Operation handle and in-position detection method for operation handle

Abstract

Provided are an operation handle and an in-position detection method for the operation handle, wherein the operation handle comprises a handle body (1), an in-position detection module, and a control module. The in-position detection module comprises: an electrode arranged on the surface of the handle body (1); and a detection unit electrically connected to the electrode and communicatively connected to the control module. The detection unit is configured to acquire a voltage of the electrode and, on the basis of changes in the voltage, determine whether a finger is in position. By means of arranging the electrode on the surface of the handle body (1) and enabling the detection unit, on the basis of the voltage change of the electrode, to determine whether the finger is in position, the operation handle provides an accurate and reliable in-position detection solution. Such a detection solution, on the basis of the voltage change as a determination criterion, features a relatively simple circuit, is less susceptible to interference, and exhibits high reliability, thereby avoiding failure of in-position detection caused by relatively moist fingers.

Description

Operating handle and operating handle in-position detection method

[0001] This application claims the benefit of Chinese patent application No. 2024101318301, filed on January 30, 2024. This application incorporates the entirety of the aforementioned Chinese patent application. Technical Field

[0002] The present invention relates to the field of medical devices, and in particular to an operating handle and an in-situ detection method for the operating handle. Background Art

[0003] In a surgical robot system, the operating handle on the doctor's console is used to control the movement of the instrument on the patient platform. Since the instrument is located inside the patient's body, the movement of the instrument must be strictly controlled by the doctor to prevent the doctor's fingers from slipping off the handle and moving freely, causing accidental contact and injury to the patient. Therefore, the reliability of the in-situ detection system that determines whether the handle is being held by the doctor's fingers is extremely important. Currently, there are several common solutions for implementing in-situ detection:

[0004] (1) The first method is to indirectly measure the angle of the handle through the angle sensor. When the doctor needs to operate, he is required to pinch the handle first. The angle sensor obtains the doctor's hand position information, thereby realizing the position detection function. However, this method cannot distinguish between the doctor's hand withdrawing from the handle and the doctor's control handle in a non-pinching state. Therefore, it is impossible to lock the instrument on the operating arm in time when the doctor's hand withdraws, which poses a risk during surgery.

[0005] (2) The second traditional method is to place infrared distance sensors on or near the handle, and change the distance value read by the sensor by blocking the hand when it is in place. The threshold is set to determine whether the hand is in place. The disadvantage of this method is that it is prone to misjudgment. When the handle moves to certain positions, it may be blocked by other objects from the sensor, causing the sensor to mistakenly judge that the hand is in place.

[0006] (3) The third method is to use a camera to capture video and extract the hand status and features based on image recognition to determine the hand's presence. The disadvantage of this in-situ detection solution is that the doctor's hand movement position may be blocked during the operation, and extracting hand features from the video information is prone to misjudgment.

[0007] Among them, the second and third methods can improve the detection accuracy by increasing the number of sensors, but the amount of calculation and cost will also increase exponentially, resulting in a complex structure of the operating handle. Summary of the Invention

[0008] The technical problem to be solved by the present invention is to overcome the defects of the existing technology of the in-place detection function of the operating handle, such as the complex structure and low detection accuracy, and to provide an operating handle and an in-place detection method for the operating handle.

[0009] The present invention solves the above technical problems through the following technical solutions:

[0010] An operating handle includes a handle body, a position detection module and a control module, wherein the position detection module includes:

[0011] an electrode, wherein the electrode is disposed on the surface of the handle body;

[0012] A detection unit is electrically connected to the electrode and is in communication with the control module. The detection unit is used to obtain the voltage of the electrode and determine whether the finger is in place based on the change of the voltage.

[0013] This operating handle provides an accurate and reliable finger presence detection solution by disposing electrodes on the handle body's surface and using a detection unit to determine finger presence based on voltage changes at the electrodes. This voltage-based detection solution has a relatively simple circuit, is less susceptible to interference, and offers high reliability, avoiding the problem of finger presence detection failing when the finger is wet.

[0014] Preferably, the presence detection module determines whether the finger is in place through non-contact sensing of the electrodes.

[0015] The presence detection module detects whether the user's finger is in position relative to the operating handle through electrode non-contact sensing, so as to achieve the purpose of presence detection for the area on the operating handle that needs to be insulated.

