a handle body 2100.

[0031] The handle body 2100 is the main structure of the operating handle 2000, which is held by the operator (usually a doctor) and can cooperate with the flexible instrument 200. The handle body 2100 may include a first handle portion 2110 and a second handle portion 2120. The first handle portion 2110 and the second handle portion 2120 are rotatably connected, allowing the handle body 2100 to switch between an open state and a closed state. In the open state, such as... Figure 4 As shown, the included angle between the first handle portion 2110 and the second handle portion 2120 is relatively large, so that the operator can easily place the flexible instrument 200 between the first handle portion 2110 and the second handle portion 2120, or remove the flexible instrument 200 from the operating handle 2000. In the closed state, as... Figure 2 and Figure 3 As shown, the first handle portion 2110 and the second handle portion 2120 can approach each other and enclose to form a receiving channel 2130 for receiving the flexible device 200.

[0032] Specifically, the first handle portion 2110 and the second handle portion 2120 can be rotatably connected by a rotating shaft (not shown in the figure). The rotating shaft can extend along the length of the handle body 2100, and both the first handle portion 2110 and the second handle portion 2120 can be rotatably connected to the rotating shaft so as to rotate relative to the central axis of the rotating shaft; the rotating shaft can be, for example, a shaft structure such as a pin.

[0033] Furthermore, a reset elastic element can be provided between the first handle portion 2110 and the second handle portion 2120. The reset elastic element can be a torsion spring, which can be sleeved on the rotating shaft. One end of the torsion spring can act on the first handle portion 2110, and the other end of the torsion spring can act on the second handle portion 2120. When the handle body 2100 is driven to switch to the closed state, the deformation of the reset elastic element can increase to accumulate elastic potential energy. When the external force acting on the handle body 2100 is released, the elastic potential energy accumulated by the reset elastic element can be released, thereby driving the handle body 2100 to automatically switch to the open state.

[0034] The receiving channel 2130 can extend approximately along the length of the handle body 2100, and the flexible device 200 can be inserted into the receiving channel 2130.

[0035] In this embodiment, the receiving channel 2130 includes a first segment 2131 and a second segment 2132. The first segment 2131 and the flexible device 200 are tightly fitted, while the second segment 2132 and the flexible device 200 are loosely fitted. It should be understood that "tightly fitted" means that the inner wall of the first segment 2131 can fit against and clamp the outer peripheral wall of the flexible device 200, making it difficult for relative sliding to occur between the operating handle 2000 and the flexible device 200; "loosely fitted" means that there is a certain gap between the inner wall of the second segment 2132 and the outer peripheral wall of the flexible device 200, allowing the flexible device 200 to still have space to bend, swing, or adjust its posture within the second segment 2132.

[0036] In this design, when the flexible device 200 passes through the receiving channel 2130, the first segment 2131 can position and clamp the flexible device 200, allowing the operating handle 2000 to reliably attach to the flexible device 200, thus enabling reliable clamping of the flexible device 200 through the operating handle 2000. The second segment 2132 can reserve space for the bending area of ​​the flexible device 200, making the bending area of ​​the flexible device 200 less susceptible to rigid restriction by the handle body 2100. In other words, the embodiment of this application does not tightly clamp the flexible device 200 along the entire length of the receiving channel 2130, but rather achieves a balance between "reliable fixation" and "allowing bending" through the cooperation of the first segment 2131 and the second segment 2132. Therefore, even if the operating handle 2000 is installed near the bending area of ​​the flexible instrument 200, it is not easy for it to interfere with the bending area of ​​the flexible instrument 200. This makes the operating handle 2000 more suitable for clamping the bending area of ​​the flexible instrument 200, thus improving the versatility of the operating handle 2000.

[0037] Here, the embodiments of this application do not limit the number or placement of the first segment 2131 and the second segment 2132. In practical applications, those skilled in the art can select them according to specific needs. For example, see... Figure 3 The first segment 2131 can be set to one, and the second segment 2132 can be set to two, with the two second segments 2132 arranged on either side of the first segment 2131. Alternatively, the number of both the first segment 2131 and the second segment 2132 can be one.

