Single-finger-operable master control device and master hand console

Abstract

Provided are a single-finger-operable master control device (200) and a master hand console (101). The master control device (200) comprises: a master hand holding part (1), configured for a user to grip; a single-finger pressing part (4), rotatably connected to the master hand holding part (1); a manipulation member (2), slidably connected within the master hand holding part (1); a connection member (3), configured to be connected with the manipulation member (2) and the single-finger pressing part (4) to convert the rotational motion of the single-finger pressing part (4) into the axial motion of the manipulation member (2); and a master hand driving assembly (5), configured for supporting the master hand holding part (1) and being coupled with the manipulation member (2). The single-finger-operable master control device (200) simply requires one finger to press the single-finger pressing part (4) to move the manipulation member (2) in the axial direction, which frees the thumb and allows the selection of different single fingers as the operation finger.

Description

Main control device and main hand console that can be operated with one finger

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on April 3, 2024, with application number 202410405846.7 and invention name “Main control device and main hand control console operable with single finger”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the technical field of medical robots, and in particular to a main control device and a main hand control console that can be operated with a single finger. Background Art

[0003] An existing surgical controller for a master hand tool includes a finger ring operating portion and a transmission shaft extending therefrom. The finger ring operating portion controls the axial translation and circumferential rotation of the transmission shaft. The finger ring operating portion also includes a first transmission assembly provided at the extending end of the transmission shaft for radially supporting its axial translation, and a second transmission assembly for cooperating with its rotational transmission. The finger ring operating portion includes a first finger ring and a second finger ring for clamping, and the shaft end of the transmission shaft is provided with a linear transmission structure that is synchronously transmitted with the rotating base of the first finger ring and the second finger ring (for example, refer to Chinese invention patent CN114041882A, published on February 25, 2022). However, existing surgical robots use bilateral clamping operations of the master hand to axially control the transmission shaft, requiring the operator to use two fingers at the same time when performing surgical clamping operations, which is prone to fatigue. When performing non-clamping operations, the operator often needs to withdraw two fingers to perform other operations, resulting in low flexibility.

[0004] In addition, there are some single-sided clamping structures of the main hand in the prior art (for example, refer to Chinese invention patent CN107708594A, published on February 16, 2018). This patent discloses a control arm assembly for controlling a robot system, comprising: a universal joint, movable and rotatable about three axes; and a handle assembly coupled to the universal joint, wherein the handle assembly includes a main body having a controller disposed therein and a first actuator disposed thereon, the first actuator being mechanically coupled to the controller via a four-bar linkage so that actuation of the first actuator causes mechanical movement of a component of the controller, and the mechanical movement is converted by the controller into an electrical signal. Although this patent is for single-finger operation, its transmission structure is complex, the operating experience is poor, and the acquisition of the angle control signal of the first actuator is difficult and has low accuracy. Summary of the Invention

[0005] In view of this, in order to solve the above technical problems, the embodiments of the present application provide a main control device and a main hand control console that can be operated with a single finger.

[0006] To achieve the above objectives, an embodiment of the present application provides a main control device that can be operated with a single finger, including:

[0007] The main hand grip can be used for the operator to grasp;

[0008] A single-finger gripping portion rotatably connected to the main hand gripping portion;

[0009] A control member slidably connected to the handle of the main hand;

[0010] a connecting member for connecting the operating member and the single-finger gripping portion to convert the rotational motion of the single-finger gripping portion into the axial motion of the operating member;

[0011] The main hand driving assembly is used to support the main hand grip portion and is coupled to the operating member.

[0012] Optionally, the master-hand drive assembly includes a first drive assembly and a second drive assembly, and the second drive assembly is coupled to the operating member.

[0013] Optionally, an automatic reset torque is preset in the second drive component. When the torque transmitted to the second drive component by pressing the single-finger clamping portion is greater than the preset automatic reset torque, the second drive component collects the displacement of the axial movement of the operating member to output a control signal.

[0014] Optionally, when the torque transmitted to the second drive assembly by pressing the single-finger clamping portion is less than a preset automatic reset torque, the second drive assembly drives the single-finger clamping portion to reset via the operating member and the connecting member.

[0015] Optionally, the connecting member is an integral component or a split component.

[0016] Optionally, the connecting member includes an accommodating notch for clamping the operating member.

[0017] Optionally, the connecting member includes a first connecting rod and a second connecting rod, and a first rotating shaft and a second rotating shaft are arranged opposite to each other on the first connecting rod.

[0018] Optionally, the length of the connecting member and / or the connection position of the connecting member on the single-finger clamping portion and the operating member respectively are adjustable.

[0019] Optionally, the connecting member enters the handle of the main hand through an opening and is connected to the operating member.

[0020] Optionally, the operating member extends from the inside of the master-hand grip to the outside of the master-hand grip and is coupled to the master-hand driving assembly.

[0021] Optionally, an assembly hole is provided on a side of the operating member close to the main hand drive assembly.

[0022] Optionally, a mounting hole is provided on a side of the operating member away from the main hand drive assembly for mounting the connecting member.

[0023] Optionally, the operating member is a stepped shaft comprising a first part, a second part and a third part, and the diameters of the first part and the third part are smaller than the diameter of the second part.

[0024] Optionally, the assembly hole and / or the installation hole is provided on the second part.

[0025] Optionally, the operating member is a hollow structure.

[0026] An embodiment of the present application further provides a master hand control console, which includes the single-finger operable main control device described in any of the above embodiments.

[0027] Therefore, one embodiment of the present application has the following features: only one finger is required to press the single-finger clamping portion, the single-finger clamping portion drives the connecting member to move and rotate, the connecting member drives the operating member to move along the axial direction of the master hand grip portion, and the axial movement of the operating member drives the master hand drive assembly to work to collect relevant control instructions. By operating the main control device with a single finger to achieve mapped control of the movement of the slave hand instrument, not only can the thumb be freed for operation of other functional components during surgery, but different single fingers can also be selected as operating fingers (such as the index finger, middle finger, ring finger, or even the little finger) to perform operations to relieve operator fatigue, while solving the problem of low flexibility in the prior art.

[0028] Moreover, the embodiment of the present application is connected to the operating member and the single-finger clamping part through only one connecting part, so that when the user presses the single-finger clamping part with a single finger, the operating member can be pushed to move linearly through the connecting part. The operating member extends out of the main hand holding part and is connected to the main hand driving assembly. Compared with the existing main hand unilateral clamping structure, the transmission structure of the embodiment of the present application is simple, can accurately collect angle control signals, helps to improve transmission efficiency and reliability, is easy to manufacture and process, and has low processing costs. At the same time, the main hand holding part is small in size and light in weight, which helps the operator to grasp to operate the main control device.

