CN113967080A

CN113967080A - Teleoperation owner hand fixture

Info

Publication number: CN113967080A
Application number: CN202010725168.4A
Authority: CN
Inventors: 徐凯; 杨文天
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Technology Co Ltd
Priority date: 2020-07-24
Filing date: 2020-07-24
Publication date: 2022-01-25

Abstract

The invention discloses a teleoperation master hand clamping mechanism, which comprises: the main hand shell, fixture, link mechanism and non-contact sensor subassembly, link mechanism is located in the main hand shell, fixture includes interconnect's clamping part and connecting portion, the clamping part is articulated with the main hand shell with the junction of connecting portion, fixture's connecting portion are articulated with link mechanism's one end, link mechanism's the other end is the motion end, non-contact sensor subassembly includes non-contact sensor and the sensor response piece that the interval set up, non-contact sensor is fixed to be set up in the main hand shell, the sensor response piece is located the main hand shell and is connected with link mechanism's motion end, the clamping part extends to the outside direction of main hand shell, connecting portion extend to the inside direction of main hand shell. The non-contact sensor assembly is used, so that the service life, the precision and the reliability of the remote operation main hand clamping mechanism are improved.

Description

Teleoperation owner hand fixture

Technical Field

The invention belongs to the field of medical instruments, and particularly relates to a teleoperation master hand clamping mechanism for a surgical robot.

Background

The robot belongs to high-end and intelligent instrument products, and most industrial robots and medical robots with higher requirements on accuracy and precision are master-slave teleoperation structures, namely, a person operates a master manipulator, and the motion of a slave mechanism is controlled through remote communication and a computer. For the medical robot, the possibility of infection of a patient is reduced through remote teleoperation, adverse consequences caused by misoperation (such as eye flower, fatigue, emotion and the like) of a doctor are avoided, and the accuracy and precision in the operation process are reduced.

The main hand clamping mechanism is an important component of the robot and is used for controlling the clamping action of the remote operation system. The clamping mechanism is electrically connected with the robot execution tail end, the robot execution tail end is used for executing clamping action, the position and the posture of the main manipulator clamping mechanism in space motion are detected, and the position and the posture of the main manipulator are mapped to the slave-end execution mechanism through kinematic calculation, so that the slave-end execution mechanism reproduces hand action of a person in real time to finish corresponding operation. At present, in order to measure the displacement of the teleoperation master hand clamping mechanism, a contact type position sensor is generally used, and the resistance change of the position sensor is directly driven by the movement of a driver, so that the movement of a slave end actuating mechanism is realized. Therefore, the robot is widely applied to the fields of industrial robots, medical robots and the like.

The existing teleoperation main hand clamping mechanism generally adopts a mode that a rotation center is arranged at the symmetrical center of a main hand, so that the main hand clamping mechanism is easy to generate errors during movement, and the accuracy of a slave end executing mechanism is reduced. In addition, the driver directly pushes or pulls or rotates the contact position sensor, and due to the mechanical mechanism of the contact position sensor and other reasons, the contact position sensor has a certain service life, and in the actual use process, the remote operation master hand is frequently operated, so that the sensor is easily abraded seriously, the accuracy is easily reduced after the sensor is replaced, and the situation that the slave end execution mechanism is mistakenly operated and the like is caused.

Accordingly, there is a need for improvements to existing teleoperated master hand clamping mechanisms to overcome the above-mentioned problems.

Disclosure of Invention

In order to overcome the problems in the prior art, the invention provides a teleoperation main hand clamping mechanism, wherein the motion of the main hand clamping mechanism is realized by arranging two rotating centers, so that the structural arrangement is simpler, the error possibly occurring in the operation process is reduced, and the fingers are easier to clamp. In addition, the invention adopts a non-contact sensor to transfer the motion process of the teleoperation main hand clamping mechanism into an electric signal through the photoelectric position sensor, and the main hand clamping mechanism is not contacted with the sensor in the process, thereby ensuring the service life of the teleoperation main hand clamping mechanism, having high accuracy, simple principle and easy realization, and having very high reliability.

In a first aspect, the present invention provides a teleoperated master hand clamping mechanism comprising: the device comprises a main hand shell, a clamping mechanism, a link mechanism and a non-contact sensor assembly, wherein the link mechanism is positioned in the main hand shell; the clamping mechanism comprises a clamping part and a connecting part which are connected with each other, the joint of the clamping part and the connecting part is hinged with the main hand shell, the connecting part of the clamping mechanism is hinged with one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is a moving end; the non-contact sensor assembly comprises non-contact sensors and sensor sensing pieces which are arranged at intervals, the non-contact sensors are fixedly arranged in the main hand shell, and the sensor sensing pieces are positioned in the main hand shell and connected with the moving end of the connecting rod mechanism; the clamping part extends towards the outer direction of the main hand shell, and the connecting part extends towards the inner direction of the main hand shell.

