CN110772325A - Handle and main operating platform - Google Patents

Abstract

A handle and a main operating board are provided, wherein the handle comprises a shell, a positioning sensor arranged in the shell to sense the posture and the position of the handle, and an adjusting structure used for rotating the positioning sensor. According to the handle, the adjusting structure is arranged on the shell, an operator can rotate the positioning sensor through the adjusting structure, so that the aim that the operator can rotate the positioning sensor under the condition that the operator does not need to rotate the wrist is fulfilled, and the problem that the handle cannot control a surgical operation instrument to rotate in a large angle due to limited rotation amplitude of the wrist is solved.

Description

Handle and main operating platform

Technical Field

The invention relates to the field of machinery, in particular to a handle and a main operating platform applying the same.

Background

In robotic surgical systems, surgeons typically use master manipulators to control the motion of the surgical instruments to complete the procedure; a surgeon holds the main tool handle by using the palm of the surgeon, the sensor on the main tool handle controls the opening and closing of the clamp or the scissors of the surgical operation instrument by sensing the motion postures of the index finger and the thumb, and controls the operation instrument to make corresponding actions by positioning and sensing the motion posture of the wrist, so that the aim that the operator can control the operation instrument to move to complete the operation by controlling the handle by hands is fulfilled; however, in practical operation, it is found that in some cases, the surgical operation instrument needs to be rotated by a relatively large rotation angle to perform the operation, however, the rotation range of the wrist of the operator is limited, and the requirement of rotating the surgical operation instrument by a large angle cannot be met, which brings many troubles to the operation and affects the efficiency of the surgical operation.

Disclosure of Invention

Accordingly, there is a need for a handle and a main console that can assist a wrist in rotating a stationary sensor.

A handle comprises a shell, a positioning sensor arranged on the shell, and an adjusting structure connected with the positioning sensor,

the positioning sensor is used for acquiring the posture and the position of the handle, and the adjusting structure is used for rotating the positioning sensor.

A main console, comprising:

the positioning system is used for acquiring the operation position and posture information of an operator;

the positioning system includes:

the above-mentioned handle;

the matching positioning device is used for matching and positioning with the positioning sensor in the handle;

and the controller is used for controlling the slave operation equipment to perform corresponding operation according to the information.

According to the handle, the adjusting structure is arranged on the shell, an operator can rotate the positioning sensor through the adjusting structure, so that the purpose that the operator can rotate the positioning sensor under the condition that the wrist does not need to be rotated is achieved, and the problem that the handle cannot control a surgical operation instrument to rotate by a large angle to perform surgery due to the fact that the rotation amplitude of the wrist is limited is solved.

Drawings

FIG. 1 is a schematic structural diagram of a surgical robot according to an embodiment of the present invention;

FIG. 2 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 3 is a partial schematic view of an embodiment of a slave operation device of the present invention;

FIG. 4 is a schematic structural view of an embodiment of the handle of the present invention;

FIG. 5 is a schematic structural view of an embodiment of the handle of the present invention;

FIG. 6 is a schematic structural view of an embodiment of the handle of the present invention;

FIG. 7 is a schematic structural view of an embodiment of a handle adjustment structure of the present invention;

FIG. 8 is a schematic structural view of an embodiment of a handle adjustment structure of the present invention;

FIG. 9 is an enlarged partial view of the handle of FIG. 4 at position C;

FIG. 10 is a schematic structural view of an embodiment of the handle of the present invention.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only and do not represent the only embodiments. As used herein, the terms "distal" and "proximal" are used as terms of orientation that are conventional in the art of interventional medical devices, wherein "distal" refers to the end of the device that is distal from the operator during a procedure, and "proximal" refers to the end of the device that is proximal to the operator during a procedure.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 3, the surgical robot includes a master operation table 1 and a slave operation device 2. The master console 1 is configured to transmit a control command to the slave console 2 according to an operation by an operator to control the slave console 2, and is configured to display an image captured by the slave. The slave operation device 2 is used for responding to the control command sent by the master operation table 1 and performing corresponding operation, and the slave operation device 2 is also used for acquiring the images in the body.

The main operating platform 1 is provided with a positioning system and a controller, the positioning system is used for acquiring operation positions and posture information of an operator, the positioning system comprises a handle 10 and a matching positioning device, a positioning sensor is arranged in the handle 10, the matching positioning device is used for matching the handle 10 to perform positioning, and the controller controls the slave operating equipment 2 to perform corresponding operation according to the information acquired by the positioning system.