[0029] The further effects of the above-mentioned non-conventional optional manner will be described below in conjunction with specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0031] FIG1 is a schematic structural diagram of a surgical robot system according to an embodiment of the present application;

[0032] FIG2 is a block diagram of a remote control system of a surgical robot system according to an embodiment of the present application;

[0033] FIG3 is a schematic structural diagram of a main control device capable of single-finger operation according to an embodiment of the present application;

[0034] FIG4 is a schematic diagram showing the connection between the operating member, the connecting member and the single-finger gripping portion according to an embodiment of the present application;

[0035] FIG5 is an exploded view of a main control device operable with a single finger according to an embodiment of the present application;

[0036] FIG6 is a schematic structural diagram of a master-hand drive assembly according to an embodiment of the present application;

[0037] FIG7 is a partial enlarged view of point A in FIG6 .

[0038] FIG8 is a cross-sectional view of a connector according to an embodiment of the present application;

[0039] FIG9 is a schematic structural diagram of a connector according to an embodiment of the present application;

[0040] FIG10 is a schematic structural diagram of a manipulation member according to an embodiment of the present application;

[0041] The accompanying drawings are numeraled as follows: 100 - remote control system; 101 - master hand console; 102 - master controller; 103 - slave hand robotic arm; 104 - imaging trolley; 1011 - master hand; 1012 - master hand controller; 1013 - display; 1031 - slave hand; 1032 - slave hand controller; 200 - master control device; 1 - master hand grip; 11 - opening; 12 - limit block; 13 - handle; 14 - support member; 2 - operating member; 201 - first part; 202 - second part; 203 - third part; 21 - mounting surface; 22 - mounting hole; 23 - assembly hole; 24 - thread; 25 - locking member; 2 6. 27-guide member; 3-connecting member; 31-first connecting rod; 32-second connecting rod; 33-accommodating notch; 34-first rotating shaft; 35-second rotating shaft; 36-hinge portion; 4-single-finger clamping portion; 41-pressing rod; 42-pressing block; 43-recess; 44-finger sleeve; 5-main hand drive assembly; 51-first drive assembly; 511-first encoder; 512-first motor; 513-first reducer; 52-second drive assembly; 521-second encoder; 522-second motor; 523-second reducer; 53-first bevel gear; 54-second bevel gear; 55-gear; 56-rack. DETAILED DESCRIPTION

[0042] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "circumferential", "radial", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] Furthermore, 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 technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0045] With the continuous development of science and technology, such as artificial intelligence, augmented reality, and 5G and 6G communication technologies, medical surgical robots are increasingly being adopted by more and more medical professionals. The widespread adoption of 5G communication technology, in particular, has made remote surgery possible, especially in the field of minimally invasive surgery. Minimally invasive surgery is performed using surgical robotic systems, allowing doctors to precisely operate surgical instruments and perform procedures, minimizing harm to patients.

[0046] FIG1 is a schematic diagram of the structure of a surgical robot system according to an embodiment of the present application, and FIG2 is a block diagram of a remote control system of a surgical robot system according to an embodiment of the present application. As shown in FIG1-2, the surgical robot system includes a master hand console 101, a slave hand manipulator 103 (also known as a patient surgical platform), and an imaging trolley 104. The imaging trolley 104 is generally installed near the slave hand manipulator 103 so that nurses and other auxiliary surgical personnel can watch the real-time execution of the operation. The master hand console 101 is generally located in a room outside the operating room, while the imaging trolley 104 and the slave hand manipulator 103 are both located in the operating room. The master hand console 101 is connected to the imaging trolley 104 and the slave hand manipulator 103 through a remote control system 100. The doctor controls the instruments of the slave hand manipulator 103 to perform relevant surgical operations by operating the two main control devices 200, foot pedals or other touch devices on the master hand console 101. The remote control system 100 will accurately map the movement of the doctor's single-hand and / or double-hand remote control main control device 200 to the instrument of the slave-hand robotic arm 103, so that the instrument of the slave-hand robotic arm 103 can complete subtle and precise movement, thereby realizing that the instrument of the slave-hand robotic arm 103 follows the movement of the doctor's hands.

[0047] The remote control system block diagram provides a clearer understanding of the control process of the surgical robot system. As shown in Figure 2, the remote control system 100 includes a master hand console 101, a master controller 102, and a slave hand robotic arm 103. The master hand console 101 serves as the control mechanism of the surgical robot system, the master controller 102 is the control brain of the surgical robot system, and the slave hand robotic arm 103 serves as the actuator for the surgical robot system. There are two master controllers 102: one integrated with the master hand console 101 and the other integrated with the slave hand robotic arm 103. The master hand console 101 includes a master hand 1011, a master hand controller 1012, and a display 1013. The master hand 1011 includes an arm and a master control device 200 rotatably connected to the end of the arm. The slave hand robotic arm 103 includes a slave hand 1031 and a slave hand controller 1032. The slave hand 1031 includes an arm and a surgical instrument mounted at the end of the arm. The instrument can be an endoscope, forceps, a scalpel, a stapler, etc. The end portion of the instrument is called an end effector. The master hand controller 1012 and the slave hand controller 1032 can be communicatively connected. Generally speaking, the master hand console 101 is set at a position away from the slave hand manipulator 103, and the slave hand manipulator 103 is located near the patient (or simulated patient). The doctor controls the surgical instruments of the slave hand manipulator 103 by operating the main control device 200 of the master hand console 101 to perform a surgical operation on the patient.

[0048] Generally, there are two master hands 1011 and one or more slave hands 1031. The master hand 1011 can establish a communication connection with any slave hand 1031, thereby controlling the slave hand 1031 to perform the desired surgical operation. The master hand 1011 can cut off the communication connection with the slave hand 1031 and continue to establish a communication connection with other slave hands 1031, thereby controlling the other slave hands 1031 to perform the desired surgical operation.

[0049] Figure 3 is a structural schematic diagram of a master control device that can be operated with one finger according to an embodiment of the present application. As shown in Figure 3, an operator (such as a surgeon) holds a master control device 200 with each hand to perform remote surgical operations. When the master control device 200 moves in a certain degree of freedom through operation (such as pressing operation or rotating operation), the displacement or angle of the relevant movement will be collected by the master hand controller 1012 and converted into a transmittable control signal. The master hand controller 1012 transmits the control signal to the main controller 102 for processing. The main controller 102 transmits the processed control signal to the slave hand controller 1032, and the slave hand controller 1032 sends it to the relevant driver to control the surgical instrument of the slave hand 1031 to perform the desired surgical action, such as controlling the end effector of the surgical instrument to perform pitch, yaw, roll, opening, clamping or movement.

[0050] The number of displays 1013 can be one or more. Displays 1013 are communicatively connected to an imaging acquisition device (e.g., an endoscope) to display real-time images of the instruments in the slave hand 1031 performing surgical operations at the surgical site. While observing the real-time images of the surgical site through the displays 1013, the operator controls the master control device 200 of the master hand 1011 to move in any degree of freedom to control the surgical instruments in the slave hand 1031 to follow the movements. The image quality of the displays 1013 affects the surgeon's viewing experience, thereby impacting the quality and efficiency of the surgery.