In a preferred embodiment, the clamping mechanism comprises a first clamping mechanism and a second clamping mechanism which are arranged at two sides of the main hand shell, the first clamping mechanism and the second clamping mechanism are respectively hinged with the main hand shell at a first rotating center and a second rotating center, and the first rotating center and the second rotating center are arranged at intervals; the link mechanism comprises a third link and a fourth link; one end of the third connecting rod is hinged with the connecting part of the second clamping mechanism, and one end of the fourth connecting rod is hinged with the connecting part of the first clamping mechanism; the other ends of the third connecting rod and the fourth connecting rod are hinged with each other to form the moving end.

In one embodiment, the first and second clamping mechanisms are symmetrically disposed along a centerline of the master hand housing; the moving end of the connecting rod mechanism is positioned on the central line of the main hand shell, and the clamping mechanism drives the sensor sensing piece to approach or depart from the non-contact sensor along the direction of the central line of the main hand shell when rotating.

By using the above structural configuration, when an operator drives the clamping mechanism to rotate relative to the main hand shell, the connecting rod mechanism is driven to move along the central line direction of the main hand shell, so that the sensor sensing piece is driven to be close to or far away from the non-contact sensor assembly. Therefore, the movement of the clamping mechanism is converted into the displacement change between the sensor sensing piece and the non-contact sensor, and the displacement signal change is converted into the electric signal change by the non-contact sensor, so that the movement of the slave end actuating mechanism is controlled, and the opening and closing of the slave end actuating mechanism are reproduced in real time through the opening and closing of the clamping mechanism.

In the invention, the lengths of the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism are both greater than the distance between the first rotating center and the second rotating center and the center line of the main hand casing, and one ends of the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism are distributed in a crossed manner and are respectively hinged with one ends of the fourth connecting rod and the third connecting rod to form a first hinge point and a second hinge point.

In one embodiment, the length of each of the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism is smaller than the distance between the first rotation center and the second rotation center and the center line of the main hand casing, one end of each of the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism is spaced apart, and one end of each of the first connecting portion and the second connecting portion is hinged to one end of each of the fourth connecting rod and the third connecting rod to form a first hinge point and a second hinge point.

In a specific embodiment, the link mechanism further comprises an elastic member, and two ends of the elastic member are respectively connected with the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism; preferably, the elastic member is a tension spring.

Adopt foretell structural configuration, when first fixture and the relative owner's hand casing of second fixture rotate and realize the centre gripping action, drive first pin joint and second pin joint and keep away from each other, thereby make the extension spring atress stretched, and drive the direction that non-contact sensor was kept away from to third connecting rod and fourth connecting rod and remove, when the effort to fixture is eliminated, the extension spring contracts under the effect of restoring force, drive first pin joint and second pin joint and be close to each other, thereby drive third connecting rod and fourth connecting rod and remove along the direction that is close to non-contact sensor, and first fixture and second fixture reply initial position. When the distance between the non-contact sensor and the sensor sensing piece is larger than a preset value, the non-contact sensor is disconnected with the control system, so that the control of the slave end actuating mechanism is lost, and the tissue damage caused by the overlarge clamping force of the slave end actuating mechanism is prevented. Through set up first in main hand casing central line both sides, two rotation centers of second replace traditional set up a rotation center on main hand casing central line, thereby avoid main hand casing to take place the phenomenon of backward drunkenness, thereby reduce the error that probably appears in the operation process, realize the motion control to the slave end actuating mechanism more accurate, and through fixture, the mutually supporting of connecting rod and extension spring, make extension spring structural arrangement and assembly process simpler, and the operator is lighter when first fixture of centre gripping and second fixture.

In the present invention, the non-contact sensor assembly may employ any non-contact sensor suitable in the art for sensing a change in a physical quantity (e.g., a change in displacement), preferably selected from an optoelectronic position sensor assembly or an electromagnetic sensor assembly. More preferably, the non-contact sensor assembly is an optoelectronic position sensor assembly, and by adopting the non-contact sensor assembly, the sensor is prevented from being abraded by frequent teleoperation, and the service life of the teleoperation main hand clamping mechanism is prolonged.