In one embodiment, the positioning system is a magnetic navigation positioning system, the positioning sensor of the handle 10 is a magnetic navigation sensor, and the cooperating positioning device is a magnetic field generating device. An operator holds the handle 10 to operate in a magnetic field area generated by the magnetic field generating device, and the positioning sensor is used for detecting the change of the magnetic field and further acquiring the posture and the position of the handle 10. In other embodiments, the positioning sensor may also be a gyroscope sensor, and the cooperative positioning device may also be an optical positioning device, such as an infrared positioning device.

The slave operation device 2 includes a robot arm 21, a power mechanism 22 provided on the robot arm 21, an operation arm 23 provided on the power mechanism 22, and a sleeve 24 fitted over the operation arm 23. The robot arm 21 is used to adjust the position of the operation arm 23; the power structure 22 is used for driving the operating arm 23 to perform corresponding operations; the manipulator arm 23 is used to extend into the body and perform surgical procedures, and/or acquire in vivo images, with its distally located surgical instrument 231. The handle 10 is used to control the position and posture of the slave operation device 2, and thereby adjust the position and posture of the surgical instrument 231 so as to be in accordance with the movement of the handle 10.

As shown in fig. 2 and 3, the operation arm 23 is disposed through the casing 24, and the surgical instrument 231 extends out of the casing 24 and is driven by the power structure 22 to perform an operation. In fig. 2, the region of the operating arm 23 located within the sleeve 24 is a rigid region; in fig. 3, the region of the operating arm 23 located within the sleeve 24 is a flexible region, and the sleeve 24 bends with the flexible region. In other embodiments, the sleeve 24 may be omitted, in which case the sleeve 24 is not required.

In one embodiment, a plurality of operation arms 23 are disposed on the same power structure 22, and distal ends of the plurality of operation arms 23 extend into the body through an incision on the body, so that the surgical instrument 231 thereof is moved to the vicinity of the lesion for performing the surgical operation. Specifically, the power structure 22 has a plurality of power portions, each of which is connected to a corresponding one of the operating arms 23. In other embodiments, there are multiple power structures 22, each power structure 22 is provided with one operation arm 23, and multiple operation arms 23 extend into the body from one incision, and at this time, multiple power structures 22 may be disposed on one mechanical arm 21, or on multiple mechanical arms 21. It should be noted that a plurality of operating arms 23 may also extend into the body from a plurality of incisions, for example, two operating arms 23 extending into each incision, and for example, one operating arm 23 extending into each incision.

In one embodiment, the slave operation device 2 further includes a poking card, the poking card is used for penetrating through an incision on a human body and is fixedly arranged in an incision area, and the operation arm 23 extends into the human body through the poking card.

As shown in fig. 4 to 6, the handle 10 includes a housing 100, an operating member 200, an inductive trigger 300, and a sensor 400. The sensing trigger 300 and the sensor 400 are disposed in the casing 100, and the operating element 200 may be disposed in the casing 100, or may penetrate through the casing 100, and a portion of the operating element is disposed outside the casing 100. The sensor 400 is connected to the sensing trigger 300, and the operating member 200 drives the sensing trigger 300 to move, so that the sensor 400 can sense the force, torque, rotation angle or displacement of the sensing trigger 300. In other embodiments, the housing may be omitted.

Specifically, the operating element 200 has a hinged end 1a and a swinging end 1b, the swinging end 1b rotates around the hinged end 1a, and a gripping part 1c is arranged on the swinging end 1b, so that the claw gripping part 1c can be used for poking the swinging end 1b of the operating element 200 to enable the swinging end 1b to rotate around the hinged end 1a, thereby driving the sensing trigger 300 to move, so that the sensor 400 can sense the force, the torque, the rotation angle or the displacement of the sensing trigger 300. In other embodiments, the grip portion may be omitted, and the operator may actuate the swing end of the actuator to swing the actuator.

The number of the operation members may be set as needed, and may be one or a plurality of such operation members, and the operation members may be operated by a plurality of fingers at the same time or in different time.