[0016] Preferably, the detection unit includes a signal source, a first capacitor and a first acquisition end, the signal source is electrically connected to the electrode and is used to send a first non-DC voltage signal to the electrode, the first acquisition end is electrically connected to the first end of the first capacitor, the second end of the first capacitor is electrically connected to the electrode, the first acquisition end obtains a second non-DC voltage signal through the first capacitor coupling, the signal source sends the first non-DC voltage signal to the control module, the first acquisition end sends the second non-DC voltage signal to the control module, and the control module compares the voltage amplitude change of the second non-DC voltage signal relative to the first non-DC voltage signal to determine whether the finger is in place.

[0017] Through the circuit setting of the detection unit, the purpose of non-contact sensing between the detection electrode and the user's finger can be achieved with relatively simple component connections, which effectively adapts to the relatively small circuit setting space and reliability requirements of the operating handle.

[0018] Preferably, the control module generates a first threshold based on the first non-DC voltage signal, and if the voltage amplitude of the second non-DC voltage signal is less than the first threshold, the control module determines that the finger is in place.

[0019] Preferably, the detection unit further includes a first resistor, a first end of the first resistor is electrically connected to the signal source, and a second end of the first resistor is electrically connected to the electrode.

[0020] The first resistor is provided to realize electrical connection between the electrode and the signal source, thereby achieving the purpose of circuit protection.

[0021] Preferably, a control button is provided on the handle body, and the control button is correspondingly provided with the in-position detection module;

[0022] An insulating pad is covered on the surface of the control button, and the electrode of the in-position detection module is arranged on the back side of the insulating pad.

[0023] If the control button on the handle body is equipped with an insulating pad, an electrode is provided on the back side of the insulating pad to achieve the position detection function through non-contact sensing without affecting the user's normal operation of the control button. At the same time, the insulating pad provides effective insulation and anti-slip properties, improving the user's operation accuracy of the control button.

[0024] Preferably, a plurality of operating buttons are provided on the handle body, and each of the operating buttons is correspondingly provided with one of the in-place detection modules.

[0025] By setting the in-position detection module on all the control buttons of the handle body, the coverage area of ​​the in-position detection module on the operating handle is increased, thereby ensuring the accuracy of in-position detection.

[0026] Preferably, the presence detection module determines whether the finger is in place by simultaneous contact sensing of the electrodes arranged in pairs.

[0027] Regarding whether the user's finger is in position relative to the operating handle, the two electrodes of the position detection module are used to detect in a simultaneous contact sensing manner to determine whether the user's finger is in the area where the electrodes are set.

[0028] At the same time, by adjusting the relative positions of the two electrodes arranged in pairs, it is possible to constrain the contact position of the user's fingers on the handle body, so that the user can only be sensed when holding the handle body in a relatively correct way.

[0029] Preferably, the electrodes arranged in pairs are a third electrode and a fourth electrode, and the detection unit includes a voltage source, a second collection end and a third resistor. The voltage source is electrically connected to the third electrode and is used to apply a first DC voltage signal to the third electrode. The fourth electrode is grounded through the third resistor. The first end of the second collection end is electrically connected to the fourth electrode, and the second end of the second collection end is electrically connected to the control module. The second collection end is used to obtain a second DC voltage signal from the fourth electrode and send the second DC voltage signal to the control module. The control module compares the voltage value change of the second DC voltage signal relative to the first DC voltage signal to determine whether the finger is in place.

[0030] Through the circuit setting of the detection unit, the purpose of detecting contact sensing between two paired electrodes and the user's fingers can be achieved with relatively simple component connections, which effectively adapts to the relatively small circuit setting space and reliability requirements of the operating handle.

[0031] Preferably, the control module generates a second threshold based on the first DC voltage signal, and if the voltage value of the second DC voltage signal is greater than the second threshold, the control module determines that the finger is in place.

[0032] Preferably, the detection unit further includes a second resistor, and the voltage source is electrically connected to the third electrode via the second resistor.

[0033] By setting the second resistor and the third resistor, the circuit protection purpose is achieved.

[0034] Preferably, the detection unit further includes a filter, and the first end of the second collection end is electrically connected to the fourth electrode through the filter.

[0035] By setting a filter, the quality of the signal acquired by the second acquisition end can be improved.

[0036] Preferably, the second acquisition end is a signal converter.

[0037] A signal converter is provided to convert the acquired second DC voltage signal into a signal that is easier to process by the control module.

[0038] Preferably, the two electrodes are both provided at the end positions of the handle body, and the two electrodes are arranged adjacent to each other on the surface of the handle body.

[0039] By arranging the electrodes of the in-position detection module in pairs at the end position of the handle body, effective in-position detection can be achieved when the user holds the end of the handle to perform displacement actions such as flipping, translating, and rotating the handle.

[0040] Preferably, the in-situ detection module includes a plurality of pairs of electrodes, and the plurality of pairs of electrodes are alternately arranged on the surface of the handle body.