[0051] Different surgical operation modes can be performed using the remote control system 100. In some embodiments, in a non-control mode (e.g., a safe mode) of the remote control system 100, movements and other operations of the master control device 200 do not cause movement of instruments in the slave hand 1031. In a control mode (e.g., a follower mode) of the remote control system 100, the movement of instruments in the slave hand 1031 can be controlled in real time by the master control device 200, such that movements (e.g., rotation or gripping) and other operations of the master control device 200 cause follow-up movement of instruments in the slave hand 1031, for example, during a surgical procedure.

[0052] In various embodiments, in addition to surgical operations, other types of remote operation operations can also be implemented by the remote control system of the present application. The remote control system 100 may include various forms of slave hands 1031, for example, slave hand devices used in submersible equipment, bomb disposal equipment or industrial robots, slave hand devices (such as special robots) used in harsh environments or workplaces (for example, due to weather, temperature, pressure, radiation or other conditions), slave hand devices in general robots and / or other remote control applications (for example, remote control vehicles, drones or devices providing a first-person perspective). The remote control system 100 can also utilize the slave hand 1031 for sensory transmission (such as visual, auditory or tactile transmission, etc.), manipulate workpieces or other physical tasks, etc., and can use the master hand 1011 to remotely control the slave hand 1031, wherein the form of the master hand 1011 can also change to adapt to the needs of different types of operations or different application scenarios.

[0053] In order to better control the slave hand 1031 to accurately perform related operations, the master hand 1011 needs to be able to accurately collect the operator's control instructions, and at the same time meet the operator's needs for the master hand 1011 operation experience, especially the master control device 200 at the end of the master hand 1011 that is in closest contact with the operator. There are relevant documents in the prior art that disclose a variety of master control devices. Generally, the operator controls the clamping operation of the slave hand instrument through a two-finger clamping operation after holding the master control device. This type of master control device generally requires two fingers (such as the thumb and the middle finger) to be placed on the ring part for a long time to perform a bilateral pressing operation. Although it can accurately simulate the clamping action of the slave hand instrument to accurately and stably control the slave hand instrument to perform the clamping operation, the doctor's fingers are prone to fatigue. At the same time, when performing non-clamping operations, it is mostly necessary to withdraw two fingers to perform other operations, resulting in low flexibility in surgical operations.

[0054] In order to alleviate the fatigue of two-finger operation of the main control device, there are also a small number of single-finger operation main control devices in the existing technology. However, researchers have found that the first actuator of the existing single-finger operation main control device is coupled to the controller through a four-bar linkage device and a gear pair device to collect the angle amount of the single finger pressing the first actuator. The four-bar linkage device is directly coupled with the gear pair, which makes it difficult to ensure that the rotational motion of the first actuator is completely transmitted to the gear pair, resulting in low accuracy and reliability of angle signal acquisition and complex structure. In addition, the four-bar linkage device, gear pair device and control are all arranged on the handheld part of the main control device, which makes the handheld part larger and heavier, making it inconvenient for the operator to grasp to operate the main control device.

[0055] The present application aims to provide a main control device that can be operated with one finger, so as to solve the defects of the existing main control devices with two-finger control and one-finger control to a certain extent.

[0056] As an embodiment of the present application, FIG4 is a schematic diagram of the connection between the operating member, the connecting member, and the single-finger grip according to the embodiment of the present application; FIG5 is an exploded view of the main control device capable of single-finger operation according to the embodiment of the present application; as shown in FIG3-FIG5, the main control device 200 capable of single-finger operation is rotatably connected to the arm member of the master hand 1011 via a rotating shaft. The main control device 200 includes a master hand grip 1, an operating member 2, a connecting member 3, a single-finger grip 4, and a master hand drive assembly 5. The master hand grip 1 includes a housing for supporting the operating member 2 and the single-finger grip 4; the master hand drive assembly 5 includes a housing for rotatably supporting the master hand grip 1, wherein one end of the connecting member 3 is movably connected to the operating member 2, and the other end of the connecting member 3 is movably connected to the single-finger grip 4. One end of the single-finger grip 4 is also movably connected to the housing of the master hand grip 1. One end of the operating member 2 extends out of the master hand grip 1 and couples with the master hand drive assembly 5. When the single-finger grip 4 is pressed to open or close, the operating member 2 can be controlled to slide axially via the connector 3. The main hand drive assembly 5 coordinates and transmits the axial movement of the operating member 2 to collect relevant angle control signals. Those skilled in the art will appreciate that the aforementioned movable connection can be a rotational connection, a hinged connection, or a sliding connection. The connector 3 can be a single component, a combination of multiple components, or a general term for any transmission mechanism capable of converting the rotational movement of the single-finger grip 4 into axial sliding movement of the operating member 2.

[0057] In other embodiments of the present application, FIG6 is a schematic structural diagram of a master-hand drive assembly according to an embodiment of the present application; FIG7 is a partial enlarged view of point A in FIG6 . As shown in FIG5-7 , the master-hand drive assembly 5 further includes a first bevel gear 53 and a second bevel gear 54 that mesh with each other, a gear 55 and a rack 56 that mesh with each other, and a first drive assembly 51 and a second drive assembly 52. ​​The first drive assembly 51 is connected to the master-hand grip portion 1 via the first bevel gear 53 and the second bevel gear 54, and transmits signals to the first drive assembly 51 when the master-hand grip portion 1 rotates circumferentially. The second drive assembly 52 is connected to the operating member 2 via the gear 55 and the rack 56, and transmits signals to the second drive assembly 52 when the operating member 2 moves axially.

[0058] The first drive assembly 51 includes a first encoder 511, a first motor 512, and a first reducer 513. The first drive assembly 51 is connected to the master-hand grip 1 via a first bevel gear 53 and a second bevel gear 54. When the master-hand grip 1 rotates circumferentially (around the X-axis), signals are transmitted between the first drive assembly 51 and the second drive assembly 52. ​​The second drive assembly 52 includes a second encoder 521, a second motor 522, and a second reducer 523. The second drive assembly 52 is connected to the operating member 2 via a gear 55 and a rack 56. The operating member 2 is fixedly connected to the rack 56 in the axial direction but can rotate relative to the rack 56. When the operating member 2 moves axially (along the X-axis), signals are transmitted between the second drive assembly 52 and the second drive assembly 52. ​​The gear 55 can be either a spur gear or a helical gear.