When the handle 10 of the embodiment of the invention is used, the swinging end 1b of the operating element 200 is pulled by a finger, so that the swinging end 1b rotates around the hinged end 1a to drive the induction triggering element 300 to move, at the moment, the sensor 400 can sense the force, the torque, the rotation angle or the displacement on the induction triggering element 300, the sensor 400 feeds back the sensed force, torque, rotation angle or displacement as command signals to the controller, and the controller processes the command signals according to the information of the magnitude and the direction of the force, the torque, the rotation angle or the displacement to control the surgical instrument 231 to move, thereby completing the surgical operation. The above-described handpiece 10 has less interference information than conventional handgrips, thereby improving the accuracy and sensitivity with which the main tool handpiece 10 controls the opening and closing of the clips or scissors of the surgical instrument 231.

In one embodiment, the sensing trigger 300 is disposed at the hinged end, and the sensor 400 is a torque sensor and/or an angle sensor for obtaining the torque and/or the rotation angle of the operating member. For example, the hinged end of the operating member 200 is provided with a hinge gear 210, the sensing trigger 300 is a driven gear coaxial with the torque sensor and/or the angle sensor, the driven gear is meshed with the hinge gear 210, and the sensor is used for acquiring the torque and/or the rotation angle of the sensing trigger. For another example, the sensing trigger is coaxial with the hinged end of the operating member, and information is obtained by rotation of the operating member.

Specifically, as shown in fig. 4, the sensing and triggering member 300 is a driven gear, the operating member 200 has a first operating member and a second operating member, a first hinge gear 211 is disposed on a hinge end 1a of the first operating member, a second hinge gear 212 is disposed on a hinge end of the second operating member, and the second hinge gear 212 is engaged with the first hinge gear 211. Wherein, each gear all sets up with the axis of rotation coaxial of the articulated end that corresponds. In other embodiments, the gear may be disposed non-coaxially with the corresponding hinged end, for example, the rotation axis of the gear is disposed parallel to the rotation axis of the corresponding hinged end; for another example, the hinged end is connected to the first hinge gear 210 or the second hinge gear 210 through a transmission mechanism, so that the axes form an included angle. In the present embodiment, the driven gear is engaged with the first hinge gear 211. In other embodiments, the driven gear may also be engaged with the second articulation gear.

When the finger is used, the finger pulls the swinging end 1b to rotate through the grasping part 1c, the first hinged gear 211 rotates synchronously around the axis of the hinged end 1a, so that the driven gear is driven to rotate, the driven gear is coaxially connected with the torque sensor, and therefore the sensor can acquire the torque or the rotation angle on the driven gear, and the torque is fed back to the controller as an instruction signal. In this embodiment, the swinging ends 1b of the two operating members 200 can be synchronously opened and closed through gear transmission, so that the requirement of simultaneous operation of the thumb and the index finger of an operator can be matched, and the operation habit of the operator can be better met.

In one embodiment, the sensor 400 is a displacement sensor, and the operation element 200 is swung to trigger the sensing trigger 300 to move linearly. For example, the handle further includes a guide portion, one end of the sensing trigger 300 is connected to the operating member 200, and the other end is connected to the guide portion to move along the guide portion, and the displacement sensor is disposed in a region where the sensing trigger 300 moves along a straight line, and when the operating member swings, the sensing trigger converts the movement into a straight line. Specifically, as shown in fig. 5, the sensing and triggering member 300 includes a first link 9 and a second link 10, wherein one end of the first link 9 is connected to the operating member 200, the other end is hinged to the second link 10, the second link 10 is connected to the guiding portion 500, and the displacement sensor is disposed on the second link 10. It should be noted that, in other embodiments, the sensing triggering element may also have other structures, for example, the sensing triggering element is an elastic rod, one end of the elastic rod is connected to the operating element, the other end of the elastic rod is disposed on the guiding portion to move along the guiding portion, and the sensor is disposed on a region where the sensing triggering element moves along a straight line.

Further, the number of the operation parts 200 is two, the hinged ends of the two operation parts 200 are hinged to each other, the number of the first connecting rods 9 of the induction triggering part is two, the two first connecting rods are respectively connected with the two operation parts 200, and the other ends of the two first connecting rods are hinged to the second connecting rod 10. And the ends of the two first links 9 hinged with the second links 10 are spaced from each other. In this embodiment, the guide portion 500 is a guide groove in which the second link 10 is accommodated, but in other embodiments, the guide portion may have other structures, such as a guide rod.

When the device is used, an operator can correspondingly stir the swinging ends 1b of the two operating pieces 200 to move by holding the grasping part 1c with the forefinger and the thumb, so that the second connecting rod 10 makes linear motion along the guide groove, and at the moment, the displacement sensor can sense the movement displacement of the second connecting rod 10 to feed the displacement back to the controller as an instruction signal.

