Master manipulator control device and surgical robot comprising same

Abstract

Embodiments of the present application relate to the technical field of medical robots. Specifically, provided are a master manipulator control device and a surgical robot comprising same. The master manipulator control device comprises: a base body; a driving part comprising a first driving assembly and a second driving assembly; a transmission part comprising a first transmission mechanism and a second transmission mechanism; and an operating part comprising a first movable portion and a second movable portion, wherein the first movable portion is connected to the first driving assembly by means of the first transmission mechanism, the second movable portion is connected to the second driving assembly by means of the second transmission mechanism, and the first driving assembly and the second driving assembly are arranged on the base body in a separated manner. With such a configuration, the integration level of devices can be improved, thereby achieving the miniaturization of devices.

Description

Master hand control device and surgical robot containing it Cross-referencing related documents

[0001] This application claims priority to Chinese patent application CN202411219180.2, filed on August 30, 2024, entitled “Master Hand Control Device and Surgical Robot Including the Same”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of medical robot technology, specifically providing a master hand control device and a surgical robot including the same. Background Technology

[0003] Surgical robots primarily utilize minimally invasive methods to perform relatively complex surgeries such as those in urology, thoracic surgery, and gynecology. A surgical robot comprises a master control unit, instrument terminals, and an imaging system (typically including an endoscope). The master control unit is usually located at the surgeon's console outside the sterile area of ​​the operating room. The surgeon's console uses visual data (including video and images) relevant to the current surgery provided by the imaging system to perform surgical procedures via the master control unit. The instrument terminals are located at the bedside (directly acting on the patient's body parts) and are primarily used to directly apply actions to the patient corresponding to the surgeon's surgical maneuvers. The imaging system provides visual data relevant to the current surgery to both the surgeon at the console and the bedside assistant. Based on this, the procedure and principle of the surgery are roughly as follows: The surgeon, at the main control console, issues surgical actions, including wrist rotation and finger pressing, through the operating terminal of the main hand control device, based on the visual data related to the current surgery transmitted by the imaging system. The control system synchronously and accurately "translates" the surgical actions issued by the surgeon into the execution actions of the instruments and directly applies them to the patient, thereby performing surgical operations such as cutting and suturing on the patient's body parts. The imaging system is mainly used to provide relevant visual data for the surgeon and assistant surgeons, so that the surgeon can accurately perform the corresponding surgical actions for the current patient and assist the surgeon in adjusting the current instruments.

[0004] As can be seen, in surgeries performed using surgical robots, there is a certain spatial distance between the surgeon and the patient. Therefore, a precise "translation" level is required between the surgeon's actions and the actions executed by the instruments to ensure the reliability of the surgery. To ensure the reliability of the surgical robot, multiple transmission mechanisms are typically set up for all operation-related movements, such as movement and rotation.

[0005] Furthermore, to ensure the reliability of the transmission mechanism, necessary positional relationships such as concentricity and spatial perpendicularity between different components are required. Additionally, to guarantee the operational reliability of the related power transmission mechanism, additional mechanisms such as guides and limiters are needed to ensure smooth operation. Due to limitations imposed by the required positional relationships between components and the functional integrity of the mechanisms, the spatial layout of different components / mechanisms / assemblies in the master control device may be constrained, resulting in a larger device size and / or unavoidable connections between components. Consequently, current surgical robots may generally suffer from issues such as insufficient integration, manifesting as a less compact structure, larger size, and higher weight. Therefore, there is still room for improvement in achieving miniaturization of surgical robots. Summary of the Invention

[0006] This application aims to solve at least part of the above-mentioned technical problems and / or at least part of the above-mentioned technical problems. Specifically, it addresses the technical problem of how to achieve miniaturization of surgical robots while ensuring their reliability.

[0007] In view of this, in a first aspect, this application provides a master hand control device, the device comprising: a base; a drive unit including a first drive assembly and a second drive assembly; a transmission unit including a first transmission mechanism and a second transmission mechanism; and an operation unit including a first movable part and a second movable part; wherein the first movable part is connected to the first drive assembly via the first transmission mechanism, and the second movable part is connected to the second drive assembly via the second transmission mechanism; wherein the first drive assembly and the second drive assembly are disposed on the base in a manner separate from each other.

[0008] This configuration allows for increased device integration, thereby achieving miniaturization. Specifically, by separating the first and second drive components, spatial arrangement becomes more flexible. Furthermore, adjusting their relative positions enables a more compact device, further miniaturization. The first / second drive components can include, but are not limited to, components containing a motor, components containing a rotating module, or any type of component capable of power transmission. Correspondingly, the drive unit can be a motor unit, a rotating module containing a rotating module, or any type of unit capable of power transmission. For example, the first / second drive component includes a motor, a reducer, and a motor mount.

[0009] Furthermore, since the first drive component and the second drive component are not directly connected to each other, interference during transmission caused by their connection is avoided, thus preventing any impact on the transmission accuracy of the device. Also, when operations such as adjusting the transmission accuracy or repairing / replacing components are required on the first drive component and / or the second drive component, operations on one will not affect the transmission accuracy of the other. Moreover, since the master hand control device comprises two components, and the first and second drive components are not directly connected to each other, no structural adjustments corresponding to the connection relationship are needed for the left and right hand master hand control devices, thus improving the device's versatility to a certain extent.