[0059] As can be seen from the above description, only a portion of the control member 2 and a portion of the connector 3 are located within the main-hand grip 1. The other portions of the control member 2 and the connector 3 are located outside the main-hand grip 1. The control member 2 and connector 3 are relatively small, while the larger second drive assembly 52, gear 55, and rack 56 are all located within the main-hand drive assembly 5. This ensures that the main-hand grip 1 has sufficient space for the installation of other functional components or wiring needs, while also ensuring that the main-hand grip 1 is not excessively large, thereby hindering the operator's grip. Furthermore, the rotational motion of the single-finger grip 4 is first converted into linear motion of the control member 2 via the connector 3. The control member 2 is fixedly connected to the rack 56 in the axial direction. The rack 56 drives the gear 55, which can more reliably and stably transmit the rotational motion of the single-finger grip 4 to the gear 55, allowing the second drive assembly 52 to more accurately acquire the angle control signal of the single-finger grip 4.

[0060] It should be noted that the first bevel gear 53 rotates with the rotation of the main hand grip 1, the second bevel gear 54 is fixed on the first drive assembly 51, the first bevel gear 53 is meshed with the second bevel gear 54, the rack 56 moves with the axial movement of the operating member 2, the gear 55 is fixed on the second drive assembly 52, and the rack 56 is meshed with the gear 55.

[0061] With further reference to FIG3 , the main-hand grip portion 1 includes a handle 13 and a support member 14. The handle 13 is disposed away from the main-hand drive assembly 5 for gripping by the operator's hand, and the support member is disposed close to the main-hand drive assembly 5. The handle 13 is fixedly connected to the support member 14. The outer shell of the handle 13 is connected to a single-finger clamping portion 4 that can be opened and closed. Of course, the single-finger clamping portion 4 can also be disposed inside the support member 14. The outer shells of the handle 13 and the support member 14 are provided with a notch at the connecting end surface that can accommodate the hinged end of the single-finger clamping portion 4, and the single-finger clamping portion is further connected through the notch. For example, the outer shell of the handle 13 and the outer shell of the support member 14 constitute the shell of the main-hand grip portion 1.

[0062] When the master hand grip 1 rotates, the master hand drive assembly 5 cooperates with the transmission of the circumferential rotation of the master hand grip 1, thereby collecting the circumferential rotation amount of the master hand grip 1 to send to the master hand controller 1012, and the master hand controller 1012 transmits a control signal to the master controller 102, which then causes the master controller 102 to transmit a control signal to the slave hand controller 1032, so that the instrument of the slave hand robotic arm 103 performs a rotation action. Since the single-finger clamping part 4 is hinged to the main hand holding part 1, the two ends of the connecting part 3 are hinged to the single-finger clamping part 4 and the operating part 2 respectively. Therefore, when the single-finger clamping part 4 is pressed, the connecting part 3 is driven to move forward (that is, away from the operator), and the connecting part 3 drives the operating part 2 to move axially. The main hand drive component 5 cooperates with the axial movement of the operating part 2 to collect the axial movement amount of the operating part 2. The main hand controller 1012 transmits a control signal to the main controller 102, and then the main controller 102 transmits a control signal to the slave hand controller 1032, so that the instrument of the slave hand robotic arm 103 performs corresponding operations such as clamping.

[0063] With further reference to Figures 4 and 6 , two guides 26 and 27 are provided within the main-hand grip 1 to guide the axial sliding of the control member 2. The control member 2 is positioned at either end within these guides 26 and 27, respectively, and is capable of sliding along the directions determined by these guides 26 and 27. In addition to guiding the axial sliding of the control member 2, these guides 26 and 27 also provide support for the control member 2, preventing the control member 2 from bending and / or deviating from the X-axis when the connector 3 pushes on it from one side. This ensures smoother axial sliding of the control member 2 and a more precise sliding stroke.

[0064] In one embodiment of the present application, the guide members 26 and 27 can be sleeves, and the two sleeves are respectively arranged in the main hand grip 1 and the main hand drive assembly 5; the operating member 2 is a cylinder, and its two ends are respectively sleeved in the two sleeves and can slide along the directions determined by the two sleeves.

[0065] In one embodiment of the present application, the guide members 26 and 27 may also be guide rails, and slide grooves are respectively provided at both ends of the operating member 2. The slide grooves cooperate with the guide rails so that the operating member 2 can slide along the direction determined by the two guide rails.

[0066] In some embodiments of the present application, one end of the single-finger clamping portion 4 is hinged to the main hand grip portion 1, and the single-finger clamping portion 4 is also hinged to the other end of the connector 3. The hinged position of the single-finger clamping portion 4 and the connector 3 can be the middle of the single-finger clamping portion 4 or the front. The hinged position is mainly determined by the length of the axial sliding stroke of the operating member 2 that needs to be controlled, but it also needs to meet the functional requirements of the connector 3, that is, it can push the operating member 2 to slide axially through the connector 3. On the premise of determining the rotatable angle range of the single-finger clamping portion 4, through holes or grooves that cooperate with the hinge axis of the connector 3 can also be set at multiple positions on the bottom of the single-finger clamping portion 4. The through holes or grooves can be arranged at equal intervals or at unequal intervals to adjust the axial sliding stroke of the operating member 2.

[0067] The hinged connection referred to in this application may be a pin connection as shown in this application, that is, a through hole is provided at one end of the single-finger grip 4, and a through hole is provided on the main-hand grip 1 to match the through hole provided at one end of the single-finger grip 4. A pin is inserted into the through holes of the single-finger grip 4 and the main-hand grip 1, thereby achieving a rotatable connection between the single-finger grip 4 and the main-hand grip 1. Similarly, the hinged connection between the single-finger grip 4 and the connecting member 3, and the hinged connection between the connecting member 3 and the operating member 2, are also achieved through the cooperation of through holes and pins.

[0068] In another embodiment of the present application, the hinged connection can also be a ball joint. That is, a spherical body is provided at one end of the single-finger grip 4, and a groove is provided on the main-hand grip 1 to mate with the spherical body provided at one end of the single-finger grip 4. The spherical body of the finger grip 4 is positioned within the groove of the main-hand grip 1 and can rotate within the groove, thereby achieving a rotatable connection between the single-finger grip 4 and the main-hand grip 1. Similarly, the hinged connection between the single-finger grip 4 and the connecting member 3, and the hinged connection between the connecting member 3 and the operating member 2, are also achieved through the cooperation of the spherical body and the groove.

[0069] With further reference to Figures 3-5 , since the operating member 2 is hingedly connected to the connecting member 3, which is in turn hingedly connected to the single-finger grip 4, which is in turn hingedly connected to the primary-hand grip 1, the operating member 2 is disposed within the guide members 26 and 27, which are also disposed within the primary-hand grip 1 and remain relatively stationary relative to the primary-hand grip 1. Therefore, the operating member 2 rotates synchronously with the primary-hand grip 1, allowing the operating member 2 to rotate while sliding axially.