In one embodiment, the sensor 400 is a force sensor, and one end of the sensing and triggering member 300 is disposed on the operating member 200, and the other end is connected to the force sensor 400, so as to obtain the force variation caused by the swinging of the operating member.

In one embodiment, the sensing trigger 300 is an elastic member. For example, in the embodiment shown in fig. 6, the handle 10 further includes a supporting plate 12, the triggering member 300 includes a spring 310 and a supporting member 320 connected to the spring 310, the spring 310 is connected to the operating member 200, and the sensor 400 is disposed on a supporting surface of the supporting member 320. In this embodiment, the number of the operating members 200 is two, the two abutting members 320 are both provided with the sensors 400, and the two sensors are respectively located at two sides of the supporting plate 12 and connected to the supporting plate 12.

In other embodiments, the spring may be replaced by a spring plate, a silicone block or a rubber block, and when the rubber block is a silicone quick-acting rubber block, the silicone block or the rubber block may be filled into the space between the operating member 200 and the supporting plate 12 as a soft material, and the sensing trigger 300 and the sensor 400 are wrapped, so as to improve the stability of the structure.

In other embodiments, the supporting plate may be omitted, and in this case, when the operating element swings to trigger the sensing triggering element to move, the force sensor disposed on the abutting surface may abut against the force sensor on the other operating element. Or, at this time, only one force sensor may be arranged on one abutting piece or connected with both of the two abutting pieces, and when the operating piece swings to trigger the sensing trigger piece to move, the two abutting pieces are respectively located at both sides of the sensor and apply pressure. The abutting piece can also be omitted, and the sensor is directly arranged on the spring.

When the handle is used, a finger pulls the swing end 1b of the operating element 200 through the grip part 1c to move towards the support plate 12, the elastic element is gradually compressed, and at this time, the sensing trigger 300 can transmit pressure to the force sensor, so that the force sensor can sense the pressure transmitted on the sensing trigger 300, and the pressure is fed back to the controller as a command signal.

In one embodiment, as shown in fig. 4 and 5, a reset piece 7 is further disposed between the two operation pieces 200 to make the swing ends 1b of the two operation pieces 200 away from each other, one end of the reset piece 7 is connected to one of the operation pieces 200, and the other end is connected to the other operation piece 200, and the reset piece 7 may be an element having an elastic recovery tendency, such as a spring, a torsion spring, or a spring plate. The piece that resets also can be connected with operating parts and casing, as long as can satisfy the kinetic energy that resets with the operating parts can.

In one embodiment, the handle 10 further includes a positioning sensor 14 and an adjustment structure 15. Wherein, the positioning sensor 14 is disposed on the housing 100 for obtaining the posture and position of the handle 10, and the adjusting structure 15 is connected with the positioning sensor 14 for rotating the positioning sensor 14.

When the handle 10 is used, an operator can rotate the positioning sensor 14 through the adjusting structure 15, so that the purpose that the operator can also rotate the positioning sensor 14 without rotating the wrist is achieved, and the problem that the handle 10 cannot control the surgical instrument 231 to rotate in a large angle due to limited rotation amplitude of the wrist is solved.

Specifically, as shown in fig. 4 to 8, in the embodiment, the adjusting structure 15 includes a toggle element 15a and a rotating element 15b connected to the toggle element 15a, the positioning sensor 14 is connected to the rotating element 15b, and an operator can toggle the toggle element 15a with a finger to drive the positioning sensor 14 to rotate, so that the whole operation is simple and convenient. The toggle piece 15a may be at least partially exposed from the housing so as to facilitate the adjustment by the contact of fingers with the housing, or may be located in the housing so that the fingers of the operator are at least partially located in the housing and adjusted when the device is used.