[0038] Furthermore, the embodiments of this application do not limit the size of the gap between the second segment 2132 and the flexible device 200 under loose fit conditions. In practical applications, those skilled in the art can also select the appropriate size according to specific needs. For example, see [link to relevant documentation]. Figure 5 The gap between the second segment 2132 and the flexible device 200 can be set to be relatively large, so that the part of the flexible device 200 in the bending area can extend out from the second segment 2132, so as to better adapt to the use of the bending part with a large curvature.

[0039] In some implementations, such as Figure 4 As shown, the inner wall surfaces of the first handle portion 2110 and the second handle portion 2120 can both be provided with a flexible layer 2140.

[0040] The flexible layer 2140 can be made of silicone, rubber, thermoplastic elastomer, medical elastic material, soft polyurethane, or other materials with certain elasticity and flexibility. The flexible layer 2140 can be fixed to the inner wall surface of the first handle 2110 and the second handle 2120 by bonding, overmolding, secondary injection molding, snap-fitting, or other methods.

[0041] For the first segment 2131, the flexible layer 2140 provides flexible cushioning when it forms a tight fit with the flexible device 200, making it less likely for the first segment 2131 to form hard indentations on the flexible device 200. This reduces the risk of scratches, pressure marks, or breakage due to excessive local stress on the outer surface of the flexible device 200. Since the flexible layer 2140 itself has a certain degree of elasticity, it can also compensate for the outer diameter tolerances between flexible devices 200 of different specifications, allowing the operating handle 2000 to adapt to a wider range of flexible devices 200, further improving the versatility of the operating handle 2000 provided in this embodiment.

[0042] For the second segment 2132, the flexible layer 2140 can provide relatively better cushioning and protection, reducing rigid wear between the flexible device 200 and the second segment 2132.

[0043] The flexible layers 2140 of the first segment 2131 and the second segment 2132 can have different structural forms. For example, the surface of the flexible layer 2140 of the first segment 2131 can be provided with anti-slip textures, dotted protrusions, striped protrusions, and other structures that can increase friction to improve the positioning ability of the first segment 2131 for the flexible instrument 200; while the surface of the flexible layer 2140 of the second segment 2132 can be set as a smoother curved surface to reduce wear to a greater extent.

[0044] Of course, to simplify the design, the flexible layer 2140 of the first segment 2131 and the second segment 2132 can also have the same structure.

[0045] Please refer to Figure 6 and Figure 7 , Figure 6 An exploded view of the control unit and the first handle; Figure 7 This is a connection diagram of the control panel and the main control board.

[0046] In some implementations, the operating handle 2000 may also include a control unit 2200.

[0047] The control unit 2200 can be installed on either the first handle portion 2110 or the second handle portion 2120, and is not limited thereto. The following embodiments of this application mainly use the installation on the first handle portion 2110 as an example for description. The control unit 2200 is configured to communicate with the robot body 1000, so that the operator can input control commands to the robot body 1000 through the control unit 2200 while holding the handle body 2100.

[0048] Here, the embodiments of this application do not limit the communication connection method between the control unit 2200 and the robot body 1000. In practical applications, those skilled in the art can choose according to specific needs. For example, see Figure 2 and Figure 6 The control unit 2200 can be wired to the robot body 1000 via a connecting cable 2220. Wired connections offer advantages such as stable transmission, good anti-interference capabilities, and low response latency, effectively improving response speed. Simultaneously, the connecting cable 2220 also serves as the physical connection between the control handle 2000 and the robot body 1000, reducing the possibility of the control handle 2000 being lost. Alternatively, the control unit 2200 can also be wirelessly connected to the robot body 1000, using methods such as Bluetooth or Wi-Fi. This simplifies the structure of the control handle 2000 and reduces the restriction on the operator's range of motion imposed by the connecting cable 2220, making the movement of the control handle 2000 more flexible and smooth.

[0049] Combination Figure 6 and Figure 7 The control unit 2200 may include a control motherboard 2210, a mounting frame 2230, and a control panel 2240.