[0010] It is understood that those skilled in the art can determine the structural form of the substrate and the number of its components according to actual needs, such as including one component or being composed of multiple components.

[0011] It is understood that those skilled in the art can determine the structural form of the first / second movable part, the relative position / connection relationship between them, etc., according to actual needs. For example, the two can be set in a way that is related to each other or relatively independent, and the first / second movable part can generate rotation and / or linear motion.

[0012] It is understood that those skilled in the art can determine the structural form, transmission method, and connection relationship between the first and second transmission mechanisms and their corresponding moving parts / drive components according to actual needs. For example, taking a gear pair as an example, those skilled in the art can select the form of the gear pair, the number of gear transmission stages, etc., according to actual needs.

[0013] In one possible implementation of the aforementioned master control device, the base includes a mounting portion arranged generally vertically, the mounting portion including a first mounting portion and a second mounting portion arranged along its width direction, the first drive component being disposed in the first mounting portion, and the second drive component being disposed in the second mounting portion.

[0014] With this configuration, it is possible to achieve a smaller size of the device along the thickness direction of the substrate (the direction in which the mounting portion is close to the first / second drive assembly), thereby realizing the miniaturization of the device.

[0015] Based on this, while ensuring reliability, it is expected that by adjusting the selection of components in the first / second drive assembly, the device can be miniaturized in other dimensions such as height.

[0016] Adjustments in the selection process can also achieve a degree of weight reduction in the device. For example, to further achieve weight reduction, the materials used in the base and other structural components can be adjusted.

[0017] In one possible implementation of the aforementioned master control device, the dimensions of the first mounting portion and the second mounting portion along the width direction of the mounting portion are approximately symmetrical; and / or at least a portion of the first drive assembly and the second drive assembly have projections on the first mounting portion and the second mounting portion that are approximately symmetrical along the width direction of the mounting portion; and / or at least a portion of the first drive assembly and the second drive assembly have a gap in the width direction of the mounting portion.

[0018] This configuration provides a possible relative positional relationship between the first drive component and the second drive component.

[0019] It should be noted that, for the case where "the dimensions of the first mounting portion and the second mounting portion are approximately symmetrical along the width direction of the mounting portion," the first drive assembly and the second drive assembly can be positioned at any location on the first mounting portion and the second mounting portion. For example, if positioned approximately in the middle (e.g., the axis of the motor is approximately located in the middle of the mounting portion), the positions of the first drive assembly and the second drive assembly are approximately symmetrical along the middle of the mounting portion. With appropriate offset between the first drive assembly and the second drive assembly, their relative positions will also be adjusted.

[0020] It should be noted that, for the statement "the projections of at least a portion of the first drive assembly and the second drive assembly onto the first mounting portion and the second mounting portion are approximately symmetrical in the width direction of the mounting portion," the dimension can be understood as the overall structural outline dimension along the width direction, the radial dimension of the columnar portion, or the outline dimension along the width direction of the relatively important portion of the first / second drive assembly. For example, if the two motors in the first / second drive assembly are selected or have approximately the same radial dimensions, the projections of the first drive assembly and the second drive assembly onto the first mounting portion and the second mounting portion along the width direction of the mounting portion can be understood as the diameters of the two motors.

[0021] It is understood that those skilled in the art can determine the size of the gap between the first / second drive components in the width direction of the mounting portion according to actual needs. Furthermore, when viewed along the height direction, the gaps corresponding to different heights can be the same or different. For example, there may be large gaps in some locations, small gaps in others, and the first / second drive components may have overlapping portions (negative gaps) in some locations.

[0022] In one possible implementation of the aforementioned master control device, the power input side and power output side of the first transmission mechanism and / or the second transmission mechanism have a preset distance along the width direction of the mounting portion.

[0023] This configuration allows for the separate arrangement of the first and second drive components by staggering the power input and output sides along the width of the mounting portion. The preset distance can be determined according to actual needs and adjusted if necessary.

[0024] It is understandable that the first / second transmission mechanism may include a single transmission pair or a combination of multiple transmission pairs. Taking the first transmission mechanism as an example, if the first transmission mechanism includes two transmission pairs, and the first transmission pair is a spur gear pair or a belt drive pair, then a certain distance can be expected to be created between the power output position and the power input position of the first transmission pair in the width direction of the mounting part. Based on this, the power can be reliably transmitted to the first drive component by setting a second transmission pair, such as a bevel gear pair.

[0025] In one possible implementation of the aforementioned master control device, the first transmission mechanism and / or the second transmission mechanism include a first transmission structure and a second transmission structure that are connected by transmission, wherein the transmission docking position of the first transmission structure and the second transmission structure is adjustable.

[0026] With this configuration, the positions of the first / second drive components corresponding to the first / second transmission mechanism can be arranged more flexibly by adjusting the transmission docking position. In this way, combined with the aforementioned separate arrangement, the device is expected to be more compact.

[0027] It should be noted that the transmission docking position here should be understood as the position where the first transmission structure and the second transmission structure can reliably transmit force / torque. For example, assuming that for a gear pair, the transmission docking position is the meshing position between a pair of gears.