[0070] In some embodiments of the present application, based on the physician's working habits and the way they hold the handpiece 1 with their primary hand, the single-finger grip 4 is positioned on one side of the axial centerline of the manipulation member 2. That is, the single-finger grip 4 can be positioned at any circumferential position of the manipulation member 2. The operator can select a suitable finger to press the single-finger grip 4, thereby controlling the axial movement of the manipulation member 2. Generally, the operator can select the finger closest to the single-finger grip 4 to press the single-finger grip 4, thereby improving the operator's comfort.

[0071] Optionally, the single-finger clamping portion 4 is arranged above or on the side of the operating member 2. For example, the single-finger clamping portion 4 can be arranged directly above the operating member 2, and the operator can choose to press the single-finger clamping portion 4 with the index finger or middle finger; for another example, the single-finger clamping portion 4 can be arranged diagonally above the operating member 2, and the operator can choose to press the single-finger clamping portion 4 with the index finger or middle finger; for another example, the single-finger clamping portion 4 can be arranged on the side of the operating member 2, and be located on the same horizontal plane as the axial center line of the operating member 2, and the operator can choose to press the single-finger clamping portion 4 with the index finger or middle finger; for another example, the single-finger clamping portion 4 can be arranged on the side of the operating member 2, but not on the same horizontal plane as the axial center line of the operating member 2, and the operator can choose to press the single-finger clamping portion 4 with the little finger.

[0072] In some embodiments of the present application, the rear end (i.e., the hinged end) of the single-finger grip 4 can be hinged to the housing of the master-hand grip 1 or some fixed structure inside the master-hand grip 1. The master-hand grip 1 needs to have sufficient space for the single-finger grip 4 to rotate, so that when the operator presses the single-finger grip 4, the rotation process of the single-finger grip 4 will not be blocked. The single-finger grip 4 generally has a certain rotation angle range. As shown in Figures 3 and 5, a rectangular or strip-shaped opening 11 is provided in the housing of the master-hand grip 1. The opening 11 is used to accommodate the single-finger grip 4 and extends through the interior of the master-hand grip 1. Because the rear end of the single-finger grip 4 needs to rotate within one side of the opening 11, within the rotation angle range of the single-finger grip 4, the single-finger grip 4 should not interfere with the inner sidewall of the opening 11 when it is opened to its limit. Alternatively, when the single-finger grip 4 is opened to its limit, the single-finger grip 4 just abuts against the inner sidewall of the opening 11, limiting further outward opening of the single-finger grip 4. Therefore, the length of the opening 11 needs to be slightly larger than the length of the single-finger grip 4, so that the opening 11 has sufficient rotation space for the single-finger grip 4 to rotate, meet the rotation angle range of the single-finger grip 4, and limit the rotation angle of the single-finger grip 4 in the opening direction from exceeding the maximum rotation angle. At the same time, when the single-finger grip 4 is fully closed, it can be completely embedded in the opening 11. Therefore, the width of the opening 11 also needs to be slightly larger than the width of the single-finger grip 4, ensuring the aesthetics of the main control device.

[0073] Similarly, as shown in Figures 3 and 5, the opening 11 is also used for the connector 3 to enter the interior of the shell and be hinged to the operating member 2. Therefore, the width dimension of the opening 11 needs to be larger than the width of the connector 3, and the length dimension of the opening cannot interfere with the movement of the connector 3, so that the opening 11 has enough space for the connector 3 to move and rotate, so that when the operator presses the single-finger clamping portion 4, the movement and rotation of the connector 3 will not be blocked.

[0074] In some embodiments of the present application, the length of the opening 11 is determined by the rotation angle range and the length of the single-finger grip 4. For example, in some embodiments, the length of the single-finger grip 4 is also adjustable. The width of the opening 11 is mainly determined by the width of the single-finger grip 4 and the width of the connector 3 to ensure that the single-finger grip 4 and the connector 3 do not interfere with each other during operation.

[0075] Optionally, when the single-finger grip 4 is pressed, it gradually approaches the opening 11 until it is embedded in the opening 11. During this process, the operating member 2 moves forward in the axial direction. When the single-finger grip 4 is embedded in the opening 11, the outer surface of the single-finger grip 4 and the outer surface of the housing of the master-hand grip 1 are aligned with each other as closely as possible, either vertically or on the same arc surface. This ensures that the single-finger grip 4 and the housing of the master-hand grip 1 do not have noticeable shape differences, thereby ensuring the aesthetics of the main control device 200.

[0076] It should be noted that after the single-finger clamping portion 4 is embedded in the opening 11, the single-finger clamping portion 4 is usually no longer pressed to prevent the single-finger clamping portion 4 from further entering the main-hand handheld portion 1. Based on this, as shown in Figure 3, a limit block 12 is provided on the side of the opening 11 away from the hinged end of the single-finger clamping portion 4. The limit block 12 is configured to limit the single-finger clamping portion 4 from entering the main-hand handheld portion 1 when the single-finger clamping portion 4 is embedded in the opening 11. When the single-finger clamping portion 4 is pressed, the single-finger clamping portion 4 gradually approaches the opening 11 until it is embedded in the opening 11. At this time, the limit block 12 and the single-finger clamping portion 4 are abutted, and the limit block 12 limits the single-finger clamping portion 4 from entering the main-hand handheld portion 1. The limit block 12 can be set at any position on the side of the opening 11 away from the hinged end of the single-finger clamping portion 4. One or more limit blocks 12 can also be provided. The limit blocks 12 can be provided together or at different positions in the opening 11.

[0077] In some embodiments of the present application, Figure 8 is a cross-sectional view of a connector according to an embodiment of the present application; Figure 9 is a structural schematic diagram of a connector according to an embodiment of the present application; the connector 3 can be integrally formed or separately set. When the connector 3 is separately set, as shown in Figures 8 and 9, the connector 3 can include a Z-shaped first connecting rod 31 and a Z-shaped second connecting rod 32. The first connecting rod 31 and the second connecting rod 32 are connected to each other in a mirror-like (partial mirror-like or completely mirror-like) symmetrical manner, thereby forming an accommodating gap 33, which is used to clamp the operating member 2 to maintain the stability of the connection; further, a first rotating shaft 34 is provided at one end of the first connecting rod 31, and a second rotating shaft 35 is provided at one end of the second connecting rod 32. The first rotating shaft 34 and the second rotating shaft 35 are coaxially arranged and are respectively rotatably connected to the operating member 2. The other end of the first connecting rod 31 and / or the second connecting rod 32 is hinged to the single-finger clamping portion 4. The connector 3 is arranged in a mirror-symmetrical structure, which is easy to install with the operating member 2. At the same time, when the connector 3 is made of a rigid material such as metal, the rigidity of the connector and the stability and reliability of motion transmission can be guaranteed.

