Control input apparatus, surgeon console, and surgical robot

Abstract

A control input apparatus, a surgeon console, and a surgical robot. The control input apparatus (10) comprises a rotation joint (100) and an opening and closing joint (200). The opening and closing joint (200) is rotatably connected to the rotation joint (100) along the axial direction. The opening and closing joint (200) is provided with a first switch button (201) and a second switch button (202). The first switch button (201) and the second switch button (202) are configured to move relative to the opening and closing joint (200) along the axial direction of the opening and closing joint (200), so as to control the signal output of the control input apparatus (10). Along the axis of the opening and closing joint (200), the first switch button (201) is located on one side of the opening and closing joint (200), and the second switch button (202) is symmetrically arranged on the other side of the opening and closing joint (200) relative to the first switch button (201), so as to improve the reliability of the control input apparatus (10), thereby improving the safety of surgical operations.

Description

Control input device, physician console and surgical robot

[0001] This application claims priority to the application filed on June 28, 2024 with the China National Intellectual Property Office, the application number is 202410865492.4; the application filed on July 12, 2024 with the China National Intellectual Property Office, the application number is 202421651483.7; the application filed on June 28, 2024 with the China National Intellectual Property Office, the application number is 202410865746.2; the application filed on July 12, 2024 with the China National Intellectual Property Office, the application number is 202421651491.1; the entire contents of which are incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of mechanical equipment, in particular to a control input device, a physician console and a surgical robot. BACKGROUND

[0003] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used for its small surgical trauma, short recovery time and less pain to patients. Among them, the minimally invasive surgical robot can avoid the operation limitations such as hand tremor during filtering operation due to its high dexterity, high control precision and intuitive surgical image. It can be widely used in abdominal, pelvic and thoracic surgical areas. The master-slave minimally invasive surgical robot widely used in minimally invasive surgical robots includes a master control arm and a slave operating arm. The master control arm collects the operation signal of the doctor, which is processed by the control system to generate the control signal of the slave operating arm, and the surgical operation is executed by the slave operating arm. During the operation, the doctor sits in front of the master control arm to operate the control input device to realize remote control of the instrument installed above the slave operating arm, and to realize the surgical operation of different parts; wherein the control input device controls rotation, clamping, cutting, suturing and knotting operations.

[0004] However, the reliability of the control input device is always a difficult point in technical research, which will directly affect the action accuracy of the slave operating arm and the safety of the surgical operation. SUMMARY

[0005] The present disclosure provides a control input device, comprising:

[0006] a rotation joint;

[0007] The open-close joint is connected to the rotation joint in an axial direction and is rotatable in the axial direction. The open-close joint is provided with a first switch button and a second switch button. The first switch button and the second switch button are configured to move relative to the open-close joint in the axial direction of the open-close joint to control the signal output of the control input device. Along the axis of the open-close joint, the first switch button is located on one side of the open-close joint, and the second switch button is symmetrically arranged on the other side of the open-close joint.

[0008] The present disclosure provides another surgeon console, comprising:

[0009] The aforementioned control input device;

[0010] The support is connected to the rotation joint of the control input device and is configured to be grounded.

[0011] The present disclosure provides another surgical robot, comprising:

[0012] The aforementioned surgeon console; the slave manipulator is configured to connect the end instrument, and the slave manipulator manipulates the end instrument according to the control signal of the surgeon console. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the drawings needed to be used in the embodiments or related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0014] Fig. 1 is a schematic diagram of the overall structure of the control input device according to some embodiments of the present disclosure;

[0015] Fig. 2 is a schematic diagram of the internal structure of the control input device according to some embodiments of the present disclosure;

[0016] Fig. 3 is a sectional view of the control input device according to some embodiments of the present disclosure;

[0017] Fig. 4 is a schematic diagram of the structure of the cooperation between the first movable shaft and the first pair of open-close clamps in the control input device according to some embodiments of the present disclosure, and also shows the schematic diagram of the cooperation between the first movable shaft and the second pair of open-close clamps;

[0018] Fig. 5 is a partial enlarged view of A in Fig. 2;

[0019] Fig. 6 is a schematic diagram of the cooperation between the first movable shaft and the first pair of open-close clamps in the control input device according to some embodiments of the present disclosure;

[0020] Fig. 7 is a sectional view of a control input device according to some embodiments of the present disclosure;

[0021] Fig. 8 is a structural schematic diagram of a control input device without a rotary joint cover according to some embodiments of the present disclosure;

[0022] Fig. 9 is a partial enlarged structural schematic diagram at B in Fig. 8;

[0023] Fig. 10 is a sectional view of an opening and closing joint in a control input device according to some embodiments of the present disclosure;

[0024] Fig. 11 is a partial enlarged structural schematic diagram at C in Fig. 4;

[0025] Fig. 12 is a partial enlarged view at D in Fig. 7;

[0026] Fig. 13 is another sectional view of a control input device according to some embodiments of the present disclosure. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present disclosure will be described below with reference to the drawings in the embodiments of the present disclosure.

[0028] In this specification, some places explain many specific technical details. However, it should be understood that the embodiments of the present disclosure can be implemented without these specific technical details. Such detailed description should not be considered as limiting, and the protection scope of the present disclosure is only limited by the claims. In other places, well-known structures, circuits and other details are not shown in detail to avoid misleading the public about the gist of the present disclosure.

[0029] In this specification, the drawings show the schematic diagrams of several embodiments of the present disclosure. However, the drawings are only schematic, and it should be understood that other embodiments or combinations can also be used, and mechanical structures, physical compositions, electrical and steps can be changed without departing from the spirit and scope of the present disclosure.

[0030] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present disclosure. Spatial relative terms, such as "below", "lower", "above", "upper", and the like, can be used for convenience of description to describe the relationship between one element or feature illustrated in the figure and another element or feature. It should be understood that the spatial relative terms are intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as "below" the other element or feature will become "above" the other element or feature. Therefore, the exemplary term "below" can cover the upward and downward orientations. The device can be oriented in other ways (for example, 90° rotation or other orientations), and the spatial relative description words used herein are interpreted accordingly.

[0031] As used herein, the indefinite articles "a" and "an" are intended to have the same meaning and to cover the particular singular form of "one," unless the context indicates otherwise. It should be further understood that the terms "comprise" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0032] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "part," "piece," and "piece" are used interchangeably.

[0033] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, including an end effector. The end effector can be a surgical tool related to one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used by embodiments of the present disclosure further provide an articulating support (sometimes referred to as a "wrist") for the surgical tool, so that the position and orientation of the end effector can be manipulated in one or more mechanical degrees of freedom relative to the instrument shaft. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or a knife translating along a path. The instrument can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0034] The term "cooperate" can be broadly interpreted as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with each other. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Further, the term "removably coupled" or "removably cooperates" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0035] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any of the following: A; B; C; A and B; A and C; B and C; A, B and C. An exception to this definition will occur only when two or more elements are in some way inherently mutually exclusive from one another. For example, A and (A or B) is simply A, since A is inherently exclusive from (A or B).

[0036] Overview of master-slave teleoperated laparoscopic surgical robots.

[0037] Laparoscopic surgical robots generally include a physician control platform (hereinafter physician console), a patient surgical platform, and an image platform. The surgeon sits at the physician control platform, a laparoscope is placed in the patient's body, and the laparoscope is used to transmit two- or three-dimensional images of the surgical area. The surgeon manipulates the movement of a robotic arm on the patient surgical platform and a surgical instrument or laparoscope attached to the robotic arm by viewing the two- or three-dimensional images. The robotic arm is equivalent to a simulated human arm, and the surgical instrument is equivalent to a simulated human hand, both of which provide the surgeon with a range of motions that simulate the human wrist while also filtering the tremors of the human hand itself.

[0038] The patient surgical platform includes a base, a column, robotic arms connected to the column, and surgical instrument manipulators. There is one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. A surgical instrument and / or laparoscope is removably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes. The surgical instruments and / or laparoscopes are used to perform operations at a surgical site within a patient's body. Various forms can allow each surgical instrument manipulator to move with one or more degrees of mechanical freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software to limit the associated surgical instrument from rotating about a center of motion. The center of motion remains stationary relative to the patient and is located on the surgical instrument. The center of motion is typically located at the point where the surgical instrument enters the body, and this center of motion is referred to as the "telecenter."

[0039] The image platform typically includes one or more video displays. Some video displays can have video image capture capability (commonly endoscopes), and other displays can be used to display the surgical instruments in the captured images. In some laparoscopic surgical robots, the distal end of the laparoscope includes optics with one or more imaging sensors (e.g., CCD or CMOS sensors) that relay images from the patient's body to the endoscope and then, through photoelectric conversion and the like, to a host computer of the image platform. The processed images are then displayed on the video displays for the assistant to view, through image processing.

[0040] The physician control platform can be at a single, two, or more locations. For example, a surgical system consists of a laparoscopic surgical robot, the physician control platform can be at a single, two, or more locations of the surgical system. Teleoperated master / slave operations can be accomplished in accordance with a pre-set degree of control. In some embodiments, the physician control platform includes one or more manually operated input devices, such as control sticks, exoskeletal gloves, powered and gravity compensated manipulators, and the like. These input devices collect the surgeon's operation signals, which are processed by the control system to generate control signals for the manipulators of the surgical robot, thereby controlling the teleoperated motors on the surgical robot, which in turn control the movement of the surgical instruments.

[0041] Generally, the force generated by the teleoperated motors is transmitted through a transmission system to transmit the force from the teleoperated motors to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input devices that control the manipulators can be located away from the patient, in the room where the patient is located or outside, even in a different city. The input signals of the input devices are then transmitted to the control system. Those skilled in the art of telemanipulation, teleoperation, and telepresence surgery will be familiar with such systems and their components.

[0042] In some examples of embodiments of the present disclosure, a surgical robot is provided. The surgical robot can include a physician control console. A physician can operate at the physician control platform.

[0043] In some examples, the surgical robot can include a slave manipulator arm. The slave manipulator arm can be connected with an end instrument.

[0044] In some examples, the end instrument can be referred to as an end effector. The end instrument can include forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like.

[0045] It can be understood that in some examples of embodiments of the present disclosure, the specific examples of the end instrument are only shown as some examples. In other examples of embodiments of the present disclosure, the end instrument can also be other types of surgical instruments, which are not enumerated one by one in embodiments of the present disclosure.

[0046] In some examples, the slave manipulator arm can receive control signals of the physician control console. The slave manipulator arm can manipulate the end instrument according to the control signals of the physician control console.

[0047] In some examples, the slave manipulator arm can be communicatively connected with the physician control console.

[0048] In some examples, the slave manipulator arm can be communicatively connected with the physician control console by wired communication. For example, optical fiber, network cable, and the like.

[0049] In some examples, the slave manipulator can be communicatively coupled to the surgeon console via wireless communication. For example, the slave manipulator can be communicatively coupled to the surgeon console via wireless fidelity (WIFI), Bluetooth, infrared communication, cellular mobile communication, satellite communication, digital microwave transmission, or analog microwave transmission.

[0050] In some examples, when the surgeon or operator operates the surgeon console, the surgeon console can send an operation control signal, and the slave manipulator can manipulate the end instrument according to the control signal to implement various surgical operations.

[0051] FIG. 1 is a schematic diagram of an overall structure of a control input device according to some embodiments of the present disclosure. FIG. 2 is a schematic diagram of an internal structure of the control input device according to some embodiments of the present disclosure.

[0052] In some examples, as shown in FIGS. 1 and 2, to facilitate the surgeon to operate the surgeon console, the surgeon console can include a control input device 10. The surgeon or operator can input a control instruction, i.e., a corresponding surgical operation, to the control input device 10, and the surgeon console can send a control signal to the slave manipulator according to the surgical operation input by the control input device 10, so that the slave manipulator performs the corresponding operation.

[0053] In some examples, to facilitate supporting the control input device 10, the surgeon console can include a support (not shown in the figures). The control input device 10 can be arranged on the support.

[0054] In some examples, the support can be supported on the ground.

[0055] In some examples, as shown in FIGS. 1 and 2, the control input device 10 can include a rotation joint 100. The rotation joint 100 can be connected to the support.

[0056] In some examples, the rotation joint 100 can be grounded through the support.

[0057] In some examples, the control input device 10 can include an opening and closing joint 200. The opening and closing joint 200 can be rotatably connected to the rotation joint 100 along an axis of the opening and closing joint 200. For example, as shown in FIG. 1, the opening and closing joint 200 can rotate relative to the rotation joint 100 about an axis i of the opening and closing joint 200, e.g., in a direction indicated by an arrow a in FIG. 1, or in a direction opposite to the direction indicated by the arrow a in FIG. 1.

[0058] In some examples, as shown in FIG. 1, the opening and closing joint 200 can include a rotating opening and closing seat 280. The rotating opening and closing seat 280 can be rotatably connected to the rotation joint 100 along an axis of the rotating opening and closing seat 280.

[0059] In some examples, referring to FIG. 1, the opening and closing joint 200 can include a first opening and closing clamp 210. The first opening and closing clamp 210 can be connected to the rotating opening and closing seat 280.

[0060] In some examples, the first opening and closing clamp 210 can be opened and closed relative to the rotating opening and closing seat 280, thereby sending a control signal to the slave operating arm.

[0061] In some examples, the opening and closing joint 200 can include a second opening and closing clamp 220. The second opening and closing clamp 220 can be connected to the rotating opening and closing seat 280.

[0062] In some examples, the first opening and closing clamp 210 can be disposed on one side of the rotating opening and closing seat 280. The second opening and closing clamp 220 can be disposed on the other side of the rotating opening and closing seat 280 opposite the first opening and closing clamp 210.

[0063] In some examples, the first opening and closing clamp 210 and the second opening and closing clamp 220 can be symmetrically disposed relative to the axis i of the rotating opening and closing seat 280. In other words, the first opening and closing clamp 210 can be disposed on one side of the axis of the opening and closing joint 200, and the second opening and closing clamp 220 can be disposed on the other side of the opening and closing joint 200 opposite the first opening and closing clamp 210. In this way, when the opening and closing joint 200 rotates relative to the rotating joint 100, the opening and closing joint 200 can be ensured to be balanced in the rotation direction, thereby ensuring the stability of the rotation of the opening and closing joint 200, and avoiding the opening and closing joint 200 from shaking, swinging or vibrating. Accordingly, the reliability of the rotating action of the opening and closing joint 200 can be improved, and then the control input device 10 detects the rotating action of the opening and closing joint 200, generates a control signal to the slave operating arm, thereby improving the precision of the slave operating arm and the safety of the surgical operation.

[0064] In some examples, the doctor or operator can open and close the first opening and closing clamp 210 and the second opening and closing clamp 220 by fingers, thereby causing the first opening and closing clamp 210 and the second opening and closing clamp 220 to send a control signal to the slave operating arm.

[0065] In some examples, the doctor or operator can rotate the opening and closing joint 200 to send an operation control signal to the slave operating arm.

[0066] In some examples, the control input device 10 can include a main control arm. The main control arm can be used in combination with the rotating joint 100 and the opening and closing joint 200.

[0067] In some examples, a physician or operator can operate the opening and closing joint 200, and the control input device 10 can detect the movement of the opening and closing joint 200, the rotating joint 100 and the main control arm, and generate a control signal to the slave manipulator. The control signal can be at least one of an opening and closing signal, a rotating signal and an overall displacement.