[0041] By arranging multiple pairs of electrodes alternately on the surface of the handle body, the coverage area of ​​the in-place detection is expanded, thereby avoiding the situation where the user's finger only touches a single electrode in a pair of electrodes and cannot be detected in place.

[0042] Preferably, there are multiple in-position detection modules, and the electrodes of the multiple in-position detection modules are respectively arranged at different positions of the handle body.

[0043] By setting up multiple electrodes of the in-place detection module at different positions of the handle body, the coverage area of ​​the in-place detection is expanded. By performing in-place detection at different positions of the handle body, the gripping condition of the user's fingers relative to the operating handle can be accurately reflected.

[0044] Preferably, the electrodes are arranged corresponding to the operable area of ​​the handle body.

[0045] Electrodes are placed on the operable area of ​​the handle. When the user grips the non-operating area of ​​the handle, the electrodes are not sensed, so the handle is judged as not being gripped and cannot be activated. This structural arrangement can further constrain user operating habits, preventing the handle from being activated when held incorrectly, thereby ensuring reliable and safe operation of the handle.

[0046] A method for detecting the presence of an operating handle detects the voltage of an electrode arranged on the surface of the operating handle and determines whether a finger is in position based on changes in the measured voltage.

[0047] This operating handle presence detection method detects voltage changes at electrodes on the handle body's surface, using these changes as a basis for determining whether a finger is present, providing an accurate and reliable presence detection solution. This voltage-based detection solution has a relatively simple circuit, is less susceptible to interference, and offers high reliability, avoiding the problem of presence detection failure when the finger is wet.

[0048] Preferably, a plurality of electrodes are distributed on the surface of the operating handle, and the step of detecting the voltage of the electrodes provided on the surface of the operating handle and judging whether the finger is in position based on the change of the measured voltage specifically includes:

[0049] By simultaneously detecting the voltages of multiple electrodes arranged on the surface of the operating handle, if the voltage of at least one electrode is lower than a threshold, it is determined that the finger is in place.

[0050] By measuring multiple electrodes and using the voltage of one of the electrodes being lower than a threshold as a basis for determining whether a finger is in place, the detection range of the presence detection method on the operating handle is expanded to avoid detection errors caused by the user's finger being in an area of ​​the operating handle where no electrodes are set.

[0051] The positive progress effect of the present invention is:

[0052] The present invention determines whether a finger is in position by disposing electrodes on the surface of the handle body and using a detection unit to detect changes in the voltage at the electrodes. This detection scheme, which relies on voltage changes as a basis for judgment, has a relatively simple circuit, is not easily interfered with, and is highly reliable. It can also avoid the problem of in-position detection failing when the finger is relatively wet. Furthermore, a suitable finger-in-position detection circuit is provided based on the contact between the finger and the operating handle, as well as the small size of the operating handle, to accurately detect the grip of the operating handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] FIG1 is a schematic structural diagram of an operating handle according to a preferred embodiment of the present invention.

[0054] FIG2 is a schematic diagram showing the layout relationship between the handle body and the electrodes according to a preferred embodiment of the present invention.

[0055] FIG3 is a system principle diagram of a control system of an operating handle according to a preferred embodiment of the present invention.

[0056] FIG4 is a circuit diagram of a first electrode according to a preferred embodiment of the present invention.

[0057] FIG5 is a schematic diagram showing the principle of implementing in-situ detection by the first electrode according to a preferred embodiment of the present invention.

[0058] FIG6 is a circuit diagram of the third electrode and the fourth electrode according to a preferred embodiment of the present invention.

[0059] FIG. 7 is a schematic diagram showing the principle of implementing in-situ detection by the third electrode and the fourth electrode according to a preferred embodiment of the present invention.

[0060] Description of reference numerals:

[0061] Handle body 1

[0062] Control button 11, insulation pad 111

[0063] First electrode 20, second electrode 30

[0064] The third electrode 40 and the fourth electrode 50 DETAILED DESCRIPTION

[0065] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0066] As shown in Figures 1-3, the present invention provides an operating handle comprising a handle body 1. A physician manipulates the handle by holding it to control the synchronous movement of a distal instrument. To prevent the operating handle from slipping from the physician's hand and causing accidental contact, a presence detection module and a control module are further provided in this solution to detect whether the physician's finger is in place.