[0078] Because there is a accommodating notch 33 in the connecting member 3, when the single-finger clamping portion 4 is pressed, the movement or rotation of the connecting member 3 will not interfere with the operating member 2, so that the operating member 2 can be smoothly pushed forward, and the first rotating shaft 34 and the second rotating shaft 35 are symmetrically arranged at the opening of the accommodating notch 33 to achieve a rotational connection with the operating member 2. That is to say, the size of the accommodating notch must ensure that within the rotation angle range of the single-finger clamping portion 4, the operating member 2 can be smoothly driven forward.

[0079] Furthermore, when installing the split-type connector 3 of rigid material, the first connecting rod 31 can be installed on the operating member 2 first, and then the second connecting rod 32 can be installed on the operating member 2. After the first connecting rod 31 and the second connecting rod 32 are fitted together, the two connecting rods can be fixed together with screws, which helps to reduce the difficulty of installing the connector 3.

[0080] It should be noted that when the first connecting rod 31 and the second connecting rod 32 are partially mirror-symmetrical, at the end where the connecting member 3 is hinged to the single-finger clamping portion 4, the connection to the single-finger clamping portion 4 can be hinged only through the first connecting rod 31 or only through the second connecting rod 32. When the first connecting rod 31 and the second connecting rod 32 are mirror-symmetrical, the connection to the single-finger clamping portion 4 can also be hinged together through the first connecting rod 31 and the second connecting rod 32, which is not limited in this embodiment of the present application.

[0081] Optionally, when the first connecting rod 31 and the second connecting rod 32 are partially mirror-symmetrical, in order to facilitate the installation of the connecting member 3 on the single-finger clamping portion 4, further referring to Figures 8-9, only the end of the first connecting rod 31 close to the single-finger clamping portion 4 extends toward the second connecting rod 32 to form a hinge portion 36. The hinge portion 36 can be hinged to the single-finger clamping portion 4 via a pin, but the second connecting rod 32 is not hinged to the single-finger clamping portion 4. Of course, the end of the second connecting rod 32 close to the single-finger clamping portion 4 can also be extended toward the first connecting rod 31 to form a hinge portion hinged to the single-finger clamping portion 4, while the first connecting rod 31 is not hinged to the single-finger clamping portion 4.

[0082] Of course, in some embodiments of the present application, the connecting member 3 may also include only the first connecting rod 31 and the first rotating shaft 34 or only the second connecting rod 32 and the second rotating shaft 35, as long as it can achieve that when the single-finger clamping part 4 is pressed, the connecting member 3 can move forward smoothly and push the operating member 2 to move forward along the axial direction.

[0083] In other embodiments of the present application, the connecting member 3 may also be integrally formed in a shape as shown in FIG9 , that is, the first connecting rod 31 and the second connecting rod 32 are integrally formed, and have a first rotating shaft 34, a second rotating shaft 35, and an accommodating notch 33. When the connecting member 3 is integrally formed, it is preferably made of an elastic material. When the connecting member 3 is connected to the operating member 2, the elastic first connecting rod 31 and the second connecting rod 32 can expand outward, so that the first rotating shaft 34 and the second rotating shaft 35 are respectively inserted into the mounting hole 22 of the operating member 2 and can rotate within the mounting hole 22.

[0084] In some embodiments of the present application, the connector 3 may be an integrally formed connecting rod, a rod-shaped structure with a circular or other cross-sectional shape. A rotatable round or semi-round ball is mounted on the top of one or both ends of the connector 3. A groove is provided on the corresponding surface of the operating member 2 and / or the single-finger grip 4. The groove engages with the round ball on the connector 3, allowing the round ball to rotate within the groove. Such a connector 3 does not require an accommodating notch, resulting in a simpler structure.

[0085] With further reference to FIG4 , the connector 3, the single-finger grip 4, and the operating member 2 approximately form a triangle. The single-finger grip 4 and the connector 3 form an angle toward the operating member 2. This angle should be obtuse to ensure that the pressing action of the single-finger grip 4 can drive the connector 3 and the operating member 2 to move axially forward. By adjusting the size of this angle, the axial travel distance of the operating member 2 can be changed. Specifically, the connection between the connector 3 and the single-finger grip 4 can be set to be adjustable. This adjustable structure has been described above and will not be repeated here.

[0086] As described above, the connection mode of the movable connection between the connecting member 3 and the operating member 2 can also be set to be adjustable. Specifically, a plurality of mounting holes 22 at different positions can be set on the operating member 2. When the connecting member 3 and the operating member 2 are hingedly connected, they can be connected through different mounting holes 22, thereby adjusting the angle after the connecting member 3 and the operating member 2 are connected, thereby changing the axial travel distance of the operating member 2.

[0087] In some embodiments of the present application, the length of the connector 3 can be configured to be adjustable. By adjusting the axial dimension of the connector 3, the angles between the connector 3 and the single-finger grip 4 and the operating member 2 are changed, thereby adjusting the axial travel distance of the operating member 2. Specifically, the connector 3 can be configured as a retractable cylindrical structure, and the axial dimension of the connector 3 can be adjusted by the retractable structure. Alternatively, the connector 3 can be configured as two parts, and the axial dimension of the connector 3 can be adjusted by adjusting the connection position of the two parts, thereby changing the axial travel distance of the operating member 2.

[0088] Optionally, the axial travel distance of the operating member 2 corresponds to the rotation angle of the single-finger grip 4. A larger travel distance facilitates the movement of the rack 56, which in turn drives the gear 55 to rotate, allowing the second drive assembly to collect the rotation angle signal of the single-finger grip 4. In other words, by varying the axial travel distance of the operating member 2, the rotation angle signal of the single-finger grip 4 can be amplified, facilitating accurate control of the movement of the slave hand instrument.

[0089] FIG10 is a schematic diagram of the structure of an operating member according to an embodiment of the present application. As shown in FIG10 , the outer surface of the operating member 2 is provided with two mounting surfaces 21 facing each other. The mounting surfaces 21 are provided with mounting holes 22. A first rotating shaft 34 and a second rotating shaft 35 are respectively inserted into the mounting holes 22 and are capable of rotating within the mounting holes 22. The mounting holes 22 can be through-holes or two independent countersunk holes, as long as they can accommodate the first rotating shaft 34 and the second rotating shaft 35 and can rotate within the mounting holes 22.

[0090] Further referring to Figure 10, since two mounting surfaces 21 are provided at the hinge of the operating member 2 and the connecting member 3, the two mounting surfaces 21 correspond to the end of the first connecting rod 31 and the end of the second connecting rod 32 respectively, so that the two mounting surfaces 21 can be respectively fitted with the end surface of the first connecting rod 31 and the end surface of the second connecting rod 32, thereby increasing the contact area of ​​the fitting position and helping to improve the axial transmission stability of the operating member 2.