[0068] In some examples, referring to FIGS. 1 and 2, the opening and closing joint 200 can be provided with a first switch button 201. The first switch button 201 can be provided on the rotating opening and closing seat 280.

[0069] In some examples, the first switch button 201 can be provided on one side of the axis i of the rotating opening and closing seat 280.

[0070] In some examples, the first switch button 201 can be moved relative to the opening and closing joint 200 along the axial direction of the opening and closing joint 200. For example, referring to FIG. 1, the first switch button 201 can be moved relative to the opening and closing joint 200 along the direction indicated by the x-axis in FIG. 1.

[0071] In some examples, when the first switch button 201 is moved in the positive direction of the x-axis, the first switch button 201 can disconnect the communication connection between the control input device 10 and the slave manipulator. That is, the slave manipulator cannot receive the control signal output by the control input device 10, or the control input device 10 does not output the control signal to the slave manipulator.

[0072] In some examples, when the first switch button 201 is moved in the negative direction of the x-axis, the communication connection between the control input device 10 and the slave manipulator is turned on. At this time, the slave manipulator can receive the control signal output by the control input device 10.

[0073] In some examples, when the opening and closing joint 200 rotates relative to the rotating joint 100, the opening and closing joint 200 rotates the first switch button 201 together relative to the rotating joint 100.

[0074] In some examples, in order to facilitate the physician or operator to conveniently disconnect the communication connection between the control input device 10 and the slave manipulator at any angle as needed, referring to FIG. 2, the opening and closing joint 200 can be provided with a second switch button 202.

[0075] In some examples, the second switch button 202 can be provided on the rotating opening and closing seat 280. The second switch button 202 can be provided on the other side of the axis i of the rotating opening and closing seat 280 relative to the first switch button 201. In this way, when the physician or operator rotates the opening and closing joint 200, the stress balance of the opening and closing joint 200 can be achieved, and the swing, shake or jitter of the opening and closing joint 200 when rotating can be reduced or eliminated.

[0076] In some examples, the second switch button 202 can move relative to the opening and closing joint 200 along an axial direction of the opening and closing joint 200. For example, referring to FIG. 1, the second switch button 202 can move relative to the opening and closing joint 200 along a direction indicated by an x-axis in FIG. 1.

[0077] In some examples, when the second switch button 202 moves in a positive direction of the x-axis, the second switch button 202 can disconnect the communication connection between the control input device 10 and the slave manipulator.

[0078] In some examples, when the second switch button 202 moves in a negative direction of the x-axis, the communication connection between the control input device 10 and the slave manipulator is connected.

[0079] In some examples, when the doctor or operator needs to adjust the position of the opening and closing joint 200, the communication connection between the control input device 10 and the slave manipulator can be disconnected by any one of the first switch button 201 and the second switch button 202. For example, the doctor or operator can dial any one of the first switch button 201 or the second switch button 202 in a direction indicated by a positive direction of the x-axis in FIG. 1. In this way, when the doctor or operator adjusts the position of the opening and closing joint 200, the slave manipulator is not affected.

[0080] In the related art, a plurality of Hall sensor arrays are arranged on the rotating joint 100, and a magnetic element is arranged on the first switch button 201 and the second switch button 202. By detecting the distance between any one of the two magnetic elements and the Hall sensor array, it is determined whether to disconnect the communication connection between the control input device 10 and the slave manipulator, and the other one of the two magnetic elements is used to detect the rotation angle of the opening and closing joint. In this way, when the position of the opening and closing joint 200 is adjusted, the force on the opening and closing joint 200 is unbalanced, the distance between the magnetic element and the Hall sensor fluctuates, the output signal is not linear, and the accuracy is low.

[0081] In some examples, when the doctor or operator moves one of the first switch button 201 and the second switch button 202 in a direction indicated by a positive direction of the x-axis in FIG. 1, the first switch button 201 and the second switch button 202 are misaligned in the axial direction of the rotating opening and closing seat 280. This breaks the balance of the force on the rotating opening and closing seat 280, and when the opening and closing joint 200 rotates relative to the rotating joint 100, it can wobble, swing or vibrate. The wobble, swing or vibration of the opening and closing joint 200 drives the first switch button 201 and the second switch button 202 to wobble, swing or vibrate, which can cause the communication connection between the control input device 10 and the slave manipulator to be connected, which can cause the slave manipulator to be misoperated, that is, the output signal is not linear, and the accuracy is low.

[0082] In some examples of the embodiments of the present disclosure, in the case that the opening and closing joint 200 rotates relative to the rotating joint 100, the force (i.e. centrifugal force) of the first and second switch buttons 201 and 202 along the radial direction of the opening and closing joint 200 can be counteracted, so that the opening and closing joint 200 is balanced when it rotates relative to the rotating joint 100.

[0083] In some examples, referring to FIGS. 1 and 2, in the case that the first switch button 201 moves along the positive direction of the x-axis in FIG. 1 and disconnects the communication connection between the control input device 10 and the manipulator arm, a counterweight can be arranged on the side of the rotating opening and closing seat 280 opposite to the first switch button 201, and the counterweight can counteract the force of the first switch button 201 along the radial direction of the rotating opening and closing seat 280 when the opening and closing joint 200 rotates.

[0084] In some examples, a counterweight can be arranged on the side of the rotating opening and closing seat 280 opposite to the second switch button 202, and the counterweight can counteract the force of the second switch button 202 along the radial direction of the rotating opening and closing seat 280 when the opening and closing joint 200 rotates.

[0085] In this way, when the opening and closing joint 200 rotates relative to the rotating opening and closing seat 280, the opening and closing joint 200 is balanced, and the shaking, swinging or jittering of the opening and closing joint 200 when it rotates can be reduced or eliminated.

[0086] Some examples provided by the embodiments of the present disclosure provide a control input device 10, an opening and closing joint 200 is rotatably connected with a rotating joint 100 along an axis of the opening and closing joint 200, a first switch button 201 and a second switch button 202 are arranged on the opening and closing joint 200, the first switch button 201 and the second switch button 202 are moved along the axis of the opening and closing joint 200, and the signal output of the control input device 10 can be controlled, so that the control input device 10 can be cut off or turned on to output a control signal to a slave manipulator; wherein along the axis of the opening and closing joint 200, the first switch button 201 is located on one side of the opening and closing joint 200, and the second switch button 202 is symmetrically arranged on the other side of the opening and closing joint 200 with the first switch button 201. In this way, the first switch button 201 and the second switch button 202 are symmetrically arranged on the opening and closing joint 200, which can ensure that the opening and closing joint 200 remains balanced when rotating relative to the rotating joint 100, and can ensure the stability of the opening and closing joint 200 to the slave manipulator, thereby improving the safety of the surgery. In addition, when the opening and closing joint 200 rotates relative to the rotating joint 100, the force of the first switch button 201 and the second switch button 202 acting on the opening and closing joint along the radial direction of the opening and closing joint can be counteracted, so that the opening and closing joint 200 is balanced when rotating relative to the rotating joint 100. In this way, when the control input device 10 is switched to output a control signal to the slave manipulator through any one of the first switch button 201 and the second switch button 202, the opening and closing joint 200 is adjusted, the opening and closing joint 200 is balanced, and the opening and closing joint 200 can rotate smoothly relative to the rotating joint 100, which can reduce or eliminate the shaking, swinging or shaking of the opening and closing joint 200 when rotating relative to the rotating joint 100, thereby improving the accuracy of cutting off the signal output of the control input device 10 and improving the safety of using the surgical robot.

[0087] In some examples, the first switch button 201 can be connected with the second switch button 202, as shown in FIG. 2.

[0088] In some examples, when any one of the first switch button 201 and the second switch button 202 moves relative to the opening and closing joint 200, the other one of the first switch button 201 and the second switch button 202 moves synchronously. Thus, the opening and closing joint 200 is balanced.

[0089] In some examples, the control input device 10 can include a connecting piece arranged radially along the rotating opening and closing seat 280. One end of the connecting piece can be connected with the first switch button 201. The other end of the connecting piece can be connected with the second switch button 202.

[0090] In some examples, the connecting piece can be rigidly connected with the first switch button 201. The connecting piece can be rigidly connected with the second switch button 202.

[0091] In some examples, when the doctor or operator moves the first switch button 201 in the positive direction of the x-axis in FIG. 1, the first switch button 201 is driven to move synchronously by the connecting member.

[0092] In some examples, when the doctor or operator moves the second switch button 202 in the negative direction of the x-axis in FIG. 1, the second switch button 202 is driven to move synchronously by the connecting member.

[0093] In some examples, when the opening and closing joint 200 rotates relative to the rotating joint 100, the opening and closing joint 200 can drive the first switch button 201, the second switch button 202 and the connecting member to rotate together. Thus, the opening and closing joint 200 can be balanced in force when rotating, and the shaking, swinging or jittering of the opening and closing joint 200 relative to the rotating joint 100 can be reduced or eliminated.

[0094] In some examples of the embodiments of the present disclosure, the first switch button 201 and the second switch button 202 are connected; thus, when any one of the first switch button 201 and the second switch button 202 moves relative to the opening and closing joint 200, the other one of the first switch button 201 and the second switch button 202 moves synchronously. That is, when the opening and closing joint 200 rotates relative to the rotating joint 100, the centrifugal force of the first switch button 201 on the opening and closing joint 200 and the centrifugal force of the second switch button 202 on the opening and closing joint 200 cancel each other out, so that the opening and closing joint 200 is balanced in force; the shaking, swinging or jittering of the opening and closing joint 200 relative to the rotating joint 100 can be reduced or eliminated, the control on the master arm can be accurately cut off, and the safety of the surgical robot in use is improved.

[0095] In some examples, to facilitate detection of the opening and closing angle of the opening and closing joint 200, referring to FIG. 2, the control input device 10 can include a first movable shaft 300.

[0096] In some examples, the first movable shaft 300 can be coaxial with the opening and closing joint 200. The first movable shaft 300 can be movably arranged in the opening and closing joint 200.

[0097] In some examples, the first movable shaft 300 can be partially arranged in the opening and closing joint 200. The first movable shaft 300 can extend to the rotating joint 100 and be arranged in the rotating joint 100.

[0098] In some examples, the first movable shaft 300 can be linked with the opening and closing actions of the first opening and closing clamp 210 and the second opening and closing clamp 220.

[0099] That is, in some examples, the opening and closing actions of the first and second opening and closing clamps 210 and 220 can drive the first movable shaft 300 to move.

[0100] Alternatively, in some examples, the movement of the first movable shaft 300 can drive the first and second opening and closing clamps 210 and 220 to move.

[0101] In some examples, the first movable shaft 300 can move relative to the opening and closing joint 200 along the axis i. For example, when the first and second opening and closing clamps 210 and 220 are operated by a doctor or an operator to perform a clamping operation, the first and second opening and closing clamps 210 and 220 can drive the first movable shaft 300 to move relative to the opening and closing joint 200 along the axis i.

[0102] In some examples, the rotation joint 100 can be provided with an angle detection sensor 110. The angle detection sensor 110 can cooperate with the first movable shaft 300 to detect the opening and closing angle of the first and second opening and closing clamps 210 and 220. For example, when the first and second opening and closing clamps 210 and 220 are operated by a doctor or an operator to drive the first movable shaft 300 to move along the axis i, the angle detection sensor 110 can detect the movement distance of the first movable shaft 300, and thus determine the opening and closing angle of the first and second opening and closing clamps 210 and 220. In this way, the accuracy of the determination of the opening and closing angle is improved, the accuracy of the control of the control input device 10 to perform a surgical operation according to the opening and closing angle is improved, and the safety of the surgical operation is improved.

[0103] FIG. 3 is a sectional view of a control input device according to some embodiments of the present disclosure.

[0104] In some examples, as shown in FIGS. 2 and 3, the control input device 10 can include a second movable shaft 310. The second movable shaft 310 can be coaxially arranged in the opening and closing joint 200.

[0105] In some examples, the axis of the second movable shaft 310 can be collinear or approximately collinear with the axis i of the opening and closing joint 200.

[0106] In some examples, the second movable shaft 310 can be movably connected to the opening and closing joint 200 along the axial direction of the opening and closing joint 200. For example, the second movable shaft 310 can be slidably arranged in the opening and closing joint 200 along the axial direction of the opening and closing joint 200.

[0107] In some examples, the first switch button 201 can be connected to one side of the second movable shaft 310.

[0108] In some examples, referring to FIG. 3, a first slot 211 can be provided on the rotating hinge seat 280 along the axial direction of the hinge joint 200. The first switch button 201 can be provided with a first tenon 221 on the side facing the rotating hinge seat 280. The first tenon 221 can be inserted into the first slot 211 and connected to the second movable shaft 310.

[0109] In some examples, the second switch button 202 can be symmetrically connected to the other side of the second movable shaft 310.

[0110] In some examples, referring to FIG. 3, a second slot 212 can be provided on the rotating hinge seat 280 along the axial direction of the hinge joint 200. The second switch button 202 can be provided with a second tenon 231 on the side facing the rotating hinge seat 280. The second tenon 231 can be inserted into the second slot 212 and connected to the second movable shaft 310.

[0111] In some examples, the second slot 212 and the first slot 211 can be symmetrically arranged with respect to the axis i of the hinge joint 200.

[0112] In some examples, the size of the first slot 211 along the axial direction of the hinge joint 200 can be greater than the size of the first tenon 221, so as to facilitate the movement of the first tenon 221 along the direction of the first slot 211.

[0113] In some examples, the size of the second slot 212 along the axial direction of the hinge joint 200 can be greater than the size of the second tenon 231, so as to facilitate the movement of the second tenon 231 along the direction of the second slot 212.

[0114] In some examples, referring to FIG. 3, when one of the first switch button 201 and the second switch button 202 moves along the axial direction relative to the rotating hinge seat 280, it drives the second movable shaft 310 to move along its own axial direction, and the second movable shaft 310 drives the other of the first switch button 201 and the second switch button 202 to move synchronously.

[0115] In some examples of the embodiments of the present disclosure, the first switch button 201 is connected to one side of the second movable shaft 310 coaxial with the opening and closing joint 200, and the second switch button 202 is symmetrically connected to the other side of the second movable shaft 310. In this way, the first switch button 201 and the second switch button 202 can be synchronously moved by the second movable shaft 310, and when the opening and closing joint 200 rotates relative to the rotating joint 100, the second movable shaft 310 coaxially arranged with the opening and closing joint 200 will not generate centrifugal force in the radial direction of the opening and closing joint 200, so that the centrifugal force acting on the opening and closing joint 200 is balanced, and the stability of the rotation of the opening and closing joint 200 is improved. When the control input device 10 is adjusted, the control of the slave manipulator can be accurately cut off, and the safety of the surgical robot is improved.

[0116] FIG. 4 is a schematic view of the structure of the first movable shaft cooperating with the through-beam sensor in the control input device according to some embodiments of the present disclosure, also showing the structure of the first opening and closing clamp, the second opening and closing clamp, and the first movable shaft.

[0117] In some examples, referring to FIG. 4, the rotating joint 100 can be provided with an output detection sensor. In some examples, the output detection sensor can include a proximity sensor. In some examples, the output detection sensor can include a through-beam sensor. In some examples, the output detection sensor can include an inductive sensor. In some examples, the output detection sensor can include a Hall sensor.