[0028] It should be noted that the "and" in the phrase "the first transmission mechanism and / or the second transmission mechanism includes a first transmission structure and a second transmission structure with a transmission connection, wherein the transmission docking position of the first transmission structure and the second transmission structure is adjustable" should be understood as: allowing adjustment of the transmission docking position of the first transmission structure and the second transmission structure of the first transmission mechanism, and allowing adjustment of the position of the first transmission structure and the second transmission structure of the second transmission mechanism. In this way, the cooperation between the two adjustments can make the installation of the transmission part more compatible with the miniaturization requirements of the device.

[0029] In one possible implementation of the aforementioned master control device, the first transmission mechanism includes a hypoid gear pair.

[0030] With this configuration, since the two gears in the quasi-hyperboloid gear pair do not need to meet the condition that their axis centers must be aligned in the same position along the width direction of the mounting portion (as in a bevel gear pair, where the driven gear's axis is perpendicular to and intersects the driving gear's axis), they can be eccentrically arranged along the width direction of the mounting portion according to actual needs. For example, the second gear (small gear) connected to the first drive assembly can be offset from the first gear (large gear) by a certain distance along the width direction of the mounting portion; the large gear is typically located approximately in the middle of the mounting portion. In this way, the selection of the transmission pair can support the compactness objective desired by this application while ensuring transmission reliability.

[0031] In one possible implementation of the aforementioned master control device, the first drive component and / or the second drive component are disposed in the mounting portion in an adjustable manner.

[0032] With this configuration, the transmission accuracy of the first / second transmission mechanism can be ensured by adjusting the first / second drive components.

[0033] It is understood that those skilled in the art can determine the adjustable dimensions of the first / second driving components and the structure for achieving the adjustment of the corresponding dimensions based on the actual situation.

[0034] In one possible implementation of the aforementioned master control device, the first drive component is disposed on the mounting portion in a manner that is adjustable along the height of the mounting portion; and / or the second drive component is disposed on the mounting portion in a manner that is adjustable along the width of the mounting portion.

[0035] This configuration allows for adjustment of the first / second drive components relative to the substrate. For example, adjustments in the corresponding dimensions can be achieved through the engagement of slotted holes and screws.

[0036] In one possible implementation of the aforementioned master control device, the quasi-hyperboloid gear pair includes a first gear connected to the first movable portion and a second gear connected to the first drive assembly, wherein the first gear is disposed on the mounting portion in a manner adjustable along its axial direction.

[0037] This configuration ensures the meshing accuracy of the hypoid gear pair.

[0038] In one possible implementation of the aforementioned master control device, the second transmission mechanism includes a rack assembly and a gear, the rack assembly including a rack capable of meshing with the gear; and / or the operating part includes an operating end, the operating end being connected to the first movable part and the second movable part respectively, so that: when an external force is applied to the operating end, the first movable part can thus generate rotational motion and / or the second movable part can generate linear motion.

[0039] This configuration provides a possible structural form for the second transmission mechanism and the operating unit.

[0040] In one possible implementation of the aforementioned master control device, the rack assembly includes a rack assembly base, the rack is disposed on the rack assembly base, and the rack assembly base is connected to the second movable part.

[0041] This configuration provides a possible structural form for the rack assembly. For example, the rack assembly base can be roughly cylindrical, and it can be rotatably connected to the second movable part by means of bearings installed within the cylindrical structure. In this way, both can rotate freely, and the movement of the second movable part along the rack direction is transmitted to the second drive assembly only through a gear and rack mechanism.

[0042] In one possible implementation of the aforementioned master control device, the second drive assembly is provided with a second guide structure, and the rack assembly base is provided with a first guide structure that can be slidably connected to the second guide structure.

[0043] With this configuration, the transmission reliability of the second transmission mechanism can be guaranteed by setting the first / second guide structure.

[0044] In one possible implementation of the aforementioned master control device, the first guide structure is a linear guide rail, a guide groove, or an optical axis; and / or the first guide structure is disposed on the rack assembly base via a first connecting structure; and / or the second guide structure is disposed on the second drive assembly via a second connecting structure.

[0045] This configuration provides possible structural forms of the first guide structure and possible ways in which the first / second guide structure is disposed on the rack assembly base / second drive assembly.

[0046] Regarding the structural form of the first guide structure, taking the guide rail as an example, the second guide structure can be a slider, a strip-shaped guide block, or a guide groove. Compared with the guide wheel, the gap between the guide rail and the second guide structure can be smaller while ensuring the reliability of the guide. Therefore, the movement caused by the gap can be avoided, thereby ensuring the reliability of the transmission.

[0047] Regarding the arrangement of the first / second guide structure within the rack assembly base / second drive assembly, those skilled in the art can obviously determine the structural form of the first / second connection structure, the number of its components, its location within the rack assembly base / second drive assembly, and the specific connection method, etc., based on actual needs. For example, the first / second connection structure can be a connecting block, a connecting bracket, a connecting seat, etc.

[0048] In one possible implementation of the aforementioned master control device, the second connection structure includes a horizontal portion and a vertical portion that generally form an L-shape, the horizontal portion being disposed on the second drive assembly, and the second guide structure being disposed on the vertical portion.