In a preferred embodiment, the non-contact sensor assembly is an optoelectronic position sensor assembly, the non-contact sensor is an optoelectronic sensor, the sensor is an optoelectronic sensor, the optoelectronic position sensor assembly further comprises an optical signal stop, wherein the optoelectronic sensor is spaced apart from the distal end of the linkage; the optical signal stop block is fixedly arranged in the main hand shell and is positioned between the photoelectric sensor and the photoelectric sensor sensing piece;

the optical signal block is provided with at least one transmission channel which is set to pass the optical signal emitted by the photoelectric sensor; preferably, the photosensor comprises at least one reflective photosensor chip arranged to emit the optical signal;

a transmission channel used for forming the optical signal emitted by the photoelectric sensor is arranged between the photoelectric sensor and the photoelectric sensor sensing piece; the photosensor sensor is fixedly coupled to the moving end of the linkage (e.g., fixedly coupled to the third connection location) as described above. Preferably, the photoelectric sensor comprises two reflection-type photoelectric sensor chips which can work independently at the same time for mutual verification and redundancy, so that the motion reliability of the teleoperation main hand clamping mechanism in the operation process is ensured.

Preferably, the photosensor sensor is a light-reflecting slider arranged to reflect the light signal.

Specifically, the optoelectronic position sensor assembly is configured to emit an optical signal from the optoelectronic sensor, the optoelectronic sensor sensing element reflects the optical signal to generate the first signal, and the optoelectronic sensor receives the first signal and converts the first signal into a linearly changing electrical signal (i.e., a second signal) and transmits the linearly changing electrical signal to the surgical robot control system for indicating a change in the relative position of the optoelectronic sensor and the optoelectronic sensor sensing element, and thereby controlling the operation and movement of the slave actuator, such as a change in the angle of the surgical clamp.

In one embodiment, the optical signal block may be provided with two channels separated by a baffle. Preferably, the optical signal block is made of an elastic material so as to avoid abrasion with the optical reflection slider and the photosensor circuit board.

In a preferred embodiment, the teleoperated master hand gripping mechanism may further comprise a slider guide fixedly disposed within the mounting portion and the sensor is slidably disposed on the slider guide.

Preferably, the contact surfaces of the slider guide and the sensor sensing part are mutually matched, and more preferably, the slider guide is provided with a sliding groove matched with the shape of the contact surface of the sensor sensing part, and the link mechanism drives the sensor sensing part to slide along the sliding groove. For example, the sensor element may be of any desired shape, e.g., rectangular, circular, oval, etc., in cross-section, as desired for the application. Accordingly, a slider guide may be provided below the sensor, and a sliding groove adapted to the shape of the contact surface of the sensor may be provided on the top of the slider guide. The setting of this arc wall plays limiting displacement to sensor response piece to and reduce the frictional force when sensor response piece removes.

In one embodiment, the main hand housing includes a mounting portion and a support portion. Specifically, the near-end of installation department with the supporting part is connected, and the distal end is used for external motor for the free end, thereby drives main hand casing rotation entirely through the motor. The installation department can be for closed housing, and inside has the cavity that holds, and non-contact sensor subassembly and link mechanism all are located the cavity that holds of installation department. The non-contact sensor assembly is arranged in the closed shell of the installation part, so that the interference of external optical signals is avoided, and the system has strong anti-interference capability. The supporting part is used for abutting against the palm or the tiger mouth of the hand of an operator when the operator presses the clamping mechanism, so that the hand is supported, and the hand fatigue is relieved.

In a preferred embodiment, the teleoperated master hand grip mechanism further comprises a safety switch disposed on the mounting portion, the safety switch being configured to be activated by an operator for switching off an operating state of the teleoperated master hand grip mechanism when activated (e.g., the operating state may be teleoperation of the slave actuator by the master hand grip mechanism).

Preferably, the safety switch may be one of a push button switch or a human body detection type trigger switch or a toggle switch, and is triggered by touching or pressing or toggling. Under the working state (namely the main hand clamping mechanism is matched with the slave end executing mechanism in a teleoperation mode), an operator can control the first clamping mechanism and the second clamping mechanism, and the clamping mechanisms are pressed through fingers, so that the opening and closing of the slave end operation clamp are controlled. When the hands of an operator trigger the safety switch to work, the main hand clamping mechanism is disconnected from the teleoperation of the slave end execution mechanism, namely the clamping mechanism is disconnected from the slave end operation clamp. Through setting up safety switch, can make things convenient for the operator to switch between the operation arm of difference, but also can avoid because of the operator is at the operation in-process, because the maloperation actuates fixture to cause the motion of following end operation clamp, cause the potential safety hazard.

In one embodiment, the clamping portion of the first clamping mechanism and the clamping portion of the second clamping mechanism are cambered surfaces at ends departing from the mounting portion, and the cambered surfaces are recessed portions to facilitate gripping by fingers of an operator. Preferably, the clamping part of the first clamping mechanism and the clamping end of the clamping part of the second clamping mechanism are further provided with fingerstalls, and through the fingerstalls, the fingers of an operator feel more comfortable when operating the clamping mechanism. More preferably, the finger stall is made of an elastic material.