In the embodiment shown in fig. 4 to 6, the toggle element 15a is a knob disc, the rotating element 15b is a knob rod extending along the toggle element, and the positioning sensor 14 is disposed on the knob rod, so that an operator can toggle the knob disc with his finger to make the knob rod drive the positioning sensor 14 to rotate. In this embodiment, a portion of the knob tray is exposed from the housing 100 to facilitate finger contact therewith for toggling the knob stem. In the embodiment shown in fig. 7 and 8, the wave-motion member 2 is movable in a straight line and drives the rotation member 15b to rotate, and the position sensor is arranged on the rotation member 15b to move by toggling the toggle member 15a, thereby rotating the position sensor. Specifically, the rotating element 15b is a ball screw, in the embodiment shown in fig. 7, the positioning sensor 14 is connected to a screw 151b of the ball screw, the toggle element 15a is connected to a nut 152b of the ball screw, at this time, the toggle element 15a is disposed on the nut 152b, and an operator can toggle the nut 152b to move along the F direction through the toggle element 15a, so that the screw drives the positioning sensor 14 to rotate along the N direction. In the embodiment shown in fig. 8, the positioning sensor 14 is connected to a nut 152b of the ball screw, and the toggle member 15a is connected to a screw 151b of the ball screw, so that an operator can toggle the screw to move along the direction F by the toggle member, so that the nut drives the positioning sensor 14 to rotate along the direction N.

In other embodiments, the adjustment structure 15 may have other structures. For example, when the rotating member 15b is driven by the toggle member 15a through a rotation manner, the adjusting structure 15 further includes a transmission member respectively connected to the toggle member 15a and the rotating member 15b, so that the toggle member 15a drives the rotating member 15b through the transmission member.

In order to prevent the position sensor 14 from being damaged by the unlimited rotation of the adjusting structure 15, the handle 10 further includes a limiting structure for limiting the rotation range of the position sensor 14. In one embodiment, the limiting structure comprises a limiting block arranged on the adjusting structure 15 and a stop part arranged on the side wall of the housing, and when the adjusting structure 15 rotates the positioning sensor 14 to the limiting position, the limiting block abuts against the stop part.

For example, the limiting block may be disposed on a sidewall of a knob tray of the toggle member 15a, the stopping member is disposed on a sidewall of an area where the casing 100 and the knob tray are located, and when the knob tray is toggled to rotate until the limiting block abuts against the stopping member, the knob tray is blocked by the stopping member and cannot be toggled any more, thereby achieving the limiting function.

For another example, the limiting block can be arranged on the side wall of the screw rod, the stop block is arranged on the side wall in the area where the shell 100 and the screw rod are located, when the nut is shifted to enable the screw rod to rotate until the limiting block abuts against the stop block, the screw rod is blocked by the stop block and cannot rotate the screw rod through shifting the nut, and therefore the limiting function is achieved.

If the limiting block can be arranged on the side wall of the nut, the stop part is arranged on the side wall in the area where the shell 100 and the nut are located, when the lead screw is shifted to enable the nut to rotate until the limiting block abuts against the stop part, the nut is blocked by the stop part and cannot rotate the lead screw by shifting the lead screw, and therefore the limiting function is achieved.

As shown in fig. 9, in order to remind the operator that the position sensor 14 has been zeroed, in one embodiment, the handle 10 further includes a zero-setting positioning structure 18, the zero-setting positioning structure 18 includes a recess 18a provided on the adjustment structure 15 and an ejector mechanism 18b provided on the housing 100, the recess 18a is located at the midpoint of the rotational stroke of the adjustment structure 15, and the midpoint position is set as the zero-setting position of the position sensor 14 so that the limit rotational angles of the normal rotation and reverse rotation of the position sensor 14 coincide, and when the adjustment structure 15 rotates the position sensor 14 to the zero-setting position, the ejector 18b2 of the ejector mechanism 18b abuts in the recess 18 a.

Specifically, the ejection mechanism 18b includes a spring 18b1 and an ejector 18b2, a mounting seat 18c is disposed on a side wall of the housing 100, a mounting cavity (not numbered) is disposed on the mounting seat 18c, both the spring 18b1 and the ejector 18b2 are disposed in the mounting cavity, one end of the spring 18b1 is connected to the ejector 18b2, and the other end is connected to the bottom of the mounting cavity, and the spring 18b1 always has a tendency to eject the ejector 18b2 out of the mounting cavity, so that when the adjustment structure 15 rotates the positioning sensor 14 to the zero position, the ejector 18b2 of the ejection mechanism 18b abuts against the recess 18 a.

In one embodiment, the recess 18a is disposed on the end surface of the dial, the mounting seat 18c is disposed on the side wall of the housing 100 in the area corresponding to the end surface of the dial, when the dial rotates the knob stem to rotate the position sensor 14 to the zeroing position, the ejector 18b2 abuts against the recess 18a under the action of the spring 18b1, the ejector 18b2 may be a ball or a plunger with a spherical contour at the end, and the recess 18a may be a cambered recess to reduce the initial force required to move the dial away from the zeroing position.