[0049] In one possible implementation of the aforementioned master control device, the second drive assembly includes a drive assembly mounting base, on which a guide structure mounting portion is provided or extends, and the lateral portion is provided on the guide structure mounting portion.

[0050] This configuration provides a possible structural form for the guide structure and the second drive component.

[0051] In a second aspect, this application provides a surgical robot that includes the master hand control device described in any of the preceding claims.

[0052] It is understood that the surgical robot possesses all the technical effects of the master hand control device described in any of the foregoing items, and will not be elaborated upon here.

[0053] As can be seen, in the preferred embodiment of this application, by arranging the first drive component and the second drive component side-by-side approximately along the width direction on the base in a separate manner, the layout of the main control device is made more compact, such as by symmetrically arranging them approximately along the width direction. Furthermore, while ensuring reliable functionality, the volume of the first / second drive components themselves can be reduced by adjusting their selection, thus further miniaturization is achieved while maintaining a compact layout. Based on this, while ensuring the reliability of the device, further weight reduction can be achieved by adjusting the materials of components such as the base, the first / second drive component mounting base (e.g., motor mount), the first / second connection structure, and parts of the operating section, such as replacing them with lighter materials like aluminum, to further achieve weight reduction while adapting to the weight reduction effect resulting from miniaturization.

[0054] It should be noted that, in the preferred embodiment of this application, the reliability of the transmission is ensured by the configuration of the guide structure and the adjustable arrangement of the first / second drive components and the first gear. Furthermore, since the aforementioned first and second drive components are separately configured, the two power transmission paths related to them will not interfere with each other due to their connection. Therefore, the separate configuration of the first and second drive components not only enables the surgical robot to be further miniaturized but also better supports the effect of ensuring the transmission reliability of the surgical robot. Attached Figure Description

[0055] The preferred embodiments of this application will now be described with reference to the first / second drive components constituting the drive unit as the first / second motor components and the accompanying drawings, in which:

[0056] Figure 1 shows a schematic diagram of the assembly of a surgical robot according to an embodiment of this application. The figure shows the base, drive unit, transmission unit and operation unit in a perspective view.

[0057] Figure 2 shows a second assembly schematic diagram of a surgical robot according to an embodiment of this application. The figure mainly shows the relative positions between the first and second drive components and the positional changes of the first transmission mechanism.

[0058] Figure 3 shows an exploded schematic diagram of a surgical robot according to an embodiment of this application;

[0059] Figure 4 shows a schematic diagram of the structure of the base of a master hand control device according to an embodiment of this application;

[0060] Figure 5 shows a schematic diagram of the structure of the base of the master hand control device according to an embodiment of this application;

[0061] Figure 6 shows a schematic diagram of the assembly between the first drive component and the second transmission mechanism of a master hand control device according to an embodiment of this application;

[0062] Figure 7 shows a schematic diagram of the assembly between the first drive assembly and the second transmission mechanism of a master hand control device according to an embodiment of this application;

[0063] Figure 8 shows a schematic diagram of the assembly between the second drive assembly and the second transmission mechanism of a master hand control device according to an embodiment of this application;

[0064] Figure 9 shows a schematic diagram of the assembly between the second drive assembly and the second transmission mechanism of a master hand control device according to an embodiment of this application;

[0065] Figure 10 shows a cross-sectional schematic diagram of the operating section of a master control device according to an embodiment of this application; and

[0066] Figure 11 shows a second cross-sectional schematic diagram of the operating section of a master control device according to an embodiment of this application.

[0067] Note: Figure 2 in the above-mentioned figures is mainly to show the relative positions and corresponding connections between all components in the device. If the representation of the components is not clear enough, other figures can be used to supplement the understanding.

[0068] List of reference numerals in the attached diagram:

[0069] 100. Master control device;

[0070] 1. Matrix;

[0071] 11. Basic Section;

[0072] 12. Installation section; 121. First installation section; 122. Second installation section;

[0073] 131. First bearing pressure plate; 132. Second bearing pressure plate;

[0074] 141. First strip hole; 142. Second strip hole;

[0075] 2. Drive unit;

[0076] 21. First motor assembly (first drive assembly);

[0077] 211. First motor; 212. First motor mount;

[0078] 22. Second motor assembly (second drive assembly);

[0079] 221. Second motor; 222. Second motor mount (drive assembly mounting base);

[0080] 3. Transmission unit;

[0081] 31. First transmission mechanism;

[0082] 311. First gear (large gear); 312. Second gear (small gear);

[0083] 32. Second transmission mechanism;

[0084] 321. Gear;

[0085] 322. Rack and pinion assembly;

[0086] 3221. Rack assembly base; 3222. Rack;

[0087] 3223, Guide component; 32231, First guide structure; 32232, Second guide structure;

[0088] 3224. First connecting structure; 3225. Guide structure mounting part; 3226. Second connecting structure;

[0089] 4. Operations section;

[0090] 41. First activity section;

[0091] 411. First sliding sleeve; 412. Second sliding sleeve;

[0092] 42. Part Two;

[0093] 43. Operating terminal;

[0094] 441. First link; 442. Second link. Detailed Implementation

[0095] The preferred embodiments of this application will now be described with reference to the accompanying drawings, using a slider as an example where the operating end can be pressed by a finger. Those skilled in the art should understand that these embodiments are merely for explaining the technical principles of this application and are not intended to limit the scope of protection of this application. For example, although this embodiment uses a first / second motor assembly as an example to describe the first / second drive component constituting the drive unit, this is obviously an exemplary description. Those skilled in the art can replace the motor in the first motor assembly and / or the second motor assembly with any feasible rotating module, other components / assemblies / mechanisms that can realize the set drive transmission function, etc., according to actual needs.