[0050] The first handle portion 2110 may be provided with a mounting groove 2111. Specifically, the first handle portion 2110 may be provided with a protruding peripheral wall plate 2114, the inner side of which can surround to form the mounting groove 2111. The mounting groove 2111 can be used to accommodate the control motherboard 2210. The control motherboard 2210 can be a printed circuit board (PCB), on which a processor, control chip, signal acquisition circuit, key detection circuit, communication circuit, connection terminals, or other electronic components can be mounted. One end of the connecting cable 2220 can be connected to the control motherboard 2210, and the other end of the connecting cable 2220 can be used to connect to the robot body 1000. The connecting cable 2220 may include signal lines, power lines, etc.

[0051] During assembly, the mounting frame 2230 and the peripheral wall plate 2114 can be sealed together. Specifically, the mounting frame 2230 can be arranged around the peripheral wall plate 2114 and can be connected to the peripheral wall plate 2114 by means of screw connection, snap connection or other connection methods; and a sealing structure in the form of sealing ring, sealant or other sealant can be provided between the mounting frame 2230 and the peripheral wall plate 2114 to ensure the sealing between the mounting frame 2230 and the peripheral wall plate 2114.

[0052] Combination Figure 6The connecting cable 2220 can be introduced into the mounting groove 2111 from one wall of the peripheral wall plate 2114. When the mounting frame 2230 is connected to the first handle 2110, it can also press the connecting cable 2220 simultaneously to hold and limit the connecting cable 2220, so that the connection between the connecting cable 2220 and the control motherboard 2210 is not easy to loosen due to external pulling, and it also helps to ensure a reliable connection between the connecting cable 2220 and the control motherboard 2210.

[0053] In this embodiment, the mounting frame 2230 can be made of a rigid material, such as rigid plastic, metal, rigid composite material, or other materials with high structural strength. This allows the mounting frame 2230 to apply a relatively stable clamping force when connected to the first handle 2110, ensuring reliable clamping of the sealing structure between the mounting frame 2230 and the peripheral wall plate 2114, thus guaranteeing a more reliable seal.

[0054] The control panel 2240 can be connected to the mounting frame 2230 to shield the mounting slot 2111. The control panel 2240 is equipped with control buttons 2241, which may include directional buttons, confirmation buttons, start / stop buttons, speed adjustment buttons, and other buttons suitable for controlling the robot body 1000. Furthermore, these control buttons 2241 can contact the button input structure on the control motherboard 2210 to send control signals outwards. The button input structure can specifically be a membrane button, a capacitive touch structure, a spring-loaded structure, etc.

[0055] In some implementations, the control panel 2240 can be made of a flexible material. The flexible material can be silicone, rubber, soft plastic, flexible film, or other materials capable of elastic deformation upon pressure.

[0056] This approach improves the tactile feedback when the operator presses the control button 2241, making the feedback softer and reducing finger fatigue caused by prolonged operation. On the other hand, the flexible control panel 2240 can better fit the shape of the mounting frame 2230 or the first handle 2110 and form a better sealing fit in its edge area, thereby increasing the protection of the mounting groove 2111 to a greater extent.

[0057] In addition, the flexible control panel 2240 can also provide buffer protection for the control motherboard 2210. When the operating handle 2000 is subjected to collision or pressing impact, it can reduce the direct impact of the impact force on the control motherboard 2210, thereby reducing the risk of damage to the control motherboard 2210.

[0058] It should be understood that the above description of the control panel 2240 being made of a flexible material is merely an exemplary illustration of the embodiments of this application in conjunction with the accompanying drawings. This should not be construed as limiting the scope of the operating handle 2000 provided in the embodiments of this application. In some other implementations of the embodiments of this application, the control panel 2240 may also use other materials. For example, the control panel 2240 may employ a combination design of a hard shell and flexible buttons. The hard shell facilitates installation, while the flexible buttons provide a more comfortable tactile experience.

[0059] Please refer to Figures 8-11 , Figure 8 This is a schematic diagram of the push switch in the first position of the locking unit; Figure 9 This is a schematic diagram of the push switch in the second position of the locking unit; Figure 10 An exploded view of the locking unit and the first handle; Figure 11 This is a schematic diagram of the push-button switch and the ratchet.

[0060] In some implementations, such as Figure 2 , Figures 8-11 As shown, the operating handle 2000 may also include a locking unit 2300, which is used to lock the first handle portion 2110 and the second handle portion 2120 in a closed state.