[0118] In some examples, the second movable shaft 310 can be moved between the first position and the second position under the driving of any one of the first switch button 201 and the second switch button 202, so as to control the signal output of the control input device 10.

[0119] In some examples, in the first position, the second movable shaft 310 cooperates with the output detection sensor to turn on the signal output of the control input device 10. At this time, the control input device 10 and the slave manipulator are in communication connection.

[0120] In some examples, in the second position, the second movable shaft 310 cooperates with the output detection sensor to turn off the signal output of the control input device 10. At this time, the communication connection between the control input device 10 and the slave manipulator is disconnected.

[0121] It can be understood that in some examples of the embodiments of the present disclosure, the specific type of the output detection sensor is only shown as some specific examples, and is not limited to the specific type of the output detection sensor. In some examples, the output detection sensor can also be other types of output detection sensors, and the embodiments of the present disclosure will not be enumerated one by one.

[0122] In some examples, a first circuit board 130 can be arranged in the rotary joint 100, taken as a specific example of a proximity sensor. The proximity sensor can be arranged on the first circuit board 130.

[0123] In some examples, the first circuit board 130 can be an integrated first circuit board 130.

[0124] In some examples, the first circuit board 130 can be a printed first circuit board 130 (PCB).

[0125] In some examples, the first circuit board 130 can be provided with a relief gap 133. The proximity sensor can be arranged on both sides of the relief gap 133. The second movable shaft 310 can be arranged in the relief gap 133.

[0126] In some examples, the second movable shaft 310 can be inserted into the rotary joint 100. The second movable shaft 310 can be moved to the first position or the second position to selectively control the signal output of the control input device 10.

[0127] In some examples, referring to FIG. 4, when the second movable shaft 310 is in the first position, the second movable shaft 310 can block the signal transmission path of the proximity sensor. In some examples, referring to FIG. 4, the proximity sensor can include a signal emitter 401. The signal emitter 401 can be arranged on one side of the relief gap 133. In some examples, referring to FIG. 4, the proximity sensor can include a signal receiver 402. The signal receiver 402 can be arranged on the other side of the relief gap 133 opposite the signal emitter 401.

[0128] In some examples, the signal emitter 401 can emit a signal to the signal receiver 402. When the second movable shaft 310 is in the first position, the second movable shaft 310 blocks the signal transmission path between the signal emitter 401 and the signal receiver 402. At this time, the signal receiver 402 cannot receive the signal emitted by the signal emitter 401. The communication connection between the control input device 10 and the slave manipulator is turned on. The doctor or operator can control the slave manipulator by emitting a control signal through the control input device 10.

[0129] In some examples, the second movable shaft 310 can be moved from the first position to the second position under the action of the first switch button 201. The second movable shaft 310 can be moved away from the transmission path of the proximity switch. At this time, the signal receiver 402 can receive the signal emitted by the signal emitter 401. The signal receiver 402 triggers a control instruction to disconnect the communication connection between the control input device 10 and the slave manipulator. The control input device 10 cannot control the slave manipulator.

[0130] In some examples, the second movable shaft 310 is moved from the first position to the second position in synchronization with the second switch button 202 moving the first switch button 201, so that the force balance of the open-close joint 200 relative to the rotation joint 100 is achieved when the open-close joint 200 rotates relative to the rotation joint 100.

[0131] In some examples, the second movable shaft 310 can be moved from the first position to the second position under the driving of the second switch button 202. It can be understood that the movement of the second movable shaft 310 from the first position to the second position under the driving of the second switch button 202 can be the same, similar or analogous to the movement of the second movable shaft 310 under the driving of the first switch button 201 in the foregoing embodiments of the present disclosure, and specific details can be referred to the detailed description of the foregoing embodiments of the present disclosure, which will not be repeated here.

[0132] In some examples of the embodiments of the present disclosure, a reflection sensor is arranged in the rotation joint 100, the second movable shaft 310 is arranged in the rotation joint 100 and moves between the first position and the second position, so as to trigger the control of the signal output of the control input device 10. In this way, the communication connection between the control input device 10 and the slave manipulator can be disconnected as soon as the signal receiver 402 of the reflection sensor receives the signal of the signal emitter 401. The reflection sensor can output a stable linear detection signal, which improves the accuracy of the disconnection of the communication connection between the control input device 10 and the slave manipulator.

[0133] In addition, in some examples of the embodiments of the present disclosure, the first switch button 201 and the second switch button 202 move synchronously under the action of the second movable shaft 310, so that the force balance of the open-close joint 200 relative to the rotation joint 100 is achieved when the open-close joint 200 rotates relative to the rotation joint 100. When the open-close joint 200 rotates, the second movable shaft 310 does not have axial displacement, so that the second movable shaft 310 always remains in the second position when the position of the open-close joint 200 is adjusted, and the signal receiver 402 can always receive the signal of the signal emitter 401, that is, it can be ensured that the communication connection between the control input device 10 and the slave manipulator is always in a disconnected state, which improves the accuracy and reliability of the signal output cut-off of the control input device 10 and improves the safety of the surgical robot.

[0134] In addition, in some examples of the embodiments of the present disclosure, the reflection sensor is arranged in the rotation joint 100, the second movable shaft 310 is arranged in the rotation joint 100, and the reflection sensor is triggered by the axial movement of the second movable shaft 310, so as to disconnect the communication connection between the control input device 10 and the slave manipulator. In this way, the reflection sensor and the first circuit board 130 are arranged in the rotation joint 100, and the signal in the open-close joint 200 does not need to be transmitted through a wire harness, which improves the anti-interference ability.

[0135] In some examples, the through-beam sensor can include a photoelectric sensor. For example, a photoelectric switch / photoelectric gate.

[0136] In some examples, referring to FIGS. 3 and 4, the first movable shaft 300 can be disposed within the second movable shaft 310.

[0137] In some examples, the first movable shaft 300 can be disposed coaxially with the second movable shaft 310.

[0138] In some examples, the first movable shaft 300 can be electrically coupled to the opening and closing joint 200.

[0139] In some examples, the first movable shaft 300 can extend to the rotating joint 100 and protrude from an end of the second movable shaft 310. The first movable shaft 300 can be electrically coupled to the touch sensor on the first circuit board 130, so as to detect whether a hand of a doctor or operator is in place.

[0140] In some examples, to avoid the first movable shaft 300 blocking the signal transmission path of the through-beam sensor, a through hole can be formed in a radial direction of the first movable shaft 300, and the signal transmission path of the through-beam sensor is located through the through hole.

[0141] In some examples, to ensure the strength of the first movable shaft 300, referring to FIG. 4, the signal transmission path of the through-beam sensor can be offset from the axis of the second movable shaft 310. That is, the signal transmission path of the through-beam sensor can be disposed eccentrically relative to the axis of the second movable shaft 310.

[0142] In some examples, the distance between the transmission path of the through-beam sensor and the axis of the second movable shaft 310 can be greater than the radius of the first movable shaft 300. In this way, the transmission path of the through-beam sensor can be outside the first movable shaft 300, that is, there can be no mutual interference between the transmission path of the through-beam sensor and the first movable shaft 300. In this way, the first movable shaft 300 can be prevented from blocking the transmission path of the through-beam sensor, and the strength of the first movable shaft 300 can be ensured.

[0143] In some examples, the distance between the signal transmission path of the through-beam sensor and the axis of the second movable shaft 310 can be less than the radius of the second movable shaft 310. In this way, the second movable shaft 310 can block the signal transmission path of the through-beam sensor when in the first position.

[0144] It can be understood that, in some examples, after the doctor or operator completes the adjustment of the opening and closing joint 200, the communication connection between the control input device 10 and the slave manipulator arm needs to be turned on, so as to facilitate the doctor or operator to control the slave manipulator arm through the opening and closing joint 200.

[0145] In some examples, referring to FIGS. 3 and 4, the control input device 10 can include a switch resetting member 600. The switch resetting member 600 can be coupled to the second movable shaft 310.

[0146] In some examples, the switch resetting member 600 can be configured to provide a first resetting force to the second movable shaft 310 to switch the second movable shaft 310 from the second position to the first position.

[0147] In some embodiments, the first resetting force is in the axial direction of the second movable shaft 310 to improve the resetting efficiency.

[0148] In some embodiments, the first resetting force is at an angle to the axial direction of the second movable shaft 310 to improve the flexibility of the structural design.

[0149] In some examples of the embodiments of the present disclosure, the switch resetting member 600 is provided to provide the first resetting force to the second movable shaft 310. In this way, after the doctor or the operator completes the adjustment of the switch joint 200, any one of the first switch key 201 and the second switch key 202 can be released, and the second movable shaft 310 moves from the second position to the first position under the action of the first resetting force. In particular, in some examples, the first resetting force is in the axial direction of the second movable shaft 310, and the second movable shaft 310 is not subjected to a radial force, so that the second movable shaft 310 does not tilt, swing or vibrate during the resetting process, and the second movable shaft 310 can be accurately reset to the first position, which can ensure that the communication connection between the control input device 10 and the slave manipulator is accurately turned on, facilitate the accurate control of the slave manipulator by the control input device 10, and improve the safety of the use of the surgical robot.

[0150] In some examples, the switch resetting member 600 can include an elastic member. The elastic member can be sleeved on the outer periphery of the second movable shaft 310 in the axial direction of the second movable shaft 310.

[0151] In some examples, in the second position, the elastic member can provide the first resetting force to the second movable shaft 310 in the axial direction of the second movable shaft 310.

[0152] In some examples, the elastic member can be a tension spring, which can be coaxially sleeved on the outer periphery of the second movable shaft 310. One end of the tension spring can be connected to the peripheral wall of the second movable shaft 310, and the other end of the tension spring can be connected to the joint seat 1101 of the rotary joint 100.

[0153] In some examples, during the movement of the second movable shaft 310 from the first position to the second position, the tension spring can be stretched to provide the first resetting force to the second movable shaft 310 in the axial direction of the second movable shaft 310.

[0154] In some examples of the embodiments of the present disclosure, the elastic member is used as the switch reset member 600, so that the first reset force of the switch reset member 600 on the second movable shaft 310 is a linearly changing force, which can improve the stability of the second movable shaft 310 in the axial movement, so that the second movable shaft 310 does not tilt, swing or vibrate during the reset process, and the second movable shaft 310 can be accurately reset to the first position, so as to ensure that the communication connection between the control input device 10 and the slave manipulator is accurately turned on.

[0155] In some examples, the elastic member can be a compression spring, which can be sleeved on the outer periphery of the second movable shaft 310.

[0156] In some examples, along the axial direction of the second movable shaft 310, the compression spring can be located between the second movable shaft 310 and the open-close joint 200. That is, along the axial direction of the compression spring, one end of the compression spring can abut against the peripheral wall of the second movable shaft 310, and the other end of the compression spring can abut against the open-close seat 280.

[0157] In some examples, during the movement of the second movable shaft 310 from the first position to the second position, the second movable shaft 310 can compress the compression spring to provide the first reset force on the second movable shaft 310 in the axial direction.

[0158] In some examples of the embodiments of the present disclosure, the compression spring is used as the switch reset member 600, so that the switch reset member 600 can be arranged in the open-close joint 200. This can reduce the occupation of the space in the rotary joint 100, and facilitate the arrangement of other components in the rotary joint 100.

[0159] It can be understood that in some examples, the second movable shaft 310 needs to be inserted into the rotary joint 100 and cooperate with the through-beam sensor arranged in the rotary joint 100, so as to disconnect the communication connection between the control input device 10 and the slave manipulator. Therefore, the second movable shaft 310 is usually an elongated shaft. When the open-close joint 200 rotates relative to the rotary joint 100, if the second movable shaft 310 is driven to rotate together, the end of the elongated second movable shaft 310 cooperating with the through-beam sensor can swing or shake under the action of centrifugal force.

[0160] Therefore, in some examples of the embodiments of the present disclosure, referring to FIGS. 3 and 4, the peripheral wall of the second movable shaft 310 can be provided with an annular groove 311.

[0161] In some examples, the first switch button 201 can be inserted into the annular groove 311 to realize the connection between the first switch button 201 and the second movable shaft 310.

[0162] In some examples, the first tenon 221 of the first switch button 201 can be inserted into the annular groove 311 to connect the first switch button 201 with the second movable shaft 310.

[0163] In some examples, the second switch button 202 can be inserted into the annular groove 311 to connect the second switch button 202 with the second movable shaft 310.

[0164] In some examples, the second tenon 231 of the second switch button 202 can be inserted into the annular groove 311 to connect the second switch button 202 with the second movable shaft 310.

[0165] In this way, during the rotation of the opening and closing joint 200 relative to the rotation joint 100, the first switch button 201 and the second switch button 202 can rotate relative to the second movable shaft 310. That is, during the rotation of the opening and closing joint 200, the second movable shaft 310 and the through-beam sensor can remain relatively stationary in the axial direction, improving the accuracy of the signal output cutoff of the control input device 10 and improving the safety of the surgical robot.

[0166] In some examples, referring to FIG. 3, the annular groove 311 can be located on the peripheral wall of the second movable shaft 310 facing the opening and closing joint 200. In this way, the first switch button 201 and the second switch button 202 can be inserted into the annular groove 311 on the side of the opening and closing joint 200, which can simplify the structure of the first switch button 201 and the second switch button 202.

[0167] FIG. 5 is a partial enlarged view of A in FIG. 2.

[0168] In some examples, when the doctor operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the operation feedback is provided to the fingers of the doctor, and when the doctor stops operating the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 are conveniently reset. Referring to FIGS. 2 and 5, the control input device 10 can include an opening and closing reset member 400.

[0169] In some examples, the opening and closing reset member 400 can cooperate with the first movable shaft 300, for example, the opening and closing reset member 400 can be coupled with the first movable shaft 300. The opening and closing reset member 400 can be configured to provide a second reset force to the first movable shaft 300, so that the first movable shaft 300 applies the second reset force to the first opening and closing clamp 210 and the second opening and closing clamp 220, so that the first opening and closing clamp 210 and the second opening and closing clamp 220 are reset.

[0170] In some embodiments, the second reset force can be in the axial direction of the first movable shaft 300, so as to improve the reset efficiency of the first and second open-close clamps 210 and 220.

[0171] In some embodiments, the second reset force can be in an angle with the axial direction of the first movable shaft 300, so as to improve the flexibility of the open-close reset member 400.

[0172] In some examples, when the first and second open-close clamps 210 and 220 are operated by the doctor or the operator to perform the clamping movement, the first and second open-close clamps 210 and 220 drive the first movable shaft 300 to move along the axis i, and the angle detection sensor 110 detects the movement distance of the first movable shaft 300, so as to determine the open-close angle of the first and second open-close clamps 210 and 220. During the movement of the first movable shaft 300, the open-close reset member 400 provides the second reset force to the first movable shaft 300, so that the first and second open-close clamps 210 and 220 can provide the feedback force to the fingers of the doctor or the operator.