[0096] It should be noted that in the description of this application, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These are used merely for ease of description and do not indicate or imply that the device or element must have a specific orientation, or be constructed and operated in a specific orientation; therefore, they should not be construed as limitations on this application. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0097] Furthermore, it should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "setup," and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection, an indirect connection through an intermediate medium, or a connection within two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0098] Furthermore, to better illustrate this application, numerous specific details are provided in the following detailed embodiments. Those skilled in the art should understand that this application can be implemented even without certain specific details. In some instances, the principles of surgical robots, which are well-known to those skilled in the art, have not been described in detail in order to highlight the main points of this application.

[0099] The surgical robot mainly consists of a section located within the sterile area of ​​the operating room (instrument end and imaging system) and a surgeon's console outside the sterile area. At the surgeon's console, the surgeon can obtain visual data related to the current surgery through data transmitted from the imaging system. Based on this, the surgeon applies movement and / or rotational actions by operating the main hand control device (the surgeon's fingers pressing on the slider), thereby enabling the instrument end to act directly on the patient in a synchronized manner to complete the surgery.

[0100] Referring mainly to Figures 1 to 3 and Figure 10, in one possible embodiment, the main hand control device 100 of the surgical robot mainly includes a base 1, a drive unit 2, a transmission unit 3, and an operation unit 4. The drive unit 2 mainly includes a first motor assembly 21 as a first drive component and a second motor assembly 22 as a second drive component, with the two motor assemblies respectively disposed on the base. The transmission unit 3 mainly includes a first transmission mechanism 31 and a second transmission mechanism 32. The operation unit 4 mainly includes a first movable part 41, a second movable part 42, and an operation end 43. By applying force to the operation end with the doctor's finger, the first movable part 41 can be driven and / or the second movable part 42 can be moved. The first movable part 41 is connected to the first motor assembly 21 through the first transmission mechanism 31, thereby feeding back an amount corresponding to the rotation angle of the instrument end through the first motor assembly 21. The second movable part 42 is connected to the second motor assembly 22 through the second transmission mechanism 32, thereby feeding back an amount corresponding to the clamping angle of the instrument end through the second motor assembly 22.

[0101] Referring mainly to Figures 4 and 5, in one possible embodiment, the base 1 includes a base portion 11 and an installation portion 12 fixedly connected to or integrally formed with the base portion 11. For example, the installation portion 12 is generally a plate-like structure. If the height direction of the plate-like structure is defined as the direction extending approximately along the axis of the first / second motor assembly, then the first motor assembly 21 and the second motor assembly 22 are arranged approximately along the width direction (perpendicular to the height direction) of the plate-like structure. In this example, the installation portion 12 includes a first installation portion 121 and a second installation portion 122 that are approximately symmetrical (e.g., their widths are approximately equal) along the width direction. The first motor assembly 21 and the second motor assembly 22 are respectively disposed on the first installation portion 121 and the second installation portion 122, and a gap d1 exists between the main bodies of the first motor assembly 21 and the second motor assembly 22 along the width direction of the installation portion 12.

[0102] For example, the first motor assembly 21 and the second motor assembly 22 are both located in the lower middle part of the mounting part 12. The mounting part is provided with bearing holes. After the ball bearing is installed into the bearing holes, the first bearing pressure plate 131 is covered and the two parts are connected by fasteners such as screws. For example, the first bearing pressure plate is locked with 6 screws, so the first movable part 41 of the operating part is rotatably connected to the base 1.

[0103] Referring mainly to Figures 6 to 9, in one possible embodiment, the first motor assembly 21 includes a first motor 211 and a first motor mount 212, and the second motor assembly 22 includes a second motor 221 and a second motor mount 222 serving as a drive assembly mounting base (obviously, the structure of the second motor mount serving as a drive assembly mounting base can be flexibly adjusted according to the specific form of the second drive assembly; similarly, the structure of the first motor mount can also be adjusted according to the specific form of the first drive assembly). The first transmission mechanism 31 adopts a quasi-hyperboloid gear pair, and correspondingly, one gear in the quasi-hyperboloid gear pair is the first transmission structure, while the other gear is the second transmission structure. In this example, the first gear (large gear) 311 in the quasi-hyperboloid gear pair is the first transmission structure, and the second gear (small gear) 312, which is connected (meshing) with the large gear, is the second transmission structure (refer to Figure 1). For example, the small gear 312 is fixedly connected to the power output shaft of the first motor 211. Since the axis lines of the large gear and the small gear of the first transmission mechanism 31 do not need to be coplanar and perpendicular, the small gear can be moved out of the center of the device. That is, by appropriately offsetting the small gear along the width direction of the base 1, sufficient installation space can be left for the second motor assembly 22. Referring to Figure 2, since the first transmission mechanism 31 adopts a bevel gear pair, the small gear should be located at the center of the large gear, that is, the axis of the small gear will pass through point O on the right (the vertical line corresponding to point O will intersect perpendicularly with the central axis of the large gear). After replacing it with a quasi-hyperboloid gear pair, the large and small gears do not need to meet the condition that the axis lines must be arranged in the same position along the width direction of the mounting part. Therefore, they can be eccentrically arranged along the width direction of the mounting part according to actual needs. In this example, the axis of the small gear will pass through point O' on the left, and the axes of the large gear and the small gear have a certain distance d2 along the width direction of the mounting part. It can also be said that the small gear is offset from the large gear by a certain distance d2. At this time, the meshing position of the large gear and the small gear is P shown in Figure 1.