[0067] As shown in Figure 3, the finger presence detection of the operating handle includes a presence detection module and a control module. Among them, the presence detection module specifically includes an electrode and a detection unit. By setting the electrode on the surface of the handle body 1, the detection unit is electrically connected to the electrode to obtain the voltage of the electrode through the detection unit and send the voltage value to the control module. The control module determines whether the operating handle is held based on the change in voltage. If the control module determines that the finger is in place, the entire system enters the doctor control mode, allowing the doctor to control the movement of the remote instrument (such as the operating arm) through the operating handle. If the control module determines that the finger is away, the entire system enters the lock mode. Any operation on the operating handle cannot control the movement of the remote instrument, preventing the doctor's hand from withdrawing the operating handle, or when the operating handle falls from the hand, the remote instrument can be locked in time to avoid surgical risks. This solution based on detecting the voltage change of the electrode under the action of the finger can effectively distinguish whether it is actually a finger acting on the electrode or other objects acting on the electrode. Compared with the current solution of setting an infrared distance sensor or shooting video for image recognition, it can effectively avoid misjudgment.

[0068] Specifically, as shown in Figures 1 and 2, taking into account the small size of the operating handle and based on the actual contact method of the fingers on the operating handle, four electrode pole pieces are arranged on the handle body 1 to correspond to the two operating modes of the operating handle respectively, thereby improving the reliability of finger presence detection.

[0069] One way to operate the handle is to pinch the two symmetrically arranged control buttons 11 on the handle body 1 with your fingers. The main contact and force-bearing position is on the surface of the insulating pads 111 of the two control buttons 11. By pressing with your fingers, you can control the closing of the remote instrument (such as scissors). Conversely, by releasing your fingers, you can control the opening of the remote instrument (such as scissors). In order to achieve the purpose of in-situ detection, an electrode of an in-situ detection module is provided on the back of each insulating pad 111, that is, a first electrode 20 and a second electrode 30 are respectively provided on the back of the upper and lower insulating pads 111 in Figure 1. The electrodes of the two in-situ detection modules respectively detect the situation of the fingers on the corresponding control buttons 11 to accurately determine whether the fingers are in place.

[0070] Another way to operate the handle is to pinch the end of the handle body 1 with your fingers to control the rotation of the handle body 1 and thus control the synchronization of the distal instrument. In particular, a third electrode 40 and a fourth electrode 50 are provided at the end of the handle body 1 to detect whether the finger is in place.

[0071] Regarding the first control scheme, since an insulating pad 111 is provided on the control button 11 of the handle body 1, the finger cannot directly contact the electrode, so the first electrode 20 and the second electrode 30 both determine whether the finger is in place through non-contact sensing. In this embodiment, a relatively preferred circuit layout of a presence detection module is provided, as shown in Figure 4. Taking the presence detection module corresponding to the first electrode 20 on the handle body 1 as an example: the detection unit of the presence detection module is composed of a signal source 51, a first acquisition terminal 52 and a first capacitor C1. The signal source 51 is electrically connected to the first electrode 20 through the first resistor R1, and is used to send a first non-DC voltage signal to the first electrode 20. The first acquisition terminal 52 is electrically connected to the first end of the first capacitor C1, and the second end of the first capacitor C1 is electrically connected to the first electrode 20, so that the first acquisition terminal 52 can obtain the second non-DC voltage signal by coupling to the circuit through the first capacitor C1. The signal source 51 sends the first non-DC voltage signal to the control module, and the first acquisition terminal 52 sends the second non-DC voltage signal to the control module. The control module can determine the position of the finger relative to the first electrode 20 by comparing the voltage amplitude difference between the first non-DC voltage signal and the second non-DC voltage signal, that is, determine the presence of the finger. If the voltage amplitude difference between the first non-DC voltage signal and the second non-DC voltage signal is greater than a first threshold, the control module determines that the finger is in place, and the entire system enters the doctor control mode. For example, in this embodiment, the voltage amplitude output by the signal source 51 is a rectangular wave with a frequency of 100 kHz to 1000 kHz. In this case, the first threshold can be selected within a range of 300 mV to 500 mV.

[0072] The operating handle in this embodiment also includes a microcontroller unit and a power management unit. The microcontroller unit is used to generate excitation signals and acquisition signals for the electrodes, so as to determine the presence logic based on the acquired signals and output the results, while the power management unit is used to supply power to each functional unit. The signal source 51 and the first acquisition terminal 52 of the presence detection module of the operating handle, as well as the entire control module, can be implemented by the microcontroller unit (MCU) of the operating handle. The first threshold for determining whether the finger is in place is also stored in the microcontroller unit to control the output signal and the acquisition signal to achieve the purpose of presence detection. For example, the microcontroller unit outputs a pulse signal, a rectangular wave signal, or a sine wave signal with a continuous amplitude of VCC as the first non-DC voltage signal through a digital-to-analog converter (DAC). The voltage amplitude VCC can also be selected to be 5V or 3.3V. In other embodiments, it can also be implemented by other integrated circuits (ICs).