[0173] In some examples, the open-close reset member 400 provides the second reset force to the first movable shaft 300 in the axial direction of the first movable shaft 300, and the first and second open-close clamps 210 and 220 are symmetrically arranged on both sides of the axis i, so that the second reset force is decomposed into the same force acting on the first and second open-close clamps 210 and 220, which can provide the same hand feeling to the fingers of the doctor or the operator, thereby improving the stability of the operation of the first and second open-close clamps 210 and 220 by the doctor or the operator, improving the accuracy of the detection of the movement distance of the first movable shaft 300 by the angle detection sensor 110, improving the reliability of the control input device 10, and improving the accuracy and safety of the surgical robot.

[0174] In some examples, the second reset force provided by the open-close reset member 400 to the first movable shaft 300 can be opposite to the direction of the force provided by the first and second open-close clamps 210 and 220 to the first movable shaft 300 when the first and second open-close clamps 210 and 220 are closed. For example, as shown in FIG. 4, when the first and second open-close clamps 210 and 220 are closed, the first and second open-close clamps 210 and 220 can provide a force to the first movable shaft 300 in the direction indicated by the arrow y in FIG. 4, so as to drive the first movable shaft 300 to move in the direction indicated by the arrow y. The open-close reset member 400 can provide the second reset force to the first movable shaft 300 in the direction opposite to the direction indicated by the arrow y.

[0175] In some examples, after the hand of the doctor or operator is removed from the first open-close clamp 210 and the second open-close clamp 220, the second reset force of the open-close reset member 400 on the first movable shaft 300 can push the first movable shaft 300 to move along the axis direction in the direction opposite to the direction indicated by the arrow y in FIG. 4. The axial movement of the first movable shaft 300 drives the first open-close clamp 210 and the second open-close clamp 220 to open in the direction opposite to the direction indicated by the arrow x in FIG. 4, thereby achieving the reset of the first open-close clamp 210 and the second open-close clamp 220.

[0176] In the control input device 10 provided by the embodiments of the present disclosure, the open-close joint 200 is rotatably arranged on the rotation joint 100 along the axial direction of the rotation joint 100. In this way, the open-close joint 200 can rotate relative to the rotation joint 100 to control the control arm. The first movable shaft 300 is coaxially arranged with the open-close joint 200 and is arranged in the rotation joint 100. The first movable shaft 300 cooperates with the angle detection sensor 110 arranged in the rotation joint 100. In this way, the detection sensor 110 can detect the displacement of the first movable shaft 300 and the first open-close clamp 210 and the second open-close clamp 220, thereby determining the opening angle of the first open-close clamp 210 and the second open-close clamp 220.

[0177] The open-close reset member 400 cooperates with the first movable shaft 300, and the open-close reset member 400 provides a second reset force on the first movable shaft 300. The second reset force provided by the first movable shaft 300 on the first open-close clamp 210 and the second open-close clamp 220 is consistent, which can ensure that the first open-close clamp 210 and the second open-close clamp 220 are uniformly stressed, and the stability of the linkage of the first movable shaft 300, the first open-close clamp 210 and the second open-close clamp 220 is ensured. The accuracy of the angle detection by the detection sensor 110 is improved, and the accuracy and safety of the surgical robot are improved.

[0178] FIG. 6 is a schematic structural view of the cooperation between the first open-close clamp, the second open-close clamp and the first movable shaft in the control input device provided by some embodiments of the present disclosure; and FIG. 7 is a sectional view of the control input device provided by some embodiments of the present disclosure.

[0179] In some examples, referring to FIGS. 6 and 7, the first open-close clamp 210 can be movably connected to one side of the first movable shaft 300 along the axis i of the first movable shaft 300.

[0180] In some examples, the first open-close clamp 210 can perform an opening and closing movement relative to the first movable shaft 300.

[0181] In some examples, the second opening and closing clamp 220 can be movably connected to the other side of the first movable shaft 300 along the axis i of the first movable shaft 300. The second opening and closing clamp 220 can be symmetrically arranged with the first opening and closing clamp 210 relative to the axis i.

[0182] In some examples, when the doctor or the operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 move towards each other to perform a clamping action. The first opening and closing clamp 210 and the second opening and closing clamp 220 are symmetrically arranged on the two sides of the first movable shaft 300. In this way, the first opening and closing clamp 210 and the second opening and closing clamp 220 cancel each other's radial force on the first movable shaft 300, and only exert an axial force on the first movable shaft 300, so that the first movable shaft 300 can move stably along the axis, thereby improving the accuracy of the angle detection sensor 110 in detecting the movement distance of the first movable shaft 300 and improving the safety of the surgical robot.

[0183] In some examples, when the first opening and closing clamp 210 and the second opening and closing clamp 220 drive the first movable shaft 300 to move, the opening and closing reset member 400 provides a second reset force on the first movable shaft 300. In particular, when the second reset force is exerted along the axis of the first movable shaft 300, the second reset force can be evenly distributed to the symmetrically arranged first opening and closing clamp 210 and the second opening and closing clamp 220, so that the doctor or the operator can feel consistent operation when operating the first opening and closing clamp 210 and the second opening and closing clamp 220, and the stability of the operation of the first opening and closing clamp 210 and the second opening and closing clamp 220 can be maintained.

[0184] In some examples, after the doctor or the operator stops operating the first opening and closing clamp 210 and the second opening and closing clamp 220, the second reset force provided by the opening and closing reset member 400 on the first movable shaft 300 along the axis causes the first movable shaft 300 to move along the axis. The first movable shaft 300 moves along the axis, driving the first opening and closing clamp 210 and the second opening and closing clamp 220 to move away from each other. The symmetrically arranged first opening and closing clamp 210 and the second opening and closing clamp 220 are linked with the first movable shaft 300, and the first movable shaft 300 moves to exert a radial reset force on the first opening and closing clamp 210 and the second opening and closing clamp 220, so that the first opening and closing clamp 210 and the second opening and closing clamp 220 have a consistent opening distance, thereby improving the stability of the movement of the first movable shaft 300 and improving the accuracy of the angle detection sensor 110 in detecting the movement distance of the first movable shaft 300.

[0185] In some examples, referring to FIGS. 6 and 7, the opening and closing joint 200 can include a first connecting rod 230. A first part of the first connecting rod 230 can be hingedly connected to the first opening and closing clamp 210 at a first hinge point 2301.

[0186] In some examples, the first part can be an end of the first link 230.

[0187] In some examples, the first part can be any other part of the first link 230.

[0188] In some examples, the first articulation point 2301 can be located at a middle of the first opening and closing clamp 210.

[0189] In some examples, the first articulation point 2301 can be located at a middle of the first opening and closing clamp 210 close to an end operated by a doctor.

[0190] In some examples, a second part of the first link 230 can be articulated with the first movable shaft 300. The second part can be any other part of the first link 230 different from the first part.

[0191] In some examples, a distance between the first part and the first opening and closing clamp 210 is less than a distance between the second part and the first opening and closing clamp 210.

[0192] In some examples, a distance between the second part and the first movable shaft 300 is less than a distance between the first part and the first movable shaft 300.

[0193] In some examples, the first part can be an end of one end of the first link 230, and the second part can be an end of the other end of the first link 230.

[0194] In some examples, when the doctor or operator operates the first opening and closing clamp 210, the first opening and closing clamp 210 transmits power to the first link 230, and the first link 230 drives the first movable shaft 300 to move along the axis.

[0195] In some examples, the opening and closing joint 200 can include a second link 240. A third part of the second link 240 can be articulated with the second opening and closing clamp 220 at a third articulation point 241.

[0196] In some examples, the third articulation point 241 can be symmetrical to the first articulation point 2301 with respect to the axis i of the first movable shaft 300.

[0197] In some examples, a fourth part of the second link 240 can be articulated with the first movable shaft 300.

[0198] In some examples, a positional relationship of the third part with respect to the second link 240 can be the same, similar or analogous to a positional relationship of the first part with respect to the first link 230. A positional relationship of the fourth part with respect to the second link 240 can be the same, similar or analogous to a positional relationship of the second part with respect to the first link 230. For details, reference can be made to the foregoing detailed description of the first part and the second part in the foregoing embodiments of the disclosure, which will not be repeated here.

[0199] In some examples, the first link 230 and the second link 240 can be hinged to the first movable shaft 300 at the same point. That is, the first link 230 and the second link 240 can be hinged to the first movable shaft 300 at the same point.

[0200] In some examples, the first link 230 can be hinged to the first movable shaft 300 at one side of the axis i of the first movable shaft 300. The second link 240 can be hinged to the first movable shaft 300 at the other side of the axis i of the first movable shaft 300.

[0201] In some examples, the first link 230 and the second link 240 can be symmetrical relative to the axis i of the first movable shaft 300.

[0202] In some examples of the embodiments of the present disclosure, the first link 230 is provided, the first part of the first link 230 is hinged to the first opening and closing clamp 210 at the first hinge point 2301, and the second part is hinged to the first movable shaft 300; the second link 240 is provided, the third part of the second link 240 is hinged to the second opening and closing clamp 220 at the third hinge point 241, the third hinge point 241 is symmetrical to the first hinge point 2301, and the fourth part of the second link 240 is hinged to the first movable shaft 300. In this way, when the doctor or the operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 synchronously drive the first movable shaft 300 to move axially, that is, the force acting on the first movable shaft 300 in the radial direction of the first movable shaft 300 is balanced, the stability of the movement of the first movable shaft 300 can be maintained, and the accuracy of the detection of the movement distance of the first movable shaft 300 is improved, that is, the accuracy of the detection of the opening and closing angle of the first opening and closing clamp 210 and the second opening and closing clamp 220 is improved.

[0203] In some examples, referring to FIGS. 6 and 7, the opening and closing joint 200 can include an opening and closing connecting piece 250. The opening and closing connecting piece 250 can be arranged at the end of the first movable shaft 300 away from the rotating joint 100.

[0204] In some examples, the opening and closing connecting piece 250 can be fixedly connected with the first movable shaft 300.

[0205] In some examples, the opening and closing connecting piece 250 and the first movable shaft 300 can be an integral piece.

[0206] In some examples, the second part of the first link 230 can be hinged to the second hinge point 251 of the opening and closing connecting piece 250, so as to realize the hinging of the second part to the first movable shaft 300.

[0207] In some examples, the second hinge point 251 can be located at one side of the opening and closing connector 250 along the axis i of the first movable shaft 300.

[0208] In some examples, the fourth part of the second connecting rod 240 can be hinged to the fourth hinge point 252 of the opening and closing connector 250. Thus, the fourth part is hinged to the first movable shaft 300.

[0209] In some examples, the fourth hinge point 252 can be located at the other side of the opening and closing connector 250 opposite to the second hinge point 251. The fourth hinge point 252 and the second hinge point 251 can be symmetrically arranged relative to the axis i.

[0210] In some examples of the embodiments of the present disclosure, the opening and closing connector 250 is arranged on the first movable shaft 300. Thus, the radial dimension of the first movable shaft 300 can be expanded, and the first connecting rod 230 and the second connecting rod 240 are hinged to the first movable shaft 300.

[0211] In some examples, the opening and closing restoring member 400 can include an elastic member. The elastic member can be arranged along the axis of the first movable shaft 300 and cooperated with the first movable shaft 300. Thus, when the first movable shaft 300 moves relative to the opening and closing joint 200 along the axis, the elastic member provides a second restoring force to the first movable shaft 300 along the axis of the first movable shaft 300.

[0212] In some examples, the elastic member can be sleeved on the outer periphery of the first movable shaft 300 along the axis of the first movable shaft 300.

[0213] In some examples, the elastic member can be connected to the end of the first movable shaft 300 along the axis of the first movable shaft 300.

[0214] In some examples, the elastic member can be connected to the end of the first movable shaft 300 facing the rotating joint 100.

[0215] In some examples, the elastic member can be connected to the end of the first movable shaft 300 facing the opening and closing joint 200.

[0216] In some examples, the elastic member can provide a second restoring force to the first movable shaft 300 along the axis of the first movable shaft 300.

[0217] In some examples of the embodiments of the present disclosure, the elastic member is used as the opening and closing restoring member 400, and the elastic member is cooperated with the first movable shaft 300 along the axis of the first movable shaft 300. Thus, the structure of the opening and closing restoring member 400 is simplified, and the opening and closing restoring member 400 is conveniently connected to the first movable shaft 300.

[0218] In some examples, the elastic member can be a spring. The spring can be sleeved on the outer periphery of the first movable shaft 300. One end of the spring can be matched with the first movable shaft 300 in the axial direction, and the other end of the spring can be matched with the opening and closing joint 200.

[0219] For example, the spring can be a compression spring, and the spring is arranged at the end of the first movable shaft 300 facing the opening and closing joint 200. When the doctor or the operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first movable shaft 300 moves towards the opening and closing joint 200 in the axial direction, and the first movable shaft 300 applies a force to the spring, so that the spring is compressed. The compressed spring provides a second restoring force in the axial direction to the first movable shaft 300.

[0220] In some examples of the embodiments of the present disclosure, the elastic member is arranged as a compression spring, and the compression spring is arranged at the end of the first movable shaft 300 away from the rotating joint 100. In this way, the space in the rotating joint 100 can be reduced, and the arrangement of other components in the rotating joint 100 is facilitated.

[0221] In some examples, the elastic member can be a spring. The spring can be sleeved on the outer periphery of the first movable shaft 300. One end of the spring can be matched with the first movable shaft 300 in the axial direction, and the other end of the spring can be matched with the rotating joint 100.

[0222] For example, the spring can be a tension spring, and the spring is arranged at the end of the first movable shaft 300 facing the rotating joint 100. When the doctor or the operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first movable shaft 300 moves towards the opening and closing joint 200 in the axial direction, and the first movable shaft 300 applies a force to the spring, so that the spring is stretched. The stretched spring provides a second restoring force in the axial direction to the first movable shaft 300.

[0223] In some examples, referring to FIGS. 6 and 7, a second circuit board 501 can be arranged in the rotating joint 100. The angle detection sensor 110 can be arranged on the second circuit board 501.

[0224] In some examples, the second circuit board 501 can be an integrated second circuit board 501. In some examples, the second circuit board 501 can be a printed second circuit board 501 (PCB). In some examples, the angle detection sensor 110 can be connected with a circuit signal on the second circuit board 501. The angle detection sensor 110 can transmit signals through the circuit on the second circuit board 501. In some examples, the angle detection sensor 110 can include a proximity sensor. In some examples, the angle detection sensor 110 can include an inductive sensor. In some examples, the angle detection sensor 110 can include a Hall sensor.

[0225] It can be understood that, in some examples of the embodiments of the present disclosure, the specific type of the angle detection sensor 110 is only shown as some specific examples, and in other examples of the embodiments of the present disclosure, the angle detection sensor 110 can be other types of sensors, which are not enumerated one by one in the embodiments of the present disclosure.

[0226] In some examples, referring to FIGS. 6 and 7, the first movable shaft 300 can be provided with a sensing element 301. The sensing element 301 can be fixedly connected with the first movable shaft 300 and move together with the first movable shaft 300 under the driving of the first movable shaft 300.

[0227] In some examples, the sensing element 301 can cooperate with the angle detection sensor 110 to trigger a signal of the angle detection sensor 110. For example, in the case that the first movable shaft 300 moves along the axial direction, the angle detection sensor 110 triggers a detection signal. The detection signal can be configured to determine the opening angle of the first opening and closing clamp 210 and the second opening and closing clamp 220.