[0104] In this way, the first motor assembly 21 and the second motor assembly 22 can be reliably fixed to the base without the need for a connection relationship, which improves the compactness of the device and eliminates the need for additional connection structures that would otherwise be required due to the connection relationship between the first motor assembly 21 and the second motor assembly 22.

[0105] In one possible implementation, the second transmission mechanism 32 is a gear and rack mechanism. The first transmission structure of the second transmission mechanism 32 is a gear (such as a cylindrical gear in this example) or a rack. Correspondingly, the second transmission structure that is connected to the first transmission structure is a rack or a gear. The gear 321 in the gear and rack mechanism is connected to the power output shaft of the second motor 221. The rack assembly 322 is disposed on the second motor base 222, and the rack assembly is provided with a rack 3222 that can mesh with the gear 321.

[0106] In one possible implementation, the rack assembly 322 mainly includes a rack assembly base 3221 and a rack 3222 disposed on the rack assembly base 3221, with the rack assembly base rotatably connected to the second movable part 42. In this example, the rack assembly base is generally a cylindrical structure, with the rack disposed axially along the wall of the rack assembly base, and the rack assembly base and the second movable part 42 rotatably connected via bearings.

[0107] In one possible implementation, a guide assembly 3223 is provided between the rack assembly base 3221 and the second motor mount 222 to ensure the transmission reliability of the gear rack mechanism. The guide assembly 3223 may include a first guide structure 32231 and a second guide structure 32232, which are respectively disposed on the rack assembly base 3221 and the second motor mount 222 in a fixed connection or integrally formed manner. The first guide structure 32231 and the second guide structure 32232 are connected to each other in a manner that allows them to slide along the axial direction of the rack assembly base 3221.

[0108] In this example, the first guide structure 32231 is a guide groove, and the second guide structure 32232 is a guide rail. If the guide groove is roughly a square groove, the gap between the two groove walls of the guide groove and the guide rail is very small when assembled. Compared with guide structures such as guide wheels, the small gap can better prevent the rack assembly from rotating, thus better ensuring the smooth operation and transmission reliability of the gear rack mechanism.

[0109] In one possible implementation, the first guide structure 32231 is disposed on the rack assembly base 3221 via the first connecting structure 3224, and the second guide structure 32232 is disposed on the second motor base 222 via the second connecting structure 3225.

[0110] For example, a table surface is machined on the rack assembly base 3221 at the position corresponding to the first guide structure 32231, and mounting holes that can cooperate with fasteners such as screws are provided on the table surface. The first connecting structure 3224 is a connecting plate, the first guide structure 32231 is disposed on the connecting plate, and the connecting plate is fixed to the table surface by means of fasteners.

[0111] For example, the second motor base 222 is provided with or extends a guide structure mounting portion 3226, such as a plate-like structure. The second guide structure 32232 is connected to the guide structure mounting portion 3226 via a second connecting structure 3225. The guide structure mounting portion 3226 allows for a certain adjustable installation gap at the connection point between the second connecting structure 3225 and the guide mounting structure 3226 (e.g., the hole in the second connecting structure 3225 is a slotted hole), thus ensuring more flexible installation feasibility for the guide assembly 3223. If there are certain limitations on the installation position of the second motor assembly 22, a slight adjustment between the guide structure mounting portion 3226 and the second connecting structure 3225 can ensure reliable configuration of the guide assembly 3223.

[0112] For example, the second connecting structure 3225 includes a horizontal portion and a vertical portion that generally form an L-shaped structure. The horizontal portion is fixedly connected to the guide structure mounting portion 3226 by means of fasteners such as screws. The second guide structure 32232 is disposed on the vertical portion near the top by means of fasteners such as screws.

[0113] Obviously, the above-described structural forms of the first / second guide structure, the first / second connecting structure, and the guide structure mounting part are merely exemplary descriptions. Those skilled in the art can flexibly adjust them according to actual needs. For example, the first / second guide structure may include, but is not limited to, combinations of guide rails and sliders, combinations of guide rails and guide grooves, and combinations of holes and optical axes. In any case, theoretically, the first guide structure and the second guide structure are interchangeable, provided the structure allows. Furthermore, the first connecting structure may be an arc-shaped structure that directly connects to the rack assembly in a shape-fitting manner, with a platform on the arc-shaped structure that can directly connect to the first guide structure.