[0073] When the finger is away from the first electrode 20, as shown in FIG4 , the first non-DC voltage signal of the signal source passes through the first resistor R1 and is relatively completely coupled to the first acquisition terminal 52 through the first capacitor C1 at V3. The amplitude of the second non-DC voltage signal collected by the first acquisition terminal 52 is basically consistent with the amplitude of the first non-DC voltage signal of the signal source 51, that is, the voltage amplitude difference between the first non-DC voltage signal and the second non-DC voltage is less than the first threshold value. At this time, the control module of the microcontroller unit determines that the finger is not in place, and the entire system enters the locking mode. Any operation on the handle body 1 cannot control the remote instrument.

[0074] When the finger is close to the first electrode 20, as shown in Figure 5, the capacitive characteristics of the finger are revealed. This is equivalent to connecting a first finger equivalent circuit 701 to the first electrode 20, forming a second loop between the first electrode 20 and the ground terminal. At this point, the amplitude and phase of the second non-DC voltage signal obtained by the first acquisition terminal 52 change, and the amplitude of the second non-DC voltage signal coupled to the first acquisition terminal 52 via the first capacitor C1 decreases. The control module determines whether the doctor's finger is in place by determining whether the amplitude change between the first non-DC voltage signal and the second non-DC voltage signal is greater than a first threshold. If the finger is in place, the entire system enters doctor control mode. The first finger equivalent circuit 701 is formed by a complex coupling of resistors and capacitors of varying sizes to reflect the human body impedance characteristics passing through the finger. Specifically, the impedance characteristics of the human finger and the human body exhibit different impedance characteristics under different electrical excitations. Specifically, the impedance measurement instrument outputs an excitation signal through the human body and compares the amplitude and phase shift changes of the output and input in the frequency domain to obtain an equivalent impedance model.

[0075] The principle diagram of the presence detection of the second electrode 30 is the same as that of the first electrode 20. When the finger approaches the second electrode 30, the amplitude and phase of the second non-DC voltage signal obtained by the first acquisition end 52 corresponding to the second electrode 30 also change, so that the control module can determine whether the doctor's finger is in place relative to the second electrode 30 by judging whether the amplitude change between the first non-DC voltage signal and the second non-DC voltage signal is greater than the first threshold.

[0076] This circuit setting for realizing non-contact sensing can achieve the purpose of non-contact sensing between the detection electrode and the user's finger with relatively simple component combination and connection, and effectively adapts to the relatively small circuit setting space and reliability requirements of the operating handle.

[0077] Regarding the second control scheme, by arranging the third electrode 40 and the fourth electrode 50 in pairs at the end positions of the handle body 1, the finger is simultaneously contacted with the third electrode 40 and the fourth electrode 50 to sense the finger, thereby serving as a basis for determining whether the finger is in place. This embodiment provides a relatively preferred circuit layout of the presence detection module, as shown in Figure 6. The detection unit corresponding to the third electrode 40 and the fourth electrode 50 includes a voltage source Vdd and a second acquisition terminal 62. The voltage source Vdd is electrically connected to the first electrode 20 through a second resistor Rup and is used to apply a first DC voltage signal to the first electrode 20, while the second electrode 30 is grounded through a third resistor Rdown. The first end of the second acquisition terminal 62 is electrically connected to the fourth electrode 50, and the second end of the second acquisition terminal 62 is electrically connected to the control module. The second acquisition terminal 62 is used to obtain a second DC voltage signal from the fourth electrode 50 and send the second DC voltage signal to the control module. The control module determines the presence of the finger by comparing the voltage difference between the second DC voltage signal and the ground voltage. Specifically, if the voltage difference between the second DC voltage signal and the ground voltage is greater than the second threshold, the control module determines that the finger is in place, and the entire system enters the doctor control mode.