[0091] Optionally, the control member 2 can be made of stainless steel, which helps improve the precision and rigidity of the main control device that can be operated with one finger. Furthermore, the control member 2 has a hollow structure, which can reduce its weight. Furthermore, the control member 2 is a stepped shaft, divided into three sections. The diameters of the first section 201 and the third section 203 are smaller than the diameter of the second section 202. The two mounting surfaces are provided on the second section 202, which is also designed to ensure the rigidity of the control member 2.

[0092] In some embodiments of the present application, as shown in Figures 3 and 10, the operating member 2 further includes an assembly hole 23. Optionally, the assembly hole 23 is also provided on the second portion 202, allowing various components to be mounted on the operating member 2, thereby improving assembly efficiency. The assembly hole 23 is provided on a side of the operating member 2 away from the master-hand grip portion 1. The master-hand grip portion 1 is rotatably connected to the housing of the master-hand drive assembly 5. The operating member 2 extends through the first bevel gear 53 into the housing of the master-hand drive assembly 5. The assembly hole 23 is exposed in front of the first bevel gear 53. This allows a tool (such as a screwdriver) to be inserted during assembly to prevent the operating member 2 from rotating when installing the locking member 25 (such as tightening a nut) at the rear end of the operating member 2, thereby preventing the operating member 2 from rotating and affecting assembly efficiency and quality. The operating member 2 is rotatable. When the axis of the assembly hole 23 is parallel to the rotation axis of the second bevel gear 54 below it, it can also be used to adjust the up and down movement of the second bevel gear 54 below it in the direction of its rotation axis, so that the second bevel gear 54 below it can maintain close engagement with the first bevel gear 53. By the arrangement of the assembling hole 23, the difficulty of assembling is greatly reduced, and the assembly efficiency and quality are improved. Of course, the aperture of the assembling hole 23 should not be too large, and general tools can pass through it, otherwise the overall performance of the operating member 2 will be affected.

[0093] Optionally, the first and second rotating shafts 34, 35 can be formed as a single shaft, making the rotation of the connector 3 and the operating member 2 more stable and reliable. If the first and second rotating shafts 34, 35 are designed as a single shaft, through-holes can be provided in the connector 3 at the locations where the first and second rotating shafts 34, 35 are to be located. These through-holes mate with the mounting holes 22 of the operating member 2, and the rotating shafts can be inserted into these three through-holes. However, considering that wiring within the operating member 2 is required, the first and second rotating shafts 34, 35 are coaxial but not connected. This facilitates wiring within the operating member 2 and avoids wiring entanglement.

[0094] In embodiments where the first and second rotating shafts 34, 35 are not continuous, the first and second rotating shafts 34, 35 should not be too long. Excessively long first and second rotating shafts 34, 35 will still affect the wiring inside the control member 2, and will still become entangled with the wiring when the main hand grip 1 rotates circumferentially. Therefore, without affecting the rotational connection between the connecting member 3 and the control member 2, the first and second rotating shafts 34, 35 can be designed to be as short as possible, for example, not exceeding the wall thickness of the hollow structure of the control member 2 or slightly exceeding the wall thickness of the control member 2, so that the first and second rotating shafts 34, 35 are essentially invisible inside the control member 2, or only a small amount of the first and second rotating shafts 34, 35 are visible.

[0095] Optionally, with further reference to Figures 5 and 10, the operating member 2 is provided with a thread 24 at the end away from the main hand grip 1, and the main control device that can be operated with one finger also includes a locking member 25, and a corresponding thread is also provided in the locking member 25. The locking member 25 is installed on the operating member 2 through the thread 24. The locking member 25 can prevent the transmission components (such as the rack 56) installed on the operating member 2 from positional displacement, which helps to ensure the accuracy of the main control device that can be operated with one finger. Specifically, the locking member 25 can be a locking nut.

[0096] In other embodiments of the present application, as shown in FIG4 , the single-finger gripping portion 4 includes a pressing rod 41 and a pressing block 42. The rear end of the pressing rod 41 (i.e., the end closest to the operator) is hinged to the master hand gripping portion 1, the middle portion of the pressing rod 41 is hinged to the other end of the connecting member 3, and the front end of the pressing rod 41 is connected to the pressing block 42, which helps to improve the comfort of the finger pressing the single-finger gripping portion 4. When the operator presses the pressing block 42, the pressing rod 41 connected to the pressing block 42 is also pressed. Since the pressing rod 41 is hinged to the master hand gripping portion 1 and the connecting member 3, respectively, the connecting member 3 and the operating member 2 gradually approach each other, and at the same time, the connecting member 3 pushes the operating member 2 to move forward along the axial direction (i.e., move away from the operator). The master hand driving assembly 5 cooperates with the axial movement of the operating member 2 to transmit a control signal to the master controller 102, which then causes the master controller 102 to transmit a control signal to the slave hand controller 1032, causing the slave hand 1031 to perform a corresponding operation.

[0097] Optionally, the pressing block 42 is formed with a recess 43 on the outer surface away from the pressing rod 41, which is configured to accommodate the fingertips. This helps to further improve the comfort of the fingers pressing the single-finger clamping portion 4 and makes it difficult for the fingers to move out of the pressing block 42. The recess 43 can be set at any position on the outer surface of the pressing block 42, as long as the position is convenient for the operator to press the pressing block 42. Generally speaking, the recess 43 can be set in the middle of the outer surface of the pressing block 42, such as along the center line of the pressing block 42, so that the operator can obtain a better pressing experience.

[0098] Furthermore, the friction of the recess 43 can be further increased to prevent the operator's finger from sliding in the recess 43, resulting in ineffective pressing of the pressing block 42. For example, a plurality of convex strips (which can be linear or curved) or a plurality of convex points (which can be semicircular, conical, or cylindrical) can be provided on the recess 43. Then, when the operator's finger contacts the recess 43, the friction between the finger and the contact surface can be increased, thereby preventing the operator's finger from sliding in the recess 43.

[0099] In some embodiments of the present application, as shown in Figures 3 to 5, the single-finger clamping portion 4 further includes an annular finger sleeve 44, the two ends of which are respectively connected to the side edges of the pressing block 42 to prevent the finger from being separated from the pressing block 42 when pressing the pressing block 42. The finger sleeve 44 can be set in the middle of the pressing block 42, or at the front end of the pressing block 42 (that is, the end away from the operator), or at the rear end of the pressing block 42 (that is, the end close to the operator), and can be designed according to the operator's habits. Generally, the setting position of the finger sleeve 44 is determined by the position of the recess 43. The finger sleeve 44 can be directly opposite the recess 43, so that the operator's finger is not easily separated from the surface of the pressing block 42. Even if the operator's finger is not in contact with the surface of the pressing block 42, the finger sleeve 44 can ensure that the finger is not completely separated from the surface of the pressing block 42.