[0061] Specifically, when the flexible instrument 200 is placed between the first handle 2110 and the second handle 2120, the operator can bring the first handle 2110 and the second handle 2120 closer together and keep them closed by the locking unit 2300. This allows the first segment 2131 to continuously and stably clamp the flexible instrument 200, reducing the possibility of the first handle 2110 and the second handle 2120 accidentally switching to the open state. In other words, the design of the locking unit 2300 also helps to ensure the reliable clamping of the flexible instrument 200 by the operating handle 2000.

[0062] In some implementations, the locking unit 2300 may include a ratchet tooth 2310, a pawl 2320, a first elastic element 2330, and a push switch 2340.

[0063] Ratchet teeth 2310 can be disposed on the second handle 2120. Ratchet teeth 2310 may include multiple teeth arranged sequentially along a predetermined trajectory. All teeth can engage with the pawl 2320 to achieve locking when the first handle 2110 and the second handle 2120 are closed. Ratchet teeth 2310 can be integrally formed with the second handle 2120, or they can be separately manufactured and then fixedly connected to the second handle 2120 as a rack, toothed plate, etc. When ratchet teeth 2310 employ a multiple-tooth structure, the first handle 2110 and the second handle 2120 can be locked at different degrees of closure, allowing the operating handle 2000 to better adapt to flexible instruments 200 with different outer diameters, further improving versatility.

[0064] The pawl 2320 may include a hinge portion 2321, a driven portion 2322, and a hook portion 2323.

[0065] The hinge portion 2321 can be hinged to the first handle portion 2110. Specifically, the first handle portion 2110 can be provided with a first shaft 2112, and the hinge portion 2321 of the pawl 2320 can be rotatably connected to the first shaft 2112 so that the pawl 2320 can rotate relative to the first handle portion 2110.

[0066] The pawl portion 2323 can be disposed at one end of the pawl 2320 and is used to engage with the ratchet tooth 2310. When the pawl portion 2323 engages with the ratchet tooth 2310, the movement of the ratchet tooth 2310 relative to the opening direction of the first handle portion 2110 can be restricted, thereby keeping the first handle portion 2110 and the second handle portion 2120 in the closed state. However, the movement of the ratchet tooth 2310 relative to the closing direction of the first handle portion 2110 is not restricted, allowing the first handle portion 2110 and the second handle portion 2120 to move closer to each other to adjust the locking state.

[0067] The driven part 2322 can be disposed on the pawl 2320 and used to form a linkage with the push switch 2340. Specifically, the push switch 2340 can drive the pawl 2320 to rotate around the first axis 2112 by acting on the driven part 2322, thereby disengaging the meshing relationship between the pawl 2320 and the ratchet teeth 2310.

[0068] The first elastic element 2330 can act on the pawl 2320 to drive the pawl portion 2323 of the pawl 2320 to mesh with the ratchet teeth 2310. The first elastic element 2330 can be a torsion spring, compression spring, tension spring, spring sheet, or other structure capable of providing elastic restoring force, and is not limited thereto. In the implementation shown in the figure, such as Figure 10 As shown, the first elastic element 2330 can be a torsion spring, which can be sleeved on the first shaft 2112.

[0069] The push switch 2340 may include a sliding part 2341 and a driving part 2342.

[0070] The sliding part 2341 is slidably connected to the first handle 2110 to switch between a first position and a second position. The first position can be the position where the push switch 2340 is not pressed or in its initial state, as detailed in [reference needed]. Figure 8 As shown. The second position can be the position after the push switch 2340 is pressed; see [link to details]. Figure 9 As shown.

[0071] Here, the embodiments of this application do not limit the specific sliding connection method between the sliding part 2341 and the first handle part 2110. In practical applications, those skilled in the art can choose according to specific needs. For example, see Figure 10 The first handle 2110 may be provided with a second shaft 2113, and the sliding part 2341 may be slidably connected to the second shaft 2113.

[0072] The outer surface of the sliding part 2341 may be provided with anti-slip texture, raised dots, raised strips or other structures that facilitate finger pressing, so that the operator can easily trigger the push switch 2340 when holding the handle body 2100.