[0078] Specifically, as shown in FIG6 , when a finger does not simultaneously contact the third electrode 40 and the fourth electrode 50, the circuit between the third electrode 40 and the fourth electrode 50 is equivalent to a complete open circuit. At this time, the voltage of the third electrode 40 is pulled up to Vdd by the second resistor Rup, specifically approximately 3.3V in this embodiment, and the voltage of the fourth electrode 50 is pulled down to GND by the third resistor Rdown. As shown in FIG7 , when a finger simultaneously pinches the third electrode 40 and the fourth electrode 50, due to the human body's equivalent impedance model, the third electrode 40 and the fourth electrode 50 are equivalent to being connected as a resistor-capacitor device, which is equivalent to connecting a second finger equivalent circuit 702 between the third electrode 40 and the fourth electrode 50. As a result, the voltages on the third electrode 40 and the fourth electrode 50 change, with the voltage at the third electrode 40 decreasing and the voltage at the fourth electrode 50 increasing. The second acquisition terminal 62 obtains the current second DC voltage signal of the fourth electrode 50, and the control module determines whether the doctor's finger is in place by comparing it with a set threshold and the second DC voltage signal. The second finger equivalent circuit 702 is formed by a complex coupling of resistors and capacitors of varying sizes to reflect the human body impedance characteristics through the finger. Specifically, the impedance characteristics of the human finger and the human body exhibit different electrical excitations. Specifically, an impedance measurement instrument is used to generate an equivalent impedance model by passing the excitation signal output by the human body and comparing the amplitude and phase shift of the output and input in the frequency domain.

[0079] Among them, the second resistor Rup and the third resistor Rdown use resistors with the same resistance value, which is between 1MΩ and 10MΩ. Since the impedance value formed by the finger is approximately in the order of kiloohms, when the finger contacts the third electrode 40 and the fourth electrode 50 at the same time, the voltage values ​​obtained at V1 and V2 are in the range of about Vdd / 2. Therefore, by setting the second threshold to a value less than Vdd / 2, when the second DC voltage signal is greater than the second threshold, the control module will determine that the finger is in place and the entire system enters the doctor control mode. Specifically in this embodiment, the voltage value Vdd can be 3.3V or 5V. In this case, the optional interval range of the second threshold is between 500mV and 1400mV.

[0080] This circuit setting for contact sensing detection can achieve the purpose of detecting contact sensing between two paired electrodes and the user's fingers with relatively simple component connections, and is effectively adapted to the relatively small circuit setting space and reliability requirements of the operating handle.

[0081] Specifically, as shown in FIG6 , the detection unit further includes a filter 63, specifically a low-pass filter 63. The first end of the second acquisition terminal 62 is electrically connected to the fourth electrode 50 via the low-pass filter 63. The provision of the low-pass filter 63 improves the quality of the signal acquired by the second acquisition terminal 62. Furthermore, in this embodiment, the second acquisition terminal 62 is a signal converter, specifically an analog-to-digital converter, which converts the acquired analog signal into a digital signal for easier processing by the microcontroller unit (MCU).

[0082] Regarding the specific setting positions of the third electrode 40 and the fourth electrode 50 on the handle body 1, as shown in Figure 1, the two electrodes are arranged adjacent to each other on the surface of the handle body 1, so that effective in-situ detection can be achieved when the user holds the end of the handle to perform displacement actions such as flipping, translating, and rotating the handle.

[0083] In this embodiment, the third electrode 40 and the fourth electrode 50 are arranged at the end position of the handle body 1 to realize in-place detection when the user holds the end of the handle. In order to realize the purpose of in-place detection, the finger must contact the third electrode 40 and the fourth electrode 50 at the same time to form a circuit. Therefore, there is a situation where the finger only contacts the third electrode 40 or the fourth electrode 50 alone and cannot form a circuit, resulting in the in-place detection judging that the finger has left. To solve this problem, in this embodiment, the third electrode 40 and the fourth electrode 50 are arranged adjacent to each other at the end of the handle body 1 to reduce the probability of the finger contacting one of the electrodes alone. In other embodiments, multiple pairs of electrodes can be further provided, and the multiple pairs of electrodes can be alternately arranged on the surface of the handle body 1 to further reduce the situation where the finger only contacts one of the electrodes and cannot form a circuit.

[0084] In addition, in other embodiments, multiple pairs of electrodes can be further arranged at other different positions of the handle body 1 to further expand the coverage area of ​​the handle body 1 for in-situ detection. By performing in-situ detection on different positions of the handle body 1, the gripping condition of the user's fingers relative to the operating handle can be accurately reflected. Of course, these arranged electrodes should be arranged in the operable area of ​​the handle body 1 so that when the user holds the non-operating area of ​​the handle body 1, the electrodes cannot be sensed, causing the microcontroller unit of the operating handle to determine that the finger is in place and fail to start. This arrangement of electrodes can further constrain the user's operating habits, prevent the handle body 1 from starting when it is held incorrectly, and thus ensure that the operating handle can be operated reliably and safely.