[0100] With further reference to Figures 5-7, when the operator performs a single-finger pressing operation on the single-finger clamping part 4 with a finger (such as the index finger, middle finger, ring finger or even the little finger), the second drive component 52 can move linearly toward the first direction through the rack 56 to drive the gear 55 to rotate forward, thereby obtaining the angle control signal of the single-finger clamping part 4. The angle of the forward rotation of the gear 55 can be measured by the second encoder 521, and the measured angle control signal is transmitted to the main controller via the master hand controller of the entire system, and then transmitted to the slave hand controller by the main controller, thereby driving the end effector of the slave hand to perform the desired surgical operation, such as controlling the pitch, yaw, roll, opening or movement of the end effector.

[0101] After the single-finger pressing operation is completed, the single-finger clamping portion 4 is released. According to the preset automatic reset torque, the second drive component 52 drives the gear 55 to rotate in the opposite direction, driving the rack 56 to move linearly along the second direction. The first direction is opposite to the second direction, and the second motor 522 is reversed to achieve the automatic reset of the single-finger clamping portion 4, making it easier for the operator to perform the next pressing operation, further reducing the operator's physical exertion, and at the same time improving the flexibility of single-finger operation. Among them, the automatic reset torque is customizable and can be set according to operating habits. It can be large or small, such as 2N·m, 5N·m, 10N·m, 13N·m, etc. It can also be defined according to some situations of the slave hand. The setting method is set through the software in the master hand controller.

[0102] Optionally, the control process of the forward and reverse rotation of the second motor 522 is as follows: depending on whether the torque transmitted to the second motor 522 by pressing the single-finger clamping part 4 is greater than the preset automatic reset torque, if it is greater than the preset automatic reset torque, the second motor 522 rotates forward through the encoder to collect the control command signal; if it is less than the preset automatic reset torque, the second motor 522 reverses and drives the single-finger clamping part 4 to automatically reset through the operating member 2 and the connecting member 3.

[0103] In an embodiment where the finger sleeve 44 is not present, after the single-finger pressing operation is completed, if the operator releases the single-finger clamping portion 4, the second drive assembly 52 causes the gear 55 to rotate in the opposite direction according to the preset automatic reset torque to achieve automatic reset of the single-finger clamping portion 4.

[0104] In an embodiment in which a finger sleeve 44 is present, after the single-finger pressing operation is completed, if the operator releases the single-finger clamping part 4, the second drive assembly 52 causes the gear 55 to rotate in the opposite direction according to the preset automatic reset torque to achieve automatic reset of the single-finger clamping part 4; or, the operator pushes the finger sleeve 44 outward, driving the rack 56 to move linearly along the second direction, causing the gear 55 to rotate in the opposite direction, and the second motor 522 to reverse, to achieve manual reset of the single-finger clamping part 4.

[0105] The present application also provides a master hand control console 101, which includes the master control device 200 operable with a single finger as described in any of the above embodiments. The master hand control console 101 includes the master control device 200 operable with a single finger, a master hand controller 1012, and a display 1013. When the master control device 200 operable with a single finger moves in a certain degree of freedom (such as circumferential rotation of the master hand grip or axial movement of the operating member), the master hand controller 1012 transmits a control signal to the master controller 102, which transmits the control signal to the slave hand controller 1032. The slave hand controller 1032 controls the instrument of the slave hand 1031 to perform the desired surgical operation, such as controlling the pitch, yaw, roll, opening, or movement of the instrument's end effector.

[0106] The above specific embodiments do not constitute a limitation on the scope of protection of this application. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may occur depending on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application shall be included within the scope of protection of this application.

[0107] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A main control device that can be operated with one finger, characterized in that: include: A main hand grip (1) for the operator to grasp; A single-finger gripping portion (4) rotatably connected to the main hand gripping portion (1); A manipulation member (2) slidably connected to the main hand grip portion (1); a connecting member (3) for connecting the operating member (2) and the single-finger clamping portion (4) to convert the rotational movement of the single-finger clamping portion (4) into the axial movement of the operating member (2); A master-hand driving assembly (5) is used to support the master-hand grip (1) and is coupled to the operating member (2).

2. The main control device capable of single-finger operation according to claim 1, characterized in that: The master hand drive assembly (5) comprises a first drive assembly (51) and a second drive assembly (52), wherein the second drive assembly (52) is coupled to the operating member (2).

3. The main control device capable of single-finger operation according to any one of claims 1-2, characterized in that: An automatic reset torque is preset in the second drive component (52). When the torque transmitted to the second drive component (52) by pressing the single-finger clamping portion (4) is less than the preset automatic reset torque, the second drive component (52) drives the single-finger clamping portion (4) to reset via the operating member (2) and the connecting member (3).

4. The main control device capable of single-finger operation according to any one of claims 1 to 3, characterized in that: The connecting member (3) is an integral component or a split component.

5. The main control device capable of single-finger operation according to any one of claims 1 to 4, characterized in that: The connecting member (3) comprises an accommodating notch (33) for clamping the operating member (2).

6. The main control device capable of single-finger operation according to any one of claims 1 to 5, characterized in that: The connecting member (3) comprises a first connecting rod (31) and a second connecting rod (32), wherein a first rotating shaft (34) and a second rotating shaft (35) are arranged opposite to each other on the first connecting rod (31) and the second connecting rod (32).

7. The main control device capable of single-finger operation according to any one of claims 1 to 6, characterized in that: The length of the connecting member (3) and / or the connection position of the connecting member (3) on the single-finger clamping portion (4) and the operating member (2) are adjustable.

8. The main control device capable of single-finger operation according to any one of claims 1 to 7, characterized in that: The connecting member (3) enters the main hand grip (1) through an opening (11) and is connected to the operating member (2).

9. The main control device capable of single-finger operation according to any one of claims 1 to 8, characterized in that: The operating member (2) extends from the inside of the master-hand grip (1) to the outside of the master-hand grip (1) and is coupled to the master-hand driving assembly (5).

10. The main control device capable of being operated by a single finger according to any one of claims 1 to 9, characterized in that: An assembly hole (23) is provided on a side of the operating member (2) close to the main hand drive assembly (5).

11. The main control device capable of single-finger operation according to any one of claims 1 to 10, characterized in that: A mounting hole (22) is provided on the side of the operating member (2) away from the main hand drive assembly (5) for mounting the connecting member (3).

12. The main control device capable of single-finger operation according to any one of claims 1 to 11, characterized in that: The operating member (2) is a stepped shaft comprising a first part (201), a second part (202) and a third part (203); the diameters of the first part (201) and the third part (203) are smaller than the diameter of the second part (202).

13. The main control device capable of single-finger operation according to any one of claims 10 to 12, characterized in that: The assembly hole (23) and / or the mounting hole (22) are provided on the second part (202).

14. The main control device capable of single-finger operation according to any one of claims 1 to 10, characterized in that: The operating member (2) is a hollow structure.

15. A master hand console, characterized in that: A main control device capable of being operated with a single finger comprising the device described in any one of claims 1 to 14.

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