[0114] In one possible implementation, the first motor assembly 21 and the second motor assembly 22 are adjustablely disposed on the base 1 to ensure reliable transmission. Adapted to the transmission method of the first / second transmission mechanism (adjusting the gears to move closer to / away from the rack to ensure reliable meshing, and adjusting the meshing height of the pinion and gear), the first motor assembly 21 can be disposed on the base 1 with adjustable height (axial direction of the first motor assembly), and the second motor assembly 22 can be disposed on the base with adjustable lateral position (direction in which the gears move closer to / away from the rack).

[0115] For example, a set of first strip holes 141 extending vertically corresponding to the first motor assembly 21 are provided on the base 1, and a set of second strip holes 142 extending along the width direction of the base 1 corresponding to the second motor assembly 22 are provided on the base 1. By engaging with the first / second strip holes using fastening screws or other fittings, the first / second motor assembly can be accurately connected to the base 1. In this example, the two sets of strip holes are located approximately at the center along the axial direction of the first / second motor assembly, thus ensuring the stability of the connection.

[0116] Obviously, the combination of the slotted hole and the fastening screw and the single adjustment dimension it achieves is only an exemplary description. Those skilled in the art can flexibly adjust it according to actual needs, such as configuring adjustment structures corresponding to both horizontal and vertical adjustments for the first / second motor assemblies.

[0117] In accordance with the meshing properties of the quasi-hyperboloid gear pair, in addition to the adjustable meshing height of the pinion achieved by the aforementioned set of first strip holes 141, the large gear is also positioned in the first movable part 41 in a manner that allows for axial adjustment. If the first movable part 41 is inserted into the bearing hole of the base 1 and a bearing pressure plate (such as a second bearing pressure plate 132) is also placed on the other side, and if the second bearing pressure plate 132 is connected to the end face of the first movable part 41 by fasteners such as screws, the large gear is installed to the first movable part 41 and the second bearing pressure plate 132 by a set of adjusting screws or other adjusting fastening structures.

[0118] For example, the second bearing plate 132 is pressed to the first movable part by a set of screws. The large gear is axially adjustable in position on the first movable part 41 and the second bearing plate 132 by screws. After changing the meshing height between the large gear and the small gear, the large gear is then fixed and locked to the first movable part 41 and the second bearing plate 132 by screws. Obviously, the above structure is only one specific implementation of the large gear to achieve its connection and have the property of axial position adjustment. Those skilled in the art can adjust it according to actual needs, such as omitting some screws, so that it still has the functions of adjustment and fixation. In addition, the screws can be replaced by other fasteners with equivalent functions, and the number and specifications of the fasteners can also be flexibly adjusted according to actual needs.

[0119] Referring mainly to Figures 10 and 11, in this example, the first movable part 41 of the operating part 4 is generally a cylindrical part, and the second movable part 42 is generally a rod-shaped part (such as a push rod) disposed inside the cylindrical part. The first sliding sleeve 411 and the second sliding sleeve 412 are respectively disposed on the inner side of the end away from / near the rack assembly inside the cylindrical part. The push rod is disposed on the first sliding sleeve and the second sliding sleeve in a manner that allows it to slide freely.

[0120] For example, the first sliding sleeve 411 is a positioning sliding sleeve, and the second sliding sleeve 412 is a graphite copper sleeve. The positioning sliding sleeve and the graphite copper sleeve are installed as follows: First, the positioning sliding sleeve is inserted into the tail of the cylindrical part and fixed to the tail of the cylindrical part using fasteners such as screws, for example, by screw locking. Next, the graphite copper sleeve is inserted into the front end of the cylindrical part, and then the push rod is inserted from the front end and passes through the graphite copper sleeve and the positioning sliding sleeve in sequence.

[0121] Obviously, the structure, number, location and installation method of the sliding sleeves are all exemplary descriptions. Those skilled in the art can adjust them according to actual needs, such as adding a sliding sleeve between the first and second sliding sleeves, setting only one long sliding sleeve, or setting the sliding sleeve to the cylindrical part by welding, etc.

[0122] In one possible implementation, the operating end 43 includes a slider that allows the doctor to press and a handle (not shown) that allows the doctor to grip. The handle is drivenly connected to a first movable part 41, and the slider is drivenly connected to a second movable part 42 via a first link 441 (sliding rod) and a second link 442 (support rod), so that rotation of the first movable part 41 and sliding of the second movable part 42 can be achieved by applying force to the operating end 43. One end of the first link 441 is rotatably connected to the first movable part 41, and the slider is positioned near the other end. An open area is provided on the wall of the first movable part 41, and one end of the second link 442 is rotatably connected to the side of the first link 441 away from the slider, with the second end of the second link 442 connected to the wall of the push rod at a position corresponding to the open area. Exemplarily, the second link support rod is inserted into the push rod, and the support rod, sliding rod, and first movable part 41 are riveted together, thereby achieving a pivotal connection between the three components. The slider is locked to the sliding rod by means of fasteners such as screws.

[0123] Obviously, the structural form and operation connection method of each component in the operating part are all exemplary descriptions. Under the premise that the operation connection can be realized, those skilled in the art can flexibly adjust the structural form and connection method of the relevant components according to the actual situation. For example, the operating end 43 also includes a ring-shaped structure that is compatible with the doctor's fingers.