[0228] In some examples, the detection signal can be the distance of the first movable shaft 300 moving along the axial direction.

[0229] In some examples of the embodiments of the present disclosure, by providing the second circuit board 501 in the rotary joint 100, the angle detection sensor 110 is arranged on the second circuit board 501; and the sensing element 301 is arranged on the first movable shaft 300. In this way, the angle detection sensor 110 is fixed, and the first movable shaft 300 cooperates with the angle detection sensor 110 to determine the opening angle of the first opening and closing clamp 210 and the second opening and closing clamp 220.

[0230] In addition, the second circuit board 501 is arranged in the rotary joint 100, and the angle detection sensor 110 is arranged on the second circuit board 501; the first movable shaft 300 is extended into the rotary joint 100, and the sensing element 301 on the first movable shaft 300 cooperates with the angle detection sensor 110 to detect the opening angle of the first opening and closing clamp 210 and the second opening and closing clamp 220. In this way, the signal triggering position is fixed in the rotary joint 100, the wire harness connection between the opening and closing joint 200 and the rotary joint 100 is omitted, the opening and closing joint 200 can rotate relative to the rotary joint 100 infinitely, and the rotation operation of the opening and closing joint 200 relative to the rotary joint 100 is facilitated.

[0231] In some examples, the angle detection sensor 110 includes a Hall sensor as an example. The sensing element 301 can be a magnetic element. For example, the sensing element 301 can be a permanent magnet.

[0232] In some examples, referring to FIG. 7, the inductive element 301 can be coaxially arranged at an end of the first movable shaft 300 that is directed towards the rotary joint 100. In some examples, a groove can be formed at the end of the first movable shaft 300, and the inductive element 301 can be embedded in the groove.

[0233] In some examples, the inductive element 301 can be sleeved at the end of the first movable shaft 300.

[0234] In some examples, the detection sensor 110 can be located on the axis i of the first movable shaft 300.

[0235] In some examples of the present disclosure, the inductive element 301 is coaxially arranged at the end of the first movable shaft 300, and the detection sensor 110 is located on the axis i of the first movable shaft 300. In this way, when the doctor or operator performs the rotation operation on the rotary joint 100, the relative position between the detection sensor 110 and the inductive element 301 can remain unchanged, and the accuracy of the detection sensor 110 in detecting the opening angle of the first and second opening and closing clamps 210 and 220 can be improved.

[0236] In some examples, a guide (not labeled in the figure) can be arranged in the rotary joint 100. The first movable shaft 300 can be arranged in the guide.

[0237] In some examples, the guide can balance the forces provided by the guide to the first movable shaft 300 on both sides of the axis of the first movable shaft 300.

[0238] In some examples, the guide can include a first elastic piece. The first elastic piece can be located on one side of the axis of the first movable shaft 300.

[0239] In some examples, the guide can include a second elastic piece. The second elastic piece can be located on the other side of the axis of the first movable shaft 300.

[0240] In some examples, the first elastic piece and the second elastic piece can be symmetrical with respect to the axis of the first movable shaft 300. The first elastic piece and the second elastic piece can clamp the first movable shaft 300 between the first elastic piece and the second elastic piece.

[0241] In some examples, the first elastic piece can be an arc-shaped elastic piece. The second elastic piece can be an arc-shaped elastic piece. The arc-shaped elastic pieces can embrace the outer periphery of the first movable shaft 300.

[0242] In some examples of the present disclosure, the guide supports and guides the first movable shaft 300, which can improve the stability of the axial movement and / or rotation of the first movable shaft 300, and thus improve the accuracy of the angle detection sensor 110 in detecting the opening angle of the first and second opening and closing clamps 210 and 220.

[0243] In some examples, to ensure the safety of the use of the surgical robot, it is necessary to detect whether the doctor or operator is operating the control input device 10. For example, it is necessary to detect whether the hand of the doctor or operator is in contact with the open-close joint 200. In the case where the hand of the doctor or operator is not in contact with the open-close joint 200, the doctor's console is prohibited from manipulating the manipulator arm, thereby improving the safety of the use of the surgical robot.

[0244] FIG. 8 is a structural schematic diagram of a control input device without a rotation joint cover according to some embodiments of the present disclosure. FIG. 9 is a partial enlarged structural schematic diagram at B in FIG. 8.

[0245] In some examples, the rotation joint 100 can include a joint seat 1101. The joint seat 1101 can be connected with the support.

[0246] In some examples, the rotation joint 100 can include a rotation joint cover 1201. The rotation joint cover 1201 can be arranged at the opening of the joint seat 1101. The rotation joint cover 1201 can protect the components in the joint seat 1101.

[0247] In some examples, referring to FIGS. 8 and 9, an in-position detection sensor 131 can be arranged in the rotation joint 100.

[0248] In some examples, the in-position detection sensor 131 can be arranged on the first circuit board 130.

[0249] In some examples, the in-position detection sensor 131 can include a capacitive touch sensor.

[0250] In some examples, the in-position detection sensor 131 can include a resistive touch sensor.

[0251] In some examples, the in-position detection sensor 131 can include a pressure touch sensor.

[0252] In some examples, the in-position detection sensor 131 can include a surface acoustic wave touch sensor.

[0253] In some examples, the in-position detection sensor 131 can be electrically connected with the circuit on the first circuit board 130.

[0254] In some examples, the rotation joint 100 can be provided with an electrical connector 132. The electrical connector 132 can be electrically connected with the in-position detection sensor 131.

[0255] In some examples, the electrical connector 132 can be arranged on the first circuit board 130. The electrical connector 132 can be electrically connected with the circuit on the first circuit board 130. The electrical connector 132 can be electrically connected with the in-place detection sensor 131 through the circuit on the first circuit board 130.

[0256] In some examples, the electrical connector 132 can be the aforementioned guide. In this case, the first movable shaft 300 can be arranged in the electrical connector 132, and the electrical connector 132 can balance the forces applied to the first movable shaft 300 along the two sides of the axis of the first movable shaft 300.

[0257] In some examples, the first movable shaft 300 can be electrically connected with the electrical connector 132. For example, the electrical connector 132 can abut against the peripheral wall of the first movable shaft 300, so as to electrically connect the first movable shaft 300 with the electrical connector 132.

[0258] In some examples, the opening and closing joint 200 can be electrically connected with the first movable shaft 300.

[0259] In some examples, the doctor can operate the first opening and closing clamp 210 and the second opening and closing clamp 220 at the same time, so as to send the control signal.

[0260] In some examples, the doctor can operate the opening and closing joint 200 at any position, so as to send the control signal.

[0261] It can be understood that, in some examples, when the doctor operates the doctor console, the hands of the doctor mainly contact the opening and closing joint 200. Therefore, in some examples of the embodiments of the present disclosure, the first movable shaft 300 can be electrically connected with the opening and closing joint 200 through the first opening and closing clamp 210 and / or the second opening and closing clamp 220, so as to detect whether the hands of the doctor contact the opening and closing joint 200 through the first movable shaft 300.

[0262] In some examples, the first movable shaft 300 can be made of a conductive material. For example, the first movable shaft 300 can be made of a metal material. Alternatively, in some examples, in order to improve the conductivity of the first movable shaft 300, the first movable shaft 300 can be treated by adopting a surface treatment process such as anodic oxidation or micro-arc oxidation. Alternatively, in some examples, a conductive layer can be coated, sprayed or attached on the surface of the first movable shaft 300.

[0263] In some examples, the first opening and closing clamp 210 and the second opening and closing clamp 220 can be made of a conductive material. Alternatively, the materials for manufacturing the first opening and closing clamp 210 and the second opening and closing clamp 220 can be the same as, similar to or analogous to the material for manufacturing the first movable shaft 300. The embodiments of the present disclosure will not be described here again.

[0264] In some examples, the finger rest on the first and second opening and closing clamps 210 and 220 can be made of conductive rubber.

[0265] In some examples, the in-position detection sensor 131 can be a capacitive sensor. When the hand of the doctor or operator contacts at least one of the first and second opening and closing clamps 210 and 220, the potential on the first and second opening and closing clamps 210 and 220 changes, so that the in-position detection sensor 131 can detect the change in potential on the first and second opening and closing clamps 210 and 220 through the electrical connector 132, and determine that the hand of the doctor is in position.

[0266] In some examples, to facilitate the movement of the first and second opening and closing clamps 210 and 220, when the first and second opening and closing clamps 210 and 220 are operated by the doctor, the first and second opening and closing clamps 210 and 220 can drive the first movable shaft 300 to move axially relative to the electrical connector 132.

[0267] In some examples, when the opening and closing joint 200 rotates relative to the rotating joint 100, the first and second opening and closing clamps 210 and 220 can drive the first movable shaft 300 to rotate relative to the electrical connector 132.

[0268] In some examples, to improve the stability of the movement of the first movable shaft 300 and the stability of the electrical connection between the first movable shaft 300 and the electrical connector 132, the electrical connector 132 can provide a force to the first movable shaft 300 on both sides of the axis of the first movable shaft 300.

[0269] In some examples, the forces provided by the electrical connector 132 to the first movable shaft 300 on both sides of the axis of the first movable shaft 300 can be balanced, so that the radial force on the first movable shaft 300 is balanced. When the first movable shaft 300 moves, it only receives the axial force from the first and second opening and closing clamps 210 and 220, so that the first movable shaft 300 can avoid radial torsion, and the stability of the movement of the first movable shaft 300 is improved, and the stability of the electrical connection between the first movable shaft 300 and the electrical connector 132 is improved.

[0270] In some examples, to ensure the effectiveness of the in-position detection sensor 131 in detecting the hand in position, or to ensure that the change in potential on the first and second opening and closing clamps 210 and 220 can be detected by the in-position detection sensor 131, it is necessary to ensure that the opening and closing joint 200 is not grounded.

[0271] In some examples of the embodiments of the present disclosure, the opening and closing joint 200 can be insulated from the rotating joint 100.

[0272] According to the control input device 10 provided by some examples of the embodiments of the present disclosure, by arranging the in-place detection sensor 131 and the electrical connector 132 at the rotary joint 100, the electrical connector 132 is electrically connected with the in-place detection sensor 131; the first movable shaft 300 is movably connected to the rotary joint 100, and the first movable shaft 300 is electrically connected with the electrical connector 132; in this way, the electrical connection relationship between the first movable shaft 300 and the electrical connector 132 can be established; the electrical connector 132 provides balanced forces to the first movable shaft 300 on both sides of the axis of the first movable shaft 300; in this way, during the movement (for example, axial movement or rotation relative to the rotary joint 100) of the first movable shaft 300 relative to the rotary joint 100, the balanced forces provided by the electrical connector 132 to the first movable shaft 300 on both sides of the axis of the first movable shaft 300 can balance the radial force of the first movable shaft 300, so as to ensure the smooth movement (for example, axial movement or rotation) of the first movable shaft 300 relative to the electrical connector 132, reduce or avoid the swing or torsion of the first movable shaft 300 in the radial direction, and thus improve the stability of the electrical connection between the first movable shaft 300 and the electrical connector 132; the opening and closing joint 200 is rotatably connected to the rotary joint 100, the opening and closing joint 200 is electrically connected with the first movable shaft 300, and the opening and closing joint 200 is insulated from the rotary joint 100; in this way, when the hand of the operator contacts the opening and closing joint 200, the potential on the opening and closing joint 200 changes, and the changed potential is detected by the in-place detection sensor 131 electrically connected with the first movable shaft 300, so as to determine that the hand of the operator is in place; compared with the related art, the control input device 10 provided by the embodiments of the present disclosure improves the stability of the electrical connection between the electrical connector 132 and the first movable shaft 300, and thus improves the accuracy of the detection result of whether the hand is in place.

[0273] In some examples, referring to FIG. 9, the electrical connector 132 can include a first elastic sheet 1321.

[0274] In some examples, the electrical connector 132 can be a sheet metal part. The first elastic sheet 1321 can be formed by bending one end of the sheet metal part.

[0275] In some examples, the first elastic sheet 1321 can abut against the circumferential wall of one side of the first movable shaft 300 along the axis of the first movable shaft 300.

[0276] In some examples, the electrical connector 132 can include a second elastic sheet 1322.

[0277] In some examples, the second elastic sheet 1322 can be formed by bending the other end of the sheet metal part. That is, the second elastic sheet 1322 and the first elastic sheet 1321 can be an integrally formed part.

[0278] In some examples, the second elastic sheet 1322 can abut against the circumferential wall on the other side of the first movable shaft 300 along the axis of the first movable shaft 300.

[0279] In some examples, the first elastic sheet 1321 and the second elastic sheet 1322 can be symmetrically arranged relative to the axis of the first movable shaft 300. In this way, the first elastic sheet 1321 and the second elastic sheet 1322 can provide mutually balanced forces to the first movable shaft 300.

[0280] In some examples, the distance between the first elastic sheet 1321 and the second elastic sheet 1322 can be slightly smaller than the diameter of the first movable shaft 300. In this way, when the first movable shaft 300 is arranged between the first elastic sheet 1321 and the second elastic sheet 1322, the first elastic sheet 1321 and the second elastic sheet 1322 can have a clamping force along the radial direction of the first movable shaft 300. Since the first elastic sheet 1321 and the second elastic sheet 1322 are symmetrically arranged relative to the axis of the first movable shaft 300, the radial forces of the first elastic sheet 1321 and the second elastic sheet 1322 to the first movable shaft 300 are balanced.

[0281] In this way, when the first movable shaft 300 moves between the first elastic sheet 1321 and the second elastic sheet 1322, the first movable shaft 300 can stably move and maintain stable electrical connection with the first elastic sheet 1321 and the second elastic sheet 1322 due to the balanced forces provided by the first elastic sheet 1321 and the second elastic sheet 1322 to the first movable shaft 300, and the separation of the first movable shaft 300 from the first elastic sheet 1321 and the second elastic sheet 1322 can be avoided, which can improve the accuracy of the hand-in-place detection.

[0282] In some examples, referring to FIG. 9, the first elastic sheet 1321 can have a first arc-shaped segment 1321a. The first arc-shaped segment 1321a can be held on one side of the circumferential wall of the first movable shaft 300.

[0283] In some examples, the first arc-shaped segment 1321a can be in contact with the circumferential wall of the first movable shaft 300. That is, the radius of the first arc-shaped segment 1321a can be the same, similar or approximate to the radius of the first movable shaft 300, so that the first arc-shaped segment 1321a can better fit on the circumferential wall of the first movable shaft 300.

[0284] In some examples, the second elastic sheet 1322 can have a second arc-shaped segment (not labeled in the figure). The second arc-shaped segment can be held on the other side of the circumferential wall of the first movable shaft 300.

[0285] In some examples, the second arc-shaped segment can be arranged in the same way, similarly or analogously to the first arc-shaped segment 1321a. For details, reference can be made to the foregoing description of the first arc-shaped segment 1321a in the foregoing embodiments of the present disclosure, which will not be repeated here.

[0286] In some examples, the second arc-shaped segment can be symmetrical to the first arc-shaped segment 1321a with respect to the axis of the first movable shaft 300.

[0287] In some examples, the second arc-shaped segment can be symmetrical to the first arc-shaped segment 1321a with respect to the axis of the first movable shaft 300.