[0085] The present invention also provides a method for detecting the presence of an operating handle. Specifically, the method detects the voltage of electrodes disposed on the surface of the operating handle and determines whether a finger is present based on changes in the measured voltage. This on-site detection scheme uses changes in electrode voltage as a basis for determining whether a finger is present, providing an accurate and reliable on-site detection solution. This detection scheme, based on voltage changes as a basis for judgment, has a relatively simple circuit, is less susceptible to interference, and is highly reliable, thus avoiding the problem of on-site detection failure when the finger is relatively wet.

[0086] Furthermore, since electrodes are provided at multiple positions of the operating handle, the voltages of these electrodes can be detected simultaneously. If the voltage of one of the electrodes is lower than a threshold, it is determined that the finger is in place.

[0087] The specific implementation steps of in-situ detection are as follows:

[0088] 1. After the entire control system is powered on, the microcontroller applies a first non-DC voltage signal to the first and second electrodes 20, 30. Simultaneously, it applies a first DC voltage signal to the third electrode 40, pulling the voltage of the third electrode 40 up to Vdd. The fourth electrode 50 is grounded, pulling the fourth electrode 50 down to GND. The first and second acquisition terminals 52, 62 continuously acquire the second non-DC voltage signal and the second DC voltage signal. The system generates a first threshold value Vth1 based on the voltage amplitude of the first non-DC voltage signal and a second threshold value Vth3 based on the voltage value of the first DC voltage signal.

[0089] 2. If the doctor's finger is placed at the positions of first electrode 20 and second electrode 30 and the handle body 1 is pinched, as shown in the first finger equivalent circuit 701 in Figure 5, a capacitor and resistor series circuit is formed between the finger and the first electrode 20 or the second electrode 30, respectively. This reduces the amplitude of the voltage signal at position V3 in the circuit, causing the voltage amplitude of the second non-DC voltage signal acquired by the first acquisition terminal 52 to change and become less than the first threshold value Vth1. Therefore, the control module of the microcontroller unit determines that the finger is in place, and the system enters the doctor control mode.

[0090] 3. Conversely, if the finger is released from the first electrode 20 and the second electrode 30, the voltage amplitude at position V3 increases, causing the voltage amplitude of the second non-DC voltage signal acquired by the first acquisition terminal 52 to change. The voltage amplitude is greater than the first threshold Vth1, and the control module of the microcontroller unit determines that the finger has left, and the system enters the lock mode.

[0091] 4. If the doctor's finger is placed at the position of the third electrode 40 and the fourth electrode 50, and the handle is rotated, as can be seen from the second finger equivalent circuit 702 in Figure 6, a capacitor and resistor parallel loop is formed between the finger and the third electrode 40 and the fourth electrode 50. Among them, the second resistor Rup and the third resistor Rdown are resistors with the same resistance value, and the resistance value is between 1MΩ-10MΩ. Since the impedance value formed by the finger is about the order of kiloohms, the voltage value of the circuit at the position V1 and V2 is in the range of about Vdd / 2. The voltage value of the second DC voltage signal obtained by the second acquisition terminal 62 changes, and the voltage value is greater than the second threshold value Vth3. Therefore, the control module of the microcontroller unit determines that the finger is in the position state, and the system enters the doctor control mode.

[0092] 5. Conversely, if the finger is released from the third electrode 40 and the fourth electrode 50, the voltage value at position V2 becomes GND, so that the voltage value of the second non-DC voltage signal obtained by the second acquisition terminal 62 is less than the second threshold value Vth3. The control module of the microcontroller unit determines that the finger has been released, and the system enters the lock mode.

[0093] Among them, the non-contact presence detection scheme for the first electrode 20 and the second electrode 30, and the contact presence detection scheme for the third electrode 40 and the fourth electrode 50 can independently realize the function of determining whether the finger is in place, and can also be used in combination according to the design requirements and application scenarios of the operating handle.

[0094] In other embodiments, if the second acquisition terminal 62 is electrically connected to the third electrode 40 to obtain the voltage value change at the V1 position, the second threshold Vth4 should be set based on the voltage value Vdd / 2. When the voltage value of the second DC voltage signal obtained by the second acquisition terminal 62 is less than the second threshold Vth4, it is judged that the finger is in place and the system enters the doctor control mode. When the voltage value of the second DC voltage signal obtained by the second acquisition terminal 62 is greater than the second threshold Vth4, it is judged that the finger is away and the system enters the lock mode.

[0095] Although specific embodiments of the present invention have been described above, those skilled in the art will appreciate that these are merely illustrative and that the scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, and such changes and modifications are intended to fall within the scope of the present invention.