[0124] It should be noted that the operation connection mentioned here should be understood as follows: the force / torque applied at the operation end (power input end) can cause the first / second moving part (power output end) to produce the expected movement that is adapted to the force / torque. Therefore, the first / second moving part will exhibit an operation that is adapted to the output action of the operation end.

[0125] As can be seen, in the preferred embodiment of this application, by separately mounting the two motor assemblies on the base, the compactness of the device is improved, and miniaturization is achieved to a certain extent. Furthermore, since there is no direct connection between the two, the phenomenon of transmission accuracy being affected by connection is effectively avoided. Based on this, further miniaturization of the device is expected to be achieved by adjusting the selection of motors, reducers, etc., in the first / second motor assemblies. In addition, along with the weight reduction corresponding to miniaturization, the effect of weight reduction can be made more obvious by adjusting the materials selected for related structures. The transmission reliability of the gear and rack mechanism is ensured by configuring a guide assembly for the second transmission mechanism. The transmission accuracy of the device can be guaranteed by adjusting the mounting / assembly position of the large gear in the first / second motor assemblies and the first transmission mechanism.

[0126] The technical solutions of this application have been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of this application is obviously not limited to these specific embodiments. Without departing from the principles of this application, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the scope of protection of this application.

Claims

1. A master hand control device, characterized in that, The master control device includes: Matrix; The drive unit includes a first drive component and a second drive component; The transmission unit includes a first transmission mechanism and a second transmission mechanism; and The operating unit includes a first movable part and a second movable part; The first movable part is connected to the first drive assembly via the first transmission mechanism, and the second movable part is connected to the second drive assembly via the second transmission mechanism. The first driving component and the second driving component are disposed on the substrate separately from each other.

2. The master hand control device according to claim 1, characterized in that, The substrate includes a vertically arranged mounting portion, which further includes a first mounting portion and a second mounting portion arranged along its width direction. The first driver component is disposed in the first mounting portion, and the second driver component is disposed in the second mounting portion.

3. The master hand control device according to claim 2, characterized in that, The dimensions of the first mounting portion and the second mounting portion along the width direction of the mounting portion are approximately symmetrical; and / or At least a portion of the first drive component and the second drive component have projections onto the first mounting portion and the second mounting portion that are substantially symmetrical along the width direction of the mounting portion; and / or At least a portion of the first drive assembly and the second drive assembly have a gap in the width direction of the mounting portion.

4. The master hand control device according to claim 2 or 3, characterized in that, The power input side and power output side of the first transmission mechanism and / or the second transmission mechanism have a preset distance along the width direction of the mounting portion.

5. The master hand control device according to claim 4, characterized in that, The first transmission mechanism and / or the second transmission mechanism include a first transmission structure and a second transmission structure that are connected by transmission. The transmission docking position of the first transmission structure and the second transmission structure is adjustable.

6. The master hand control device according to claim 5, characterized in that, The first transmission mechanism includes a hypoid gear pair.

7. The master hand control device according to claim 2, characterized in that, The first drive component and / or the second drive component are disposed in the mounting portion in an adjustable manner.

8. The master hand control device according to claim 7, characterized in that, The first drive component is disposed on the mounting portion in a height adjustable manner along the mounting portion; and / or The second drive component is disposed on the mounting portion in a manner that adjusts along the width of the mounting portion.

9. The master hand control device according to claim 6, characterized in that, The quasi-hyperboloid gear pair includes a first gear connected to the first movable part and a second gear connected to the first drive assembly. The first gear is disposed in the mounting portion in a manner that is adjustable along its axial direction.

10. The master hand control device according to claim 1, characterized in that, The second transmission mechanism includes a rack assembly and a gear, the rack assembly including a rack capable of meshing with the gear; and / or The operating part includes an operating end, which is connected to the first movable part and the second movable part respectively, so that: when an external force is applied to the operating end, the first movable part can generate a rotational motion and / or the second movable part can generate a linear motion.

11. The master hand control device according to claim 10, characterized in that, The rack assembly includes a rack assembly base, the rack is disposed on the rack assembly base, and the rack assembly base is connected to the second movable part.

12. The master hand control device according to claim 11, characterized in that, The second drive assembly is provided with a second guide structure, and the rack assembly base is provided with a first guide structure that can be slidably connected with the second guide structure.

13. The master hand control device according to claim 12, characterized in that, The first guiding structure is a linear guide rail, a guide groove, or an optical axis; and / or The first guide structure is disposed on the rack assembly base via the first connecting structure; and / or The second guide structure is disposed on the second drive component via a second connection structure.

14. The master hand control device according to claim 13, characterized in that, The second connection structure includes a horizontal portion and a vertical portion that generally form an L-shape. The horizontal portion is disposed on the second drive assembly, and the second guide structure is disposed on the vertical portion.

15. The master hand control device according to claim 14, characterized in that, The second drive component includes a drive component mounting base, on which a guide structure mounting portion is provided or extends, and the lateral portion is provided on the guide structure mounting portion.

16. A surgical robot, characterized in that, The surgical robot includes the master hand control device according to any one of claims 1 to 15.

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