[0288] In some examples of the embodiments of the present disclosure, the first arc-shaped segment 1321a is arranged on the first elastic sheet 1321 and held on one side of the circumferential wall of the first movable shaft 300. In this way, the first arc-shaped segment 1321a can be in contact with the first movable shaft 300 along the entire first arc-shaped segment 1321a on the circumferential wall of the first movable shaft 300, thereby increasing the contact area between the first elastic sheet 1321 and the first movable shaft 300 and improving the stability of the electrical connection between the first movable shaft 300 and the first elastic sheet 1321. The second arc-shaped segment is arranged on the second elastic sheet 1322 and held on the other side of the circumferential wall of the second movable shaft. In this way, the second arc-shaped segment can be in contact with the first movable shaft 300 along the entire second arc-shaped segment on the circumferential wall of the first movable shaft 300, thereby increasing the contact area between the second elastic sheet 1322 and the first movable shaft 300 and improving the stability of the electrical connection between the first movable shaft 300 and the second elastic sheet 1322.

[0289] In addition, the first arc-shaped segment 1321a and the second arc-shaped segment are symmetrical to each other with respect to the axis of the first movable shaft 300. In this way, the forces acting on the first movable shaft 300 in the radial direction from the first elastic sheet 1321 and the second elastic sheet 1322 can be balanced with each other, thereby avoiding the twisting of the first movable shaft 300 in the radial direction when the first movable shaft 300 is moving, and thus improving the stability of the electrical connection between the first movable shaft 300 and the first elastic sheet 1321 and the second elastic sheet 1322 and the accuracy of the detection of the presence of the opponent.

[0290] In some examples, continuing to refer to FIG. 9, the first elastic sheet 1321 can have a first opening segment 1321b. The first opening segment 1321b can be connected to the first arc-shaped segment 1321a.

[0291] In some examples, the first opening segment 1321b can be connected to the end of the first arc-shaped segment 1321a.

[0292] In some examples, the end of the first opening segment 1321b can be inclined towards the direction away from the second arc-shaped segment.

[0293] In some examples, the second elastic sheet 1322 can have a second opening section 1322b. The second opening section 1322b can be connected to the second arc section.

[0294] In some examples, the second opening section 1322b can be connected to the end of the second arc section.

[0295] In some examples, the end of the second opening section 1322b can be inclined towards the direction away from the first arc section 1321a.

[0296] In some examples, the first opening section 1321b and the second opening section 1322b can form an opening 1323 therebetween. The distance between the end of the first arc section 1321a and the end of the second arc section can be less than the diameter of the first movable shaft 300.

[0297] In some examples, the opening 1323 can be tapered towards the direction of the first movable shaft 300 along the radial direction of the first movable shaft 300. In this way, when the first movable shaft 300 is installed between the first arc section 1321a and the second arc section, the first movable shaft 300 can be placed in the opening 1323 and pressed along the tapered direction of the opening 1323. The peripheral wall of the first movable shaft 300 exerts a force on the first opening section 1321b and the second opening section 1322b away from the first movable shaft 300, so that the first elastic sheet 1321 and the second elastic sheet 1322 are separated from each other, and the first movable shaft 300 enters between the first arc section 1321a and the second arc section.

[0298] In some examples, after the first movable shaft 300 enters between the first arc section 1321a and the second arc section, the first elastic sheet 1321 and the second elastic sheet 1322 are clamped on the peripheral wall of the first movable shaft 300 under the elastic restoring force, thereby forming a stable electrical connection with the first movable shaft 300.

[0299] In some examples of the embodiments of the present disclosure, the first opening section 1321b is arranged on the first elastic sheet 1321 and connected to the first arc section 1321a, and the second opening section 1322b is arranged on the second elastic sheet 1322 and connected to the second arc section. The first opening section 1321b and the second opening section 1322b form an opening 1323 therebetween, and the opening 1323 is tapered. In this way, the first movable shaft 300 can be easily installed between the first arc section 1321a and the second arc section from the tapered opening 1323, and the installation and assembly efficiency between the first movable shaft 300 and the first elastic sheet 1321 and the second elastic sheet 1322 is improved.

[0300] In some examples, referring to FIG. 9, the first circuit board 130 can be provided with an avoiding gap 133. The first elastic sheet 1321 and the second elastic sheet 1322 can be arranged at the avoiding gap 133. The first movable shaft 300 can be arranged through the avoiding gap 133. In this way, the first movable shaft 300 can be electrically connected with the electric connector 132.

[0301] In some examples, referring to FIG. 9, along the axial direction of the first movable shaft 300, the first elastic sheet 1321 can have a first width.

[0302] In some examples, the first width can be greater than the arc length of the first arc-shaped section 1321a. In this way, along the axial direction of the first movable shaft 300, the length of the first elastic sheet 1321 in contact with the first movable shaft 300 can be greater than the length of the contact along the circumferential direction of the first movable shaft 300. In the case that the first movable shaft 300 is twisted in the radial direction, the longer length of the first elastic sheet 1321 in contact with the first movable shaft 300 in the axial direction can limit the first movable shaft 300, so that the first movable shaft 300 can keep in contact with the first elastic sheet 1321 even if the first movable shaft 300 is twisted in the radial direction, and the first movable shaft 300 can avoid being separated from the first elastic sheet 1321, thereby improving the stability of the electrical connection between the first movable shaft 300 and the first elastic sheet 1321.

[0303] In some examples, referring to FIG. 9, along the axial direction of the first movable shaft 300, the second elastic sheet 1322 can have a second width.

[0304] In some examples, the second width can be greater than the arc length of the second arc-shaped section. In this way, along the axial direction of the first movable shaft 300, the length of the second elastic sheet 1322 in contact with the first movable shaft 300 can be greater than the length of the contact along the circumferential direction of the first movable shaft 300. In the case that the first movable shaft 300 is twisted in the radial direction, the longer length of the second elastic sheet 1322 in contact with the first movable shaft 300 in the axial direction can limit the first movable shaft 300, so that the first movable shaft 300 can keep in contact with the second elastic sheet 1322 even if the first movable shaft 300 is twisted in the radial direction, and the first movable shaft 300 can avoid being separated from the second elastic sheet 1322, thereby improving the stability of the electrical connection between the first movable shaft 300 and the second elastic sheet 1322.

[0305] In some examples of the embodiments of the present disclosure, the first width of the first elastic sheet 1321 along the first movable shaft 300 in the axial direction is greater than the length of the first arc-shaped section 1321a, and the second width of the second elastic sheet 1322 along the first movable shaft 300 in the axial direction is greater than the length of the second arc-shaped section; in this way, the contact length of the first elastic sheet 1321 and the second elastic sheet 1322 with the first movable shaft 300 in the axial direction of the first movable shaft 300 is increased, so that the radial torsion of the first movable shaft 300 by the first elastic sheet 1321 and the second elastic sheet 1322 is limited, the stability of the movement of the first movable shaft 300 is improved, the stability of the electrical connection between the first movable shaft 300 and the rotary connecting piece is improved, and the accuracy of the detection of the position of the hand is improved.

[0306] Continuing to refer to FIG. 4, in some examples, the first opening and closing clamp 210 can be electrically connected with the first movable shaft 300. The first opening and closing clamp 210 can be an electrically conductive piece.

[0307] In some examples, the second opening and closing clamp 220 can be electrically connected with the first movable shaft 300. The second opening and closing clamp 220 can be an electrically conductive piece.

[0308] In some examples, the driving force provided by the first opening and closing clamp 210 and the second opening and closing clamp 220 to the first movable shaft 300 can have a radial component along the first movable shaft 300.

[0309] In some examples, the radial components of the driving force provided by the first opening and closing clamp 210 and the second opening and closing clamp 220 to the first movable shaft 300 along the first movable shaft 300 balance each other. In this way, when the doctor or the operator operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 drive the first movable shaft 300 to move in the axial direction, and since the radial forces of the first opening and closing clamp 210 and the second opening and closing clamp 220 to the first movable shaft 300 balance each other, the stress of the first movable shaft 300 in the radial direction is balanced, and the first movable shaft 300 will not be subjected to a radial force when moving in the axial direction, i.e., the radial torsion will not occur, thereby ensuring the stability of the electrical connection between the first movable shaft 300 and the first elastic sheet 1321 and the second elastic sheet 1322, i.e., the accuracy of the detection of the position of the hand can be improved.

[0310] In some examples, continuing to refer to FIG. 4, the opening and closing joint 200 can include a first connecting rod 230. The first connecting rod 230 can be connected between the first opening and closing clamp 210 and the first movable shaft 300.

[0311] In some examples, one end of the first connecting rod 230 can be hingedly connected to the first opening and closing clamp 210 at a first hinge point 2301.

[0312] In some examples, the first hinge point 2301 can be located in the middle of the first opening and closing clamp 210.

[0313] In some examples, the first hinge point 2301 can be located at a middle of the first opening and closing clamp 210, close to an end operated by a doctor.

[0314] In some examples, the other end of the first connecting rod 230 can be hinged to the second hinge point 251 of the first movable shaft 300.

[0315] In some examples, the second hinge point 251 can be located on a side of the first hinge point 2301 facing the rotary joint 100. During the closing of the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 can drive the first movable shaft 300 to move towards the rotary joint 100.

[0316] In some examples, the second hinge point 251 can be located on a side of the first hinge point 2301 away from the rotary joint 100. During the closing of the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 can drive the first movable shaft 300 to move away from the rotary joint 100. For example, referring to FIG. 4, during the closing of the first opening and closing clamp 210 and the second opening and closing clamp 220 in the direction shown by the arrow x in FIG. 4, the first opening and closing clamp 210 and the second opening and closing clamp 220 can drive the first movable shaft 300 to move in the direction shown by the arrow y in FIG. 4.

[0317] In some examples, continuing to refer to FIG. 4, the opening and closing joint 200 can include a second connecting rod 240. The second connecting rod 240 can be connected between the second opening and closing clamp 220 and the first movable shaft 300.

[0318] In some examples, one end of the second connecting rod 240 can be hinged to the third hinge point 241 of the second opening and closing clamp 220.

[0319] In some examples, the third hinge point 241 can be the same as, similar to, or analogous to the first hinge point 2301, and specific details can be referred to the detailed description of the first hinge point 2301, which will not be repeated here.

[0320] In some examples, the other end of the second connecting rod 240 can be hinged to the fourth hinge point 252 of the first movable shaft 300.

[0321] In some examples, the fourth hinge point 252 can be the same as, similar to, or analogous to the second hinge point 251, and specific details can be referred to the detailed description of the second hinge point 251, which will not be repeated here.

[0322] In some examples, the fourth articulation point 252 and the second articulation point 251 can be the same articulation point. For example, the second articulation point 251 and the fourth articulation point 252 are arranged on the radial direction of the first movable shaft 300. In this way, the fourth articulation point 252 and the second articulation point 251 can be coaxial. It can also be understood that the fourth articulation point 252 and the second articulation point 251 are the same articulation point.

[0323] In some examples, the first articulation point 2301 and the third articulation point 241 can be symmetrical relative to the axis of the first movable shaft 300.

[0324] In some examples, the first articulation point 2301 and the third articulation point 241 can be symmetrical relative to the axis of the first movable shaft 300.

[0325] In some examples, the second articulation point 251 and the fourth articulation point 252 can be symmetrical relative to the axis of the first movable shaft 300.

[0326] In some examples, the second articulation point 251 and the fourth articulation point 252 can be symmetrical relative to the axis of the first movable shaft 300.

[0327] In some examples of the embodiments of the present disclosure, by arranging the first connecting rod 230, one end of the first connecting rod 230 is articulated with the first opening and closing clamp 210 at the first articulation point 2301, and the other end is articulated with the first movable shaft 300 at the second articulation point 251; the second connecting rod 240, one end of the second connecting rod 240 is articulated with the second opening and closing clamp 220 at the third articulation point 241, the third articulation point 241 is symmetrical to the first articulation point 2301, the other end of the second connecting rod 240 is articulated with the first movable shaft 300 at the fourth articulation point 252, the fourth articulation point 252 is symmetrical to the second articulation point 251; in this way, when the doctor operates the first opening and closing clamp 210 and the second opening and closing clamp 220, the first opening and closing clamp 210 and the second opening and closing clamp 220 synchronously drive the first movable shaft 300 to move along the axial direction, that is, the action force of the first opening and closing clamp 210 and the second opening and closing clamp 220 on the first movable shaft 300 is balanced in the radial direction of the first movable shaft 300, the stability of the movement of the first movable shaft 300 can be maintained, and the accuracy of the detection of the hand-in-position is improved.

[0328] In some examples, continuing to refer to FIG. 4, in order to facilitate the connection of the first connecting rod 230 and the second connecting rod 240 with the first movable shaft 300, the opening and closing joint 200 can include an opening and closing connecting piece 250. The opening and closing connecting piece 250 can be arranged at the end of the first movable shaft 300 away from the rotating joint 100.

[0329] In some examples, the opening and closing connecting piece 250 can be fixedly connected with the first movable shaft 300.

[0330] In some examples, the opening and closing connecting piece 250 and the first movable shaft 300 can be an integral piece.

[0331] In some examples, the second hinge point 251 can be located at one side of the opening and closing connector 250 along the axis of the first movable shaft 300.

[0332] In some examples, the fourth hinge point 252 can be located at the other side of the opening and closing connector 250 opposite to the second hinge point 251.

[0333] In some examples of the embodiments of the present disclosure, the opening and closing connector 250 is arranged on the first movable shaft 300. In this way, the radial dimension of the first movable shaft 300 can be expanded, and the first connecting rod 230 and the second connecting rod 240 can be hingedly connected to the first movable shaft 300.

[0334] FIG. 10 is a sectional view of an opening and closing joint in a control input device according to an embodiment of the present disclosure. FIG. 11 is a partially enlarged structural schematic view at C in FIG. 4.

[0335] In some examples, referring to FIG. 10, the opening and closing joint 200 can include a transmission opening and closing seat 360. The transmission opening and closing seat 360 can be rotatably connected to the rotary joint 100.

[0336] In some examples, referring to FIG. 10, one end of the first movable shaft 300 away from the rotary joint 100 can be arranged in the transmission opening and closing seat 360.

[0337] In some examples, when the transmission opening and closing seat 360 rotates relative to the rotary joint 100, the first movable shaft 300 can be driven to rotate relative to the rotary joint 100, so that the first movable shaft 300 rotates relative to the electrical connector 132.

[0338] It can be understood that, in some examples of the embodiments of the present disclosure, when the first movable shaft 300 rotates relative to the rotary joint 100, the first movable shaft 300 can swing. In some examples of the embodiments of the present disclosure, the first movable shaft 300 is held and positioned by the first arc-shaped section 1321a and the second arc-shaped section, so that swinging or shaking of the first movable shaft 300 when rotating can be avoided. In addition, the axial width of the first elastic sheet 1321 is greater than the length of the first arc-shaped section 1321a, and the axial width of the second elastic sheet 1322 is greater than the length of the second arc-shaped section; in this way, the radial torsion of the first movable shaft 300 can be limited by the first elastic sheet 1321 and the second elastic sheet 1322, so that swinging or torsion of the first movable shaft 300 when rotating can be avoided, and the stability of the electrical connection between the first movable shaft 300 and the electrical connector 132 is improved.