In another embodiment, the recess 18a is disposed on the end surface of the screw rod 3b, the mounting seat 18c is disposed on the side wall of the housing 100 in the region corresponding to the end surface of the screw rod 3b, and when the screw rod 3b is pushed to rotate the position sensor 14 to the zero position, the ejector 18b2 is abutted in the recess 18a under the action of the spring 18b 1.

In another embodiment, the recess 18a is disposed on the end surface of the nut 3a, the mounting seat 18c is disposed on the side wall of the housing 100 in the region corresponding to the end surface of the nut 3a, and when the lead screw 3b is pulled to make the nut 3a drive the position sensor 14 to rotate to the zero position, the ejector 18b2 is abutted in the recess 18a under the action of the spring 18b 1.

In other embodiments, when the position sensor returns to the zero position, the feedback of the zero position may be performed by vibration, warning sound, or the like.

In other embodiments, the zeroing positioning structure may also be used to zero the positioning sensor.

As shown in fig. 10, the housing has a gripping area 19, and the position sensor 14 is located on the central axis a of the gripping area 19. Wherein the gripping area 19 refers to the corresponding area of the housing where the two operating fingers form when the hand 6 of the operator is holding the handle 10. When the operating fingers are a thumb and an index finger, the gripping area is the area where the tiger's mouth is located on the shell. In other embodiments, the operation can be performed by other fingers. For example by means of the thumb and middle finger. In one embodiment, when the number of the manipulation fingers is plural, the grasping area refers to an area formed by two fingers that control the opening and closing of the surgical instrument 231. The positioning sensor 14 is disposed on the central axis a of the gripping area 19, so as to improve the accuracy of the operation of the handle 10 for controlling the surgical instrument 231 and increase the sense of reality of the operation.

In one embodiment, the position sensor 14 is disposed within the grip region 19 of the housing 100, for example, in the fingertip area of the operating finger. In other embodiments, the positioning sensor may be located outside the gripping area of the housing, or partially outside the gripping area and partially outside the gripping area, as long as it is ensured that it is located on the central axis of the gripping area. For example, the positioning sensor is located at an end region of the housing opposite said gripping area, i.e. at an end region of the handle 10 adjacent the operator's wrist. As another example, the position sensor is located on the housing in the region of the end of the housing where the grip region is located.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A handle is characterized by comprising a shell, a positioning sensor arranged on the shell, and an adjusting structure connected with the positioning sensor,

the positioning sensor is used for acquiring the posture and the position of the handle, and the adjusting structure is used for rotating the positioning sensor.

2. The handle of claim 1, wherein the adjustment structure comprises a toggle member and a rotating member connected to the toggle member, the position sensor is connected to the rotating member, and the toggle member rotates the rotating member to rotate the position sensor.

3. The handle of claim 2, wherein the toggle member is a knob disk and the rotary member is a knob stem extending therealong, the position sensor being disposed on the knob stem for adjustment of the position sensor by rotation of the knob disk.

4. The handle of claim 2, wherein the toggle member is linearly movable and drives the rotary member to rotate, and the position sensor is provided on the rotary member to rotate the position sensor by toggling the toggle member to move.

5. The handle according to claim 4, wherein the rotating member is a ball screw, the positioning sensor is connected to a screw of the ball screw, the toggle member is connected to a nut of the ball screw, and the screw drives the positioning sensor to rotate by toggling the nut.

6. The handle according to claim 4, wherein the rotating member is a ball screw, the positioning sensor is connected to a nut of the ball screw, the toggle member is connected to a screw of the ball screw, and the screw is toggled by the toggle member to move, so that the nut drives the positioning sensor to rotate.

7. The handle of claim 1, further comprising a limit structure for limiting a range of rotation of the position sensor.

8. The handle of claim 7, wherein the limiting structure comprises a limiting block arranged on the adjusting structure and a stop arranged on a side wall of the housing, and the limiting block abuts against the stop when the adjusting structure rotates the positioning sensor to the limiting position.

9. The handle of claim 1, further comprising a return-to-zero positioning structure for providing feedback to an operator when the positioning sensor returns to a zero position.

10. A main console, comprising:

the positioning system is used for acquiring the operation position and posture information of an operator;

the positioning system includes:

the handle of any one of claims 1 to 9;

the matching positioning device is used for matching and positioning with the positioning sensor in the handle;

and the controller is used for controlling the slave operation equipment to perform corresponding operation according to the information.

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