Claims

1. An operating handle, comprising a handle body, an in-position detection module and a control module, characterized in that: The presence detection module comprises: an electrode, wherein the electrode is disposed on the surface of the handle body; a detection unit, the detection unit being electrically connected to the electrode, the detection unit being communicatively connected to the control module, and the detection unit being used to obtain the voltage of the electrode; The control module determines whether the finger is in place based on the change in voltage.

2. The operating handle according to claim 1, wherein: The presence detection module determines whether the finger is in place through non-contact sensing of the electrodes.

3. The operating handle according to claim 1 or 2, characterized in that: The detection unit includes a signal source, a first capacitor and a first acquisition end. The signal source is electrically connected to the electrode and is used to send a first non-DC voltage signal to the electrode. The first acquisition end is electrically connected to the first end of the first capacitor, and the second end of the first capacitor is electrically connected to the electrode. The first acquisition end obtains a second non-DC voltage signal through coupling with the first capacitor. The signal source sends the first non-DC voltage signal to the control module, and the first acquisition end sends the second non-DC voltage signal to the control module. The control module compares the voltage amplitude change of the second non-DC voltage signal relative to the first non-DC voltage signal to determine whether the finger is in place.

4. The operating handle according to claim 3, characterized in that: The control module generates a first threshold based on the first non-DC voltage signal, and if the voltage amplitude of the second non-DC voltage signal is less than the first threshold, the control module determines that the finger is in place; And / or, the detection unit further includes a first resistor, a first end of the first resistor is electrically connected to the signal source, and a second end of the first resistor is electrically connected to the electrode.

5. The operating handle according to any one of claims 1 to 4, characterized in that: A control button is provided on the handle body, and the control button is correspondingly provided with the in-position detection module; An insulating pad is covered on the surface of the control button, and the electrode of the in-position detection module is arranged on the back side of the insulating pad.

6. The operating handle according to any one of claims 1 to 4, characterized in that: A plurality of operating buttons are provided on the handle body, and each of the operating buttons is correspondingly provided with one of the in-place detection modules.

7. The operating handle according to any one of claims 1 to 6, characterized in that: The presence detection module determines whether a finger is in place by simultaneously sensing contact between the electrodes arranged in pairs.

8. The operating handle according to claim 7, characterized in that: The electrodes arranged in pairs are a third electrode and a fourth electrode, and the detection unit includes a voltage source, a second collection end and a third resistor. The voltage source is electrically connected to the third electrode and is used to apply a first DC voltage signal to the third electrode. The fourth electrode is grounded through the third resistor. The first end of the second collection end is electrically connected to the fourth electrode, and the second end of the second collection end is electrically connected to the control module. The second collection end is used to obtain a second DC voltage signal from the fourth electrode and send the second DC voltage signal to the control module. The control module compares the voltage value change of the second DC voltage signal relative to the first DC voltage signal to determine whether the finger is in place.

9. The operating handle according to claim 8, characterized in that: The control module generates a second threshold based on the first DC voltage signal, and if the voltage value of the second DC voltage signal is greater than the second threshold, the control module determines that the finger is in place; And / or, the detection unit further includes a second resistor, and the voltage source is electrically connected to the third electrode via the second resistor; And / or, the detection unit further includes a filter, and the first end of the second collection end is electrically connected to the fourth electrode through the filter; And / or, the second acquisition end is a signal converter.

10. The operating handle according to any one of claims 1 to 9, characterized in that: The two electrodes are both arranged at the end positions of the handle body, and the two electrodes are arranged adjacent to each other on the surface of the handle body.

11. The operating handle according to claim 10, wherein: The in-situ detection module includes multiple pairs of electrodes, and the multiple pairs of electrodes are alternately arranged on the surface of the handle body.

12. The operating handle according to any one of claims 1 to 11, characterized in that: There are multiple in-position detection modules, and the electrodes of the multiple in-position detection modules are respectively arranged at different positions of the handle body; And / or, the electrodes are arranged corresponding to the operable area of the handle body.

13. A method for detecting the position of an operating handle, characterized in that: The operating handle is the operating handle according to any one of claims 1 to 12, and the voltage of the electrodes arranged on the surface of the operating handle is detected to determine whether the finger is in place based on the change in the measured voltage.

14. The method for detecting the position of an operating handle according to claim 13, wherein: A plurality of electrodes are distributed on the surface of the operating handle. The step of detecting the voltage of the electrodes disposed on the surface of the operating handle and determining whether the finger is in position based on the change in the measured voltage specifically includes: By simultaneously detecting the voltages of multiple electrodes arranged on the surface of the operating handle, if the voltage of at least one electrode is lower than a threshold, it is determined that the finger is in place.

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