[0339] In some examples, referring to FIG. 10, the first opening and closing clamp 210 can have a first end. The first end can be hingedly connected to the transmission opening and closing seat 360.

[0340] In some examples, the first end can be an end of the first open-close clamp 210 facing away from the rotating joint 100.

[0341] In some examples, referring to FIGS. 10 and 11, the first end can be provided with a first gear 312.

[0342] In some examples, referring to FIG. 10, the second open-close clamp 220 can have a second end. The second end can be hingedly connected to the transmission open-close seat 360.

[0343] In some examples, the second end can be an end of the second open-close clamp 220 facing away from the rotating joint 100.

[0344] In some examples, referring to FIGS. 10 and 11, the second end can have a second gear 322.

[0345] In some examples, referring to FIGS. 10 and 11, the first gear 312 and the second gear 322 can be meshed with each other.

[0346] In some examples, when the first open-close clamp 210 and the second open-close clamp 220 move in an open-close manner, the first open-close clamp 210 and the second open-close clamp 220 can keep synchronous movement through the meshing of the first gear 312 and the second gear 322.

[0347] In some examples, synchronous movement of the first open-close clamp 210 and the second open-close clamp 220 can synchronously drive the first movable shaft 300 to move in an axial direction. Thus, the driving force provided by the first open-close clamp 210 and the second open-close clamp 220 to the first movable shaft 300 can be balanced in a radial direction of the first movable shaft 300.

[0348] In some examples of the embodiments of the present disclosure, by providing the first gear 312 at the first end of the first open-close clamp 210, providing the second gear 322 at the second end of the second open-close clamp 220, and meshing the first gear 312 with the second gear 322; in this way, when the first open-close clamp 210 and the second open-close clamp 220 move in an open-close manner, the first open-close clamp 210 and the second open-close clamp 220 keep synchronous driving of the first movable shaft 300 in an axial direction, so that the force acting on the first movable shaft 300 in a radial direction is balanced, the stability of the movement of the first movable shaft 300 can be kept, and the accuracy of the detection of the opponent in position can be improved.

[0349] In some examples, referring to FIG. 10, in order to ensure the effectiveness of the detection of the opponent in position, the open-close joint 200 needs to be not grounded.

[0350] In some examples, the rotating joint 100 is grounded through a support. The control input device 10 can include an insulating connecting piece 4001. The insulating connecting piece 4001 can be connected with the transmission open-close seat 360.

[0351] In some examples, the insulating connecting piece 4001 can be fixedly connected to one end of the transmission opening and closing seat 360 facing the rotating joint 100.

[0352] In some examples, the insulating connecting piece 4001 can be connected to the rotating shaft of the rotating joint 100.

[0353] In some examples, the rotating shaft drives the insulating connecting piece 4001 to rotate, thereby driving the transmission opening and closing seat 360 and the opening and closing joint 200 to rotate relative to the rotating joint 100.

[0354] In some examples of the embodiments of the present disclosure, the transmission opening and closing seat 360 and the rotating shaft of the rotating joint 100 are connected through the insulating connecting piece 4001, so that the transmission opening and closing seat 360 and the rotating joint 100 are insulated, which can avoid the transmission opening and closing seat 360 and the opening and closing joint 200 from being grounded. It can ensure that the in-place detection sensor 131 can effectively detect the potential change of the opening and closing joint 200, thereby accurately determining whether the hand is in place; and can improve the accuracy of the hand in-place detection.

[0355] In some examples, after the first opening and closing clamp 210 and the second opening and closing clamp 220 are closed and the surgical action is completed, the first opening and closing clamp 210 and the second opening and closing clamp 220 need to be reset for the next surgical action.

[0356] FIG. 12 is a partial enlarged view of D in FIG. 7. FIG. 13 is another sectional view of the control input device provided by some embodiments of the present disclosure. In some examples, in order to facilitate the doctor or operator to rotate the opening and closing joint 200 and reduce the force required to be exerted by the doctor or operator when rotating the opening and closing joint 200, a driving member 115 can be arranged in the rotating joint 100. When the doctor or operator rotates the opening and closing joint 200, the driving member 115 can drive the opening and closing joint 200, thereby compensating for the rotation operation of the doctor or operator, reducing the rotation force required to be exerted by the doctor or operator, and facilitating the rotation operation of the doctor or operator.

[0357] In some examples, after the doctor or operator stops the rotation operation of the opening and closing joint 200, the driving member 115 can output a driving force to compensate for the gravity of the opening and closing joint 200, so that the opening and closing joint 200 remains at the current position and avoids rotating under the action of gravity, which can improve the safety of the surgical robot.

[0358] In some examples, when the driving member 115 drives the rotation of the opening and closing joint 200 through the first movable shaft 300, the first movable shaft 300 is an elongated shaft, and an end of the first movable shaft 300 away from the rotation joint 100 can swing or shake under the action of centrifugal force, which can cause the fingers of the doctor or operator to shake, affecting the safety of the use of the surgical robot.

[0359] To this end, as described with reference to FIGS. 12 and 13, in some examples of the embodiments of the present disclosure, the driving member 115 can be in transmission connection with the rotating opening and closing seat 280 to drive the rotation of the opening and closing joint 200 relative to the rotation joint 100 as a whole.

[0360] That is, in some examples of the embodiments of the present disclosure, the driving member 115 can drive the rotating opening and closing seat 280 with a larger diameter to rotate, and the rotating opening and closing seat 280 drives the entire opening and closing joint 200 to rotate. In this way, compared with the driving of the elongated first movable shaft 300 by the driving member 115, the rotating opening and closing seat 280 with a larger diameter is not easy to swing under the action of centrifugal force, which can improve the stability of the rotation of the opening and closing joint 200 relative to the rotation joint 100 and improve the safety of the use of the surgical robot.

[0361] The present disclosure

[0362] Through the above scheme, the driving member 115 is arranged in the rotation joint 100, and the driving member 115 is in transmission connection with the rotating opening and closing seat 280 to drive the rotation of the opening and closing joint 200 relative to the rotation joint 100. In this way, compared with the way of rotating the opening and closing joint 200 by the driving member 115 through the first movable shaft 300 in the related art, the driving member 115 is in transmission connection with the rotating opening and closing seat 280 to drive the entire opening and closing joint 200 by driving the rotating opening and closing seat 280 to rotate, so that the power output by the driving member 115 is on the rotating opening and closing seat 280 with a larger diameter, which can improve the stability of the rotation of the opening and closing joint 200 compared with the driving of the first movable shaft 300 with a small diameter, thereby improving the safety of the use of the surgical robot. In addition, the opening and closing angles of the first opening and closing clamp 210 and the second opening and closing clamp 220 are detected in the rotation joint 100, which can eliminate the signal transmission line for transmitting signals between the opening and closing joint 200 and the rotation joint 100, so as to constrain the rotation between the opening and closing joint 200 and the rotation joint 100 wirelessly, and facilitate the unlimited rotation of the opening and closing joint 200 relative to the rotation joint 100.

[0363] In some examples, as shown in FIGS. 12 and 13, the rotation joint 100 can be provided with a first transmission gear 120a. The first transmission gear 120a can be coaxially arranged with the opening and closing joint 200.

[0364] In some examples, a rotating bearing can be arranged in the rotating joint 100, and the first transmission gear 120a is rotatably connected to the rotating joint 100 through the rotating bearing. For example, an outer ring of the rotating bearing can be fixedly connected to an inner wall of the rotating joint 100, and an inner ring of the rotating bearing can be connected to the first transmission gear 120a. Thus, the first transmission gear 120a can rotate relative to the rotating joint 100.

[0365] In some examples, the first transmission gear 120a can be connected to the rotating opening and closing seat 280. Thus, the rotating opening and closing seat 280 is driven to rotate. That is, the first transmission gear 120a has the same angular velocity as the rotating opening and closing seat 280, and the rotation angle of the first transmission gear 120a is the same as that of the rotating opening and closing seat 280.

[0366] In some examples, in order to facilitate detection of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100, a rotation detection sensor 135 can be arranged on the first transmission gear 120a, and a sensing element 1320 can be arranged on the rotating joint 100. The sensing element 1320 cooperates with the rotation detection sensor 135 to determine the rotation angle of the first transmission gear 120a relative to the rotating joint 100, so as to facilitate determination of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100.

[0367] In some examples, a sensing element 1320 can be arranged on the first transmission gear 120a, and a rotation detection sensor 135 can be arranged on the rotating joint 100. The sensing element 1320 cooperates with the rotation detection sensor 135 to determine the rotation angle of the first transmission gear 120a relative to the rotating joint 100, so as to facilitate determination of the rotation angle of the opening and closing joint 200 relative to the rotating joint 100.

[0368] In some examples of the embodiments of the present disclosure, by arranging the first transmission gear 120a in the rotating joint 100, the first transmission gear 120a is coaxial with the opening and closing joint 200, the first transmission gear 120a is connected to the rotating opening and closing seat 280 and drives the rotating opening and closing seat 280 to rotate. One of the rotation detection sensor 135 and the sensing element 1320 is arranged on the first transmission gear 120a, and the other one of the rotation detection sensor 135 and the sensing element 1320 is arranged on the rotating joint 100. In this way, detection of the rotation angle of the opening and closing joint 200 can be converted into detection of the rotation angle of the first transmission gear 120a, and the signal transmission wire harness required when the sensing element 1320 or the rotation detection sensor 135 is arranged on the opening and closing joint 200 can be omitted. Thus, the opening and closing joint 200 can be wirelessly constrained relative to the rotating joint 100, and the opening and closing joint can rotate relative to the rotating joint 100 without limit, which facilitates rotation operation of the opening and closing joint 200 by a doctor or an operator.

[0369] In some examples, the rotation detection sensor 135 can include a Hall sensor. For example, in some examples, a plurality of Hall sensors can be arranged side by side in a circumferential direction on an inner wall of the rotation joint 100 along a circumferential direction of the first transmission gear 120a.

[0370] In some examples, the inductive element 1320 can include a magnetic body. The magnetic body can be arranged on the first transmission gear 120a. When the first transmission gear 120a rotates relative to the rotation joint 100, the first transmission gear 120a drives the magnetic body to rotate, and the Hall sensor detects a change in a magnetic field of the magnetic body, thereby determining an angle of rotation of the first transmission gear 120a.

[0371] In some examples, the inductive element 1320 can be arranged on the first transmission gear 120a and rotate with the first transmission gear 120a. The rotation detection sensor 135 can be arranged on the rotation joint 100.

[0372] In some examples, the rotation detection sensor 135 can include an encoder stator. The encoder stator can be arranged on the rotation joint 100.

[0373] In some examples, the inductive element 1320 can include an encoder rotor. The encoder rotor can be arranged on the first transmission gear 120a. When the first transmission gear 120a rotates relative to the rotation joint 100, the first transmission gear 120a drives the encoder rotor to rotate, and the encoder stator determines an angle of rotation of the first transmission gear 120a according to an angle of rotation of the encoder rotor, thereby determining a rotation angle of the rotation joint 100 relative to the rotation joint 100.

[0374] In some examples, a third circuit board 1301 can be arranged in the rotation joint. The rotation detection sensor 135 can be electrically connected to the third circuit board 1301.

[0375] In some examples, the rotation detection sensor 135 can be arranged on the third circuit board 1301.

[0376] In some examples, the third circuit board 1301 can include an integrated circuit board.

[0377] In some examples, the third circuit board 1301 can be a printed circuit board (PCB).

[0378] In some examples, the third circuit board 1301 can be provided with a data communication interface 1330.

[0379] In some examples, the rotation joint can be provided with a plug interface. The plug interface can cooperate with the data communication interface 1330.

[0380] In some examples, the plug-in interface can be arranged opposite to the data communication interface 1330. The diameter of the plug-in interface can be the same as that of the data communication interface 1330. Alternatively, the diameter of the plug-in interface can be slightly larger than that of the data communication interface 1330.

[0381] In some examples, the doctor or operator can insert a data communication line from the plug-in interface into the data communication interface 1330 to read the data information on the third circuit board 1301. Alternatively, the data information can be written into the third circuit board 1301.

[0382] In some examples, the plug-in interface can be provided with a blocking block 134. The blocking block 134 can be configured to block the plug-in interface. Thus, water vapor, dust and the like can be prevented from entering the rotary joint 100.

[0383] In some examples, referring to FIGS. 12 and 13, the first transmission gear 120a can be provided with an axial hole (not labeled in the figures).

[0384] In some examples, the outer periphery of the first movable shaft 300 can be sleeved with a first connecting member 4002.

[0385] In some examples, the first movable shaft 300 can move axially relative to the first connecting member 4002. For example, when the first and second opening and closing clamps 210 and 220 are in the opening and closing action, the first movable shaft 300 can move axially relative to the first connecting member 4002 under the driving of the first and second opening and closing clamps 210 and 220.

[0386] In some examples, the first connecting member 4002 can have a connecting shaft 410. The first connecting member 4002 can be arranged through the axial hole, so that the connecting shaft 410 is limited in the circumferential direction by the first transmission gear 120a. In some examples, a first key groove (not shown in the figures) can be arranged on the circumferential wall of the connecting shaft 410. The inner wall of the axial hole can be provided with a second key groove (not shown in the figures). In some examples, a key pin can be arranged in the first key groove, and part of the key pin protrudes from the circumferential wall of the connecting shaft 410. The part of the key pin protruding from the circumferential wall of the connecting shaft 410 can extend into the second key groove, so as to realize the engagement of the connecting shaft 410 and the first transmission gear 120a.

[0387] In some examples, a protruding portion can be arranged on the circumferential wall of the connecting shaft 410. The inner wall of the axial hole can be provided with a groove. The protruding portion can be arranged in the groove, so as to realize the engagement of the connecting shaft 410 and the first transmission gear 120a.

[0388] In some examples, a groove can be arranged on the circumferential wall of the connecting shaft 410. A protrusion can be arranged on the inner wall of the shaft hole. The protrusion can be embedded in the groove, so as to realize the engagement of the connecting shaft 410 and the first transmission gear 120a. In some examples, a spline can be arranged on the circumferential wall of the connecting shaft 410. A spline groove can be arranged on the inner wall of the shaft hole. The spline and the spline groove can be engaged, so as to realize the engagement of the connecting shaft 410 and the first transmission gear 120a.

[0389] In some examples, the cross-sectional shape of the connecting shaft 410 can be non-circular. The cross-sectional shape of the shaft hole can be matched with the cross-sectional shape of the connecting shaft 410, so that the connecting shaft 410 is engaged with the first transmission gear 120a.

[0390] In some examples, referring to FIGS. 12 and 13, the first connecting member 4002 has a flange plate 420. The flange plate 420 is located at one end of the connecting shaft 410 facing the rotating opening and closing seat 280. In some examples, the flange plate 420 and the connecting shaft 410 can be an integral piece.

[0391] In some examples, the flange plate 420 can be connected with the rotating opening and closing seat 280. For example, the flange plate 420 can be connected with the rotating opening and closing seat 280 through bolts, screws or threaded rods, etc. In this way, the first transmission gear 120a can drive the rotating opening and closing seat 280 to rotate, so as to drive the opening and closing joint 200 to rotate.