[0073] The drive unit 2342 can be connected to the sliding unit 2341 and can move synchronously with the sliding unit 2341. When the sliding unit 2341 switches from the first position to the second position, the drive unit 2342 can drive the pawl 2320 to rotate through the driven part 2322, causing the pawl part 2323 and the ratchet tooth 2310 to separate. At this time, the locking unit 2300 is released, the second handle 2120 is no longer locked by the pawl 2320, and the first handle 2110 and the second handle 2120 can be opened under the action of the reset elastic member, or manually opened by the operator.

[0074] In some implementations, at least one of the driving part 2342 and the driven part 2322 is provided with a guide surface 2342A. The sliding direction of the guide surface 2342A and the sliding part 2341 forms an angle. The specific value of the angle is not limited here. The driving part 2342 can drive the pawl 2320 to rotate through the guide surface 2342A.

[0075] Specifically, such as Figure 11As shown, the guide surface 2342A can be disposed on the drive part 2342. The guide surface 2342A can be a plane, an arc surface, or a combination of both, which is not limited here. When the sliding part 2341 moves to the second position along its sliding direction, the guide surface 2342A abuts against the driven part 2322. Since the guide surface 2342A has an angle with respect to the sliding direction, the driven part 2322 will be subjected to a force with a rotational component, thereby driving the pawl 2320 to rotate, so as to disengage the meshing relationship with the ratchet tooth 2310.

[0076] It should be understood that in some other implementations of the embodiments of this application, the guide surface 2342A may also be disposed on the driven part 2322, or the guide surface 2342A may be disposed on both the driving part 2342 and the driven part 2322.

[0077] In some implementations, the locking unit 2300 may also include a second elastic element 2350.

[0078] The second elastic element 2350 can act on the push switch 2340 to drive the push switch 2340 to move towards the first position. The second elastic element 2350 can be a linear spring, a sheet, an elastic block, or other elastic structure.

[0079] Specifically, such as Figure 10 As shown, the second elastic element 2350 can be a linear spring and can be sleeved on the second shaft 2113. One end of the second elastic element 2350 can abut against the first handle 2110, and the other end of the second elastic element 2350 can abut against the sliding part 2341. When the operator applies pressure to the push switch 2340 and switches the push switch 2340 to the second position, the deformation of the second elastic element 2350 can increase to accumulate elastic potential energy. When the operator releases the push switch 2340, the elastic potential energy accumulated in the second elastic element 2350 can be released to drive the sliding part 2341 to automatically reset to the first position. When the sliding part 2341 switches to the first position, the force of the driving part 2342 on the driven part 2322 is released, and the pawl 2320 can rotate again toward the ratchet tooth 2310 under the action of the first elastic element 2330, and can engage with the ratchet tooth 2310 again to achieve locking between the first handle 2110 and the second handle 2120.

[0080] The following will further explain the usage of the operating handle 2000 provided in the embodiments of this application, in conjunction with the operation process.

[0081] When it is necessary to install the operating handle 2000 onto the flexible instrument 200, the operator can first release the locking unit 2300, switching the first handle portion 2110 and the second handle portion 2120 to the open state. Then, the operator can place the flexible instrument 200 between the first handle portion 2110 and the second handle portion 2120. Afterward, the operator can bring the first handle portion 2110 and the second handle portion 2120 closer together until the first segment 2131 forms a tight fit with the flexible instrument 200, and the pawl portion 2323 of the pawl 2320 engages with the ratchet tooth 2310 on the second handle portion 2120. At this point, the locking unit 2300 keeps the first handle portion 2110 and the second handle portion 2120 in the closed state, and the operating handle 2000 can stably clamp the flexible instrument 200.

[0082] After the operating handle 2000 is installed, the first segment 2131 can reliably clamp the flexible device 200, preventing the operating handle 2000 from sliding along the axis of the flexible device 200 or wobbling around the flexible device 200 when the operator holds the handle body 2100. The second segment 2132 maintains a loose fit with the flexible device 200, preventing interference between the curved area of ​​the flexible device 200 and the operating handle 2000. The operator can then, according to the predetermined operating logic, hold the operating part of the flexible device 200 while issuing commands to the robot body 1000 through the control unit 2200 on the operating handle 2000, thereby controlling the robot body 1000 to perform conveying, retraction, rotation, or other actions on the flexible device 200.