[0392] In some examples of the embodiments of the present disclosure, by arranging a shaft hole on the first transmission gear 120a, the outer periphery of the first movable shaft 300 is sleeved with the first connecting member 4002; the first connecting member 4002 has a connecting shaft 410 and a flange plate 420. The connecting shaft 410 is arranged in the shaft hole, and along the circumferential direction of the first transmission gear 120a, the connecting shaft 410 is engaged with the first transmission gear 120a; in this way, the first transmission gear 120a can drive the opening and closing joint 200 through the first connecting member 4002.

[0393] In some examples, in order to avoid the displacement of the first transmission gear 120a in the axial direction of the connecting shaft 410, the first transmission gear 120a and the connecting shaft 410 can be limited in the axial direction.

[0394] In some examples, the connecting shaft 410 can be arranged in the shaft hole, and then a snap spring can be arranged on the circumferential wall of the connecting shaft 410, so as to limit the first transmission gear 120a in the axial direction of the connecting shaft 410.

[0395] In some examples, a second connecting member can be arranged on the side of the rotating opening and closing seat 280 facing the rotating joint 100. The second connecting member can be fixedly connected with the rotating opening and closing seat 280. In some examples, the second connecting member can be configured to be connected with the flange plate 420. For example, the second connecting member can be connected with the flange plate 420 by bolts, screws or the like. In some examples, the second connecting member can be the aforementioned insulating connecting member 4001. For example, the second connecting member can be an insulating member such as a plastic member, a rubber member or a ceramic member.

[0396] In some examples of the embodiments of the present disclosure, the second connecting member is arranged on the side of the rotating opening and closing seat 280 facing the rotating joint 100, and is insulated. In this way, the second connecting member is connected with the flange plate 420. In this way, the rotating opening and closing seat 280 is connected with the first connecting member 4002 in an insulated manner.

[0397] In some examples, a second movable shaft 310 is arranged on the outer periphery of the first movable shaft 300.

[0398] In some examples, along the radial direction of the first transmission gear 120a, the second movable shaft 310 can be located between the first connecting member 4002 and the first movable shaft 300. That is, the second movable shaft 310 can be arranged on the outer periphery of the first movable shaft 300, and the first connecting member 4002 can be arranged on the outer periphery of the second movable shaft 310.

[0399] In some examples, the first switch key 201 and the second switch key 202 form a switch key group, and the switch key group can be connected with the second movable shaft 310. When the switch key group moves relative to the opening and closing joint 200 in the axial direction, the second movable shaft 310 can be driven to move relative to the first movable shaft 300.

[0400] That is, the second movable shaft 310 can move relative to the first movable shaft 300 in the axial direction of the first movable shaft 300.

[0401] In some examples, when the switch key group drives the second movable shaft 310 to move in the axial direction, the second movable shaft 310 is configured to trigger a control signal. The control signal is used to control the signal output of the control input device 10. In this way, when the doctor or the operator needs to adjust the position of the rotating joint 100, the second movable shaft 310 can be moved by the switch key group to disconnect the control input device 10 from the communication connection with the master manipulator, so as to facilitate the doctor or the operator to adjust the position of the rotating joint 100. The safety of the surgical robot can be improved.

[0402] In addition, in some examples of the embodiments of the present disclosure, the operation of the switch key group is extended to the rotary joint 100 through the second movable shaft 310, so as to trigger a signal in the rotary joint 100, which can eliminate the wiring harness constraint between the opening and closing joint 200 and the rotary joint 100, and facilitate the wireless rotation of the opening and closing joint 200 relative to the rotary joint 100.

[0403] In some examples, an output detection sensor (not shown in the figure) can be located on the side of the first transmission gear 120a facing away from the opening and closing joint 200. In some examples, the second movable shaft 310 can be moved between the first position and the second position under the driving of the switch key group, so as to control the signal output of the control input device 10.

[0404] In some examples, the output detection sensor can be arranged on the PCB described in the foregoing embodiments of the present disclosure. The output detection sensor can be located on the side of the PCB facing the opening and closing joint 200. The position detection sensor 131 and the electrical connector 132 can be arranged on the side of the PCB facing away from the opening and closing joint 200.

[0405] In some examples, as shown in FIG. 7, the output shaft of the driving member 115 can be perpendicular to the axial direction of the opening and closing joint 200.

[0406] In some examples, the output shaft of the driving member 115 can be perpendicular to the axial direction of the opening and closing joint 200. For example, as shown in FIG. 7, the output shaft of the driving member 115 can be along the direction shown by the y-axis in FIG. 7. The axial direction of the opening and closing joint 200 can be along the direction shown by the x-axis in FIG. 7.

[0407] In some examples, in order to facilitate the transmission of the power output by the driving member 115 to the opening and closing joint 200, a second transmission gear 111 can be arranged on the output shaft of the driving member 115. The second transmission gear 111 can be engaged with the first transmission gear 120a.

[0408] In some examples, the first transmission gear 120a can include a first bevel gear (which can also be referred to as a first helical gear in some examples). The second transmission gear 111 can include a second bevel gear (which can also be referred to as a second helical gear in some examples). The first bevel gear and the second bevel gear can be engaged with each other.

[0409] In some examples, the tapered surfaces of the first bevel gear and the second bevel gear are engaged with each other, so as to facilitate the turning of the output power of the driving member 115, and facilitate the arrangement of the driving member 115 in the rotary joint 100, which can make full use of the effective space in the rotary joint 100.

[0410] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present disclosure, but not to limit them; although the present disclosure has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present disclosure.

Claims

1. A control input device, comprising: A rotary joint (100) is provided with an angle detection sensor (110) inside; An opening / closing joint (200) is rotatably connected to the rotating joint (100) along the axial direction; the opening / closing joint (200) is provided with a first switch button (201) and a second switch button (202), the first switch button (201) and the second switch button (202) are configured to move relative to the opening / closing joint (200) along the axial direction of the opening / closing joint (200) to control the signal output of the control input device; along the axis of the opening / closing joint (200), the first switch button (201) is located on one side of the opening / closing joint (200), and the second switch button (202) is symmetrically arranged on the other side of the opening / closing joint (200) with the first switch button (201).

2. The control input device according to claim 1, wherein, The first switch button (201) is connected to the second switch button (202); When either the first switch button (201) or the second switch button (202) moves relative to the opening / closing joint (200), the other moves synchronously.

3. The control input device according to claim 2, further comprising: The second movable shaft (310) is coaxially disposed on the opening and closing joint (200) along the axial direction of the opening and closing joint (200), and the second movable shaft (310) is movably connected to the opening and closing joint (200). The first switch button (201) is connected to one side of the second movable shaft (310), and the second switch button (202) is symmetrically connected to the other side of the second movable shaft (310).

4. The control input device according to claim 3, wherein, The rotary joint (100) is equipped with an output detection sensor; The second movable shaft (310) extends and is inserted into the rotary joint (100). The second movable shaft (310) can move between a first position and a second position under the action of either the first switch button (201) or the second switch button (202) to control the signal output of the control input device. In the first position, the second movable shaft (310) cooperates with the output detection sensor to conduct the signal output of the control input device; In the second position, the second movable shaft (310) cooperates with the output detection sensor to disconnect the signal output of the control input device.

5. The control input device according to claim 4, wherein, The output detection sensor includes a through-beam sensor; In the first position, the second movable shaft (310) blocks the signal transmission path of the through-beam sensor; In the second position, the second movable shaft (310) is moved away from the signal transmission path of the through-beam sensor by either the first switch button (201) or the second switch button (202).

6. The control input device according to claim 5 further includes a first movable shaft (300), the first movable shaft (300) being coaxially disposed within the second movable shaft (310), the first movable shaft (300) being electrically coupled to the opening and closing joint (200), and the first movable shaft (300) extending to the rotating joint (100) and protruding from the end of the second movable shaft (310); The signal transmission path of the through-beam sensor is deviated from the axis of the second movable axis (310), and the distance between the signal transmission path of the through-beam sensor and the axis of the second movable axis (310) is greater than the radius of the first movable axis (300).

7. The control input device according to claim 4, further comprising: A switch reset element (600) is coupled to the second movable shaft (310) and is configured to provide a first reset force to the second movable shaft (310) to switch the second movable shaft (310) to the first position.

8. The control input device according to claim 7, wherein, The switch reset component (600) includes an elastic element, which is sleeved on the outer periphery of the second movable shaft (310) along the axial direction of the second movable shaft (310); The elastic element is used to provide a first resetting force to the second movable shaft (310) along the axial direction of the second movable shaft (310).

9. The control input device according to claim 1, wherein, The opening and closing joint (200) is also provided with a first opening and closing clip (210) and a second opening and closing clip (220), the first opening and closing clip (210) and the second opening and closing clip (220) are symmetrically arranged on both sides of the opening and closing joint (200) with respect to the axis of the opening and closing joint (200); The control input device further includes: A first movable shaft (300) is coaxially disposed within the opening and closing joint (200) and extends through the rotary joint (100). The first movable shaft (300) is configured to be linked with the first opening and closing clamp (210) and the second opening and closing clamp (220) to move axially relative to the opening and closing joint (200) under the opening and closing drive of the first opening and closing clamp (210) and the second opening and closing clamp (220). The angle detection sensor (110) detects the movement of the first movable shaft (300) to obtain the opening and closing angle of the first opening and closing clamp (210) and the second opening and closing clamp (220). An opening and closing reset member (400) cooperates with the first movable shaft (300). The opening and closing reset member (400) is configured to provide a second reset force to the first movable shaft (300) so that the first movable shaft (300) applies the second reset force to the first opening and closing clamp (210) and the second opening and closing clamp (220).

10. The control input device according to claim 9, wherein, The opening and closing joint (200) includes: The first link (230) has a first part hinged to the first opening and closing clamp (210) at a first hinge point (2301), and a second part hinged to the first movable shaft (300). The second link (240) has its third part hinged to the second opening and closing clamp (220) at the third hinge point (241), and its fourth part hinged to the first movable shaft (300). The first hinge point (2301) and the third hinge point (241) are axially symmetrical with respect to the axis of the first movable shaft (300).

11. The control input device according to claim 9, wherein, The opening and closing reset member (400) includes an elastic member that engages with the first movable shaft (300) along the axial direction of the first movable shaft (300) to provide a second reset force to the first movable shaft (300) when the first movable shaft (300) moves axially relative to the opening and closing joint (200).

12. The control input device according to claim 1, wherein the rotary joint (100) is further provided with an in-situ detection sensor (131) and an electrical connector (132), the electrical connector (132) being electrically connected to the in-situ detection sensor (131); The control input device further includes a first movable shaft (300), which is movably connected to the rotary joint (100). The first movable shaft (300) is electrically connected to the first movable shaft (300) which passes through the electrical connector (132). The electrical connector (132) provides mutually balanced forces to the first movable shaft (300) on both sides of the axis of the first movable shaft (300) to maintain the electrical connection between the first movable shaft (300) and the electrical connector (132). The opening and closing joint (200) is insulatedly connected to the rotating joint (100) and configured to rotate as a whole under the drive of the rotating joint (100), and the opening and closing joint (200) is electrically connected to the first movable shaft (300).

13. The control input device according to claim 12, wherein, The electrical connector (132) includes: The first spring (1321) abuts against the peripheral wall of one side of the first movable shaft (300) along the axis of the first movable shaft (300); The second spring (1322) abuts against the peripheral wall on the other side of the first movable shaft (300) along the axis of the first movable shaft (300). The second spring (1322) and the first spring (1321) are symmetrical with respect to the axis of the first movable shaft (300) so that the first spring (1321) and the second spring (1322) provide mutually balanced forces on the first movable shaft (300).

14. The control input device according to claim 13, wherein, The first spring piece (1321) has a first arc-shaped segment (1321a), which is held against one side of the peripheral wall of the first movable shaft (300); The second spring (1322) has a second arc-shaped segment, which is held on the other side of the peripheral wall of the first movable shaft (300). The second arc-shaped segment is symmetrically arranged with the first arc-shaped segment (1321a). The first spring (1321) and the second spring (1322) are integrally formed parts.

15. The control input device according to claim 14, wherein, The first spring piece (1321) has a first open section (1321b), which is connected to the first arc-shaped section (1321a); The second spring piece (1322) has a second opening segment (1322b), which is connected to the second arc-shaped segment; An opening (1323) is formed between the first opening segment (1321b) and the second opening segment (1322b). The distance between the ends of the first arc-shaped segment (1321a) and the second arc-shaped segment is less than the diameter of the first movable shaft (200). The opening (1323) is constricted in the direction of the first movable shaft (300) radially toward the first movable shaft (300).

16. The control input device according to claim 9, wherein the opening / closing joint (200) further comprises: A transmission opening and closing seat (360) is rotatably connected to the rotary joint (100); one end of the first movable shaft (300) facing away from the rotary joint (100) passes through the transmission opening and closing seat (360); The first opening and closing clamp (210) has a first end, which is hinged to the transmission opening and closing seat (360), and the first end has a first gear (312); the second opening and closing clamp (320) has a second end, which is hinged to the transmission opening and closing seat (360), and the second end has a second gear (322). The first gear (312) meshes with the second gear (322), and the first opening and closing clamp (210) and the second opening and closing clamp (320) synchronously drive the first movable shaft (300) to move axially, so that the driving force provided by the first opening and closing clamp (210) and the second opening and closing clamp (320) to the first movable shaft (300) cancels each other out in the radial component of the first movable shaft (300).

17. The control input device according to claim 16, further comprising: An insulating connector (4001) is connected to the transmission opening and closing seat (360), and the insulating connector (4001) is connected to the rotating shaft provided on the rotating joint (100) so that the opening and closing joint (200) is rotatably and insulatedly connected to the rotating joint (100).

18. The control input device according to claim 9, wherein the rotary joint (100) is provided with a drive member (115), the opening and closing joint (200) is rotatably connected to the rotary joint (100) along the axial direction, the opening and closing joint (200) has a rotating opening and closing seat (280), along the axis of the rotating opening and closing seat (280), the first opening and closing clamp (210) is located on one side of the rotating opening and closing seat (280), and the second opening and closing clamp (220) is symmetrically arranged on the other side of the rotating opening and closing seat (280) with respect to the axis of the rotating opening and closing seat (280) and the first opening and closing clamp (210); in, The drive member (115) is connected to the rotating opening and closing seat (280) to drive the opening and closing joint (200) to rotate as a whole relative to the rotating joint (100).

19. The control input device according to claim 18, wherein, The rotary joint (100) is provided with a first transmission gear (120a), which is connected to the rotary opening and closing seat (280) and is coaxial with the opening and closing joint (200); the first transmission gear (120a) is configured to drive the rotary opening and closing seat (280) to rotate. The first transmission gear (120a) is provided with one of a rotation detection sensor (135) and a sensing element (1320), and the rotary joint (100) is provided with the other of the rotation detection sensor (135) and the sensing element (1320); The rotation detection sensor (135) is configured to cooperate with the sensing element (1320) to determine the rotation angle of the opening joint (200) relative to the rotating joint (100).

20. A doctor's console, comprising: The control input device (10) according to any one of claims 1-19; A support member is connected to the rotary joint (100) of the control input device (10), and the support member is configured to be grounded.

21. A surgical robot, comprising: The doctor's console as described in claim 20; The slave arm is configured to connect to an end-effector, which manipulates the end-effector according to control signals from the doctor's console.

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