[0083] When it is necessary to disassemble the operating handle 2000 or adjust its position on the flexible instrument 200, the operator can press the push switch 2340. The push switch 2340 moves from the first position to the second position, and the drive unit 2342 drives the pawl 2320 to rotate via the driven part 2322, causing the hook part 2323 to disengage from the ratchet tooth 2310. Subsequently, the first handle part 2110 and the second handle part 2120 can be opened, allowing the flexible instrument 200 to be removed from the receiving channel 2130, or the operating handle 2000 can be moved to other positions on the flexible instrument 200 and then closed and locked again.

[0084] The above are merely preferred embodiments of this application. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A control handle for a flexible robotic robot, characterized in that, The device includes a handle body (2100), which includes a first handle portion (2110) and a second handle portion (2120). The first handle portion (2110) and the second handle portion (2120) are rotatably connected to switch between an open state and a closed state. In the closed state, a receiving channel (2130) is formed between the first handle portion (2110) and the second handle portion (2120). The receiving channel (2130) includes a first segment (2131) and a second segment (2132). The first segment (2131) and the flexible device (200) are tightly fitted, and the second segment (2132) and the flexible device (200) are loosely fitted.

2. The operating handle of the flexible robotic device according to claim 1, characterized in that, The inner wall surfaces of the first handle (2110) and the second handle (2120) are provided with a flexible layer (2140).

3. The operating handle of the flexible robotic robot according to claim 1, characterized in that, The flexible robotic system includes a robot body (1000), and the operating handle (2000) further includes a control unit (2200). The control unit (2200) is mounted on the first handle (2110) and is configured to communicate with the robot body (1000).

4. The operating handle of the flexible robotic robot according to claim 3, characterized in that, The control unit (2200) includes a control motherboard (2210), a connecting cable (2220), a mounting frame (2230), and a control panel (2240). The first handle (2110) is provided with a mounting groove (2111), and the control motherboard (2210) is disposed in the mounting groove (2111). One end of the connecting cable (2220) is connected to the control motherboard (2210). The mounting frame (2230) and the peripheral wall plate (2114) in the first handle (2110) for enclosing and forming the mounting groove (2111) are sealed together. The mounting frame (2230) can press the connecting cable (2220). The control panel (2240) is provided with control buttons (2241), and the control panel (2240) is connected to the mounting frame (2230).

5. The operating handle of the flexible robotic robot according to claim 4, characterized in that, The control panel (2240) is made of a flexible material.

6. The operating handle of the flexible robotic robot according to any one of claims 1-5, characterized in that, The operating handle (2000) further includes a locking unit (2300) for locking the first handle (2110) and the second handle (2120) in the closed state.

7. The operating handle of the flexible robotic device according to claim 6, characterized in that, The locking unit (2300) includes: Ratchet tooth (2310), the ratchet tooth (2310) is disposed on the second shank (2120); The pawl (2320) includes a hinge portion (2321), a driven portion (2322), and a hook portion (2323). The hinge portion (2321) is hinged to the first shank portion (2110), and the hook portion (2323) is used to engage with the ratchet teeth (2310). The first elastic element (2330) acts on the pawl (2320) to drive the hook portion (2323) of the pawl (2320) and the ratchet tooth (2310) to engage; A push-button switch (2340) includes a sliding part (2341) and a driving part (2342). The sliding part (2341) is slidably connected to the first handle part (2110) to switch between a first position and a second position. In the second position, the driving part (2342) can drive the pawl (2320) to rotate through the driven part (2322), causing the pawl part (2323) and the ratchet teeth (2310) to separate.

8. The operating handle of the flexible robotic device according to claim 7, characterized in that, At least one of the driving part (2342) and the driven part (2322) is provided with a guide surface (2342A), the sliding direction of the guide surface (2342A) and the sliding part (2341) are at an angle, and the driving part (2342) drives the pawl (2320) to rotate through the guide surface (2342A).

9. The operating handle of the flexible robotic device according to claim 7, characterized in that, The locking unit (2300) further includes a second elastic element (2350), which acts on the push switch (2340) to drive the push switch (2340) to move toward the first position.

10. A flexible robotic device, characterized in that, It includes a robot body (1000) and an operating handle (2000), wherein the operating handle (2000) is the operating handle of the flexible mechanical robot according to any one of claims 1-9.

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