In a second aspect, the present invention provides a surgical robot system, which includes a control system, a teleoperated main hand clamping mechanism of the present invention, and a slave end actuator, wherein the control system is electrically connected to a non-contact sensor of the teleoperated main hand clamping mechanism, a clamping portion of the clamping mechanism rotates in a direction approaching to the main hand housing when a force is applied to the clamping portion, so as to drive a moving end of the link mechanism to move, a sensor generates a first signal related to displacement change as the moving end of the link mechanism approaches or leaves the non-contact sensor, and the non-contact sensor receives the first signal, converts the first signal into a second signal related to position change, and transmits the second signal to the control system. Meanwhile, the control system is configured to control the operation of the slave-end actuator according to position change information contained in the second signal when receiving the second signal transmitted from the non-contact sensor.

In a particular embodiment, the control system can obtain the relative distance between the non-contact sensor and the sensor sensing element by processing the second signal. Further, the control system is configured to disconnect the non-contact sensor when the relative distance between the non-contact sensor and the sensor is greater than a preset value stored in the control system or set by user input, thereby disconnecting the master hand gripping mechanism from controlling the slave end actuator.

In another embodiment, the control system is further electrically connected to a safety switch of the teleoperated master hand gripping mechanism. In an operating state, in which the slave actuator is teleoperated by the teleoperated master gripping means, the safety switch sends a safety signal to the control system when the safety switch is switched on by an operator, the control system being configured to interrupt this operating state in response to the safety signal, even if the teleoperation of the slave actuator by the master gripping means is switched off.

The invention has the advantages of

According to the invention, the two rotation centers are arranged, so that the movement of the main hand clamping mechanism is realized, the structural arrangement is simpler, errors possibly occurring in the operation process are reduced, and fingers are easier to clamp. In addition, the invention adopts a non-contact sensor, the movement displacement of the remote operation main hand clamping mechanism is transferred into a stable and accurate electric signal change through the photoelectric position sensor component so as to drive the motion of the slave end execution mechanism, the main hand clamping mechanism is not contacted with the sensor in the process, the service life of the remote operation main hand clamping mechanism is ensured, the precision is high, the principle is simple, the realization is easy, and the reliability and the safety are very high. In addition, the photoelectric sensor is placed in the closed cavity, and compared with non-contact sensors such as electromagnetic induction, the anti-interference performance is high.

Drawings

Fig. 1 is a perspective view of one embodiment of a teleoperated master hand clamping mechanism of the present invention.

Fig. 2 is an overall plan view of the teleoperated main hand clamping mechanism shown in fig. 1, with the main hand housing broken away to show its internal structure.

Fig. 3 is a schematic view of the structure within the mounting portion of the teleoperated master hand clamping mechanism and the clamping mechanism shown in fig. 1.

Fig. 4 is a schematic diagram of an embodiment of an optical signal stop in a teleoperated master hand fixture according to the present invention.

Fig. 5 is a schematic structural view of another embodiment of the teleoperated master hand clamping mechanism of the present invention.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings, and it will be understood by those skilled in the art that the embodiments or examples described below with reference to the drawings are only illustrative of the best modes for carrying out the invention, and do not limit the scope of the invention to these embodiments. The present invention may be modified and varied in many ways based on the embodiments described below. Such modifications and variations are intended to be included within the scope of the present invention. Like reference numerals refer to like parts throughout the various embodiments of the invention shown in the figures.

Detailed Description

Definition of

Distal or distal end: in this specification, when referring to "distal or distal end", the term refers to the side or end relatively distant from the operator.

Proximal or proximal end: in this specification, when referring to "proximal or proximal end", the term refers to the side or end that is relatively close to the operator.

Front and rear: in the present specification, as described above, when "front" and "rear" are referred to, both refer to relative directions in which it is specified that a side relatively close to an object to be operated is front and a side relatively far from the object to be operated is rear.

The invention is described in detail below with reference to the figures and examples.

Fig. 1 and 2 show a perspective view and an overall plan view, respectively, of one embodiment of a teleoperational master hand clamping mechanism of the present invention. This embodiment can be seen from the figure that the teleoperation master hand clamping mechanism of the present invention comprises: a master hand housing 6, a clamping mechanism 4, a linkage mechanism and a non-contact sensor assembly. The linkage is located within the main hand housing 6 (see fig. 2) to avoid external environmental conditions from interfering with the non-contact sensor assembly. The clamping mechanism 4 comprises a clamping portion and a connecting portion which are connected with each other, the joint of the clamping portion and the connecting portion is hinged to the main hand shell 6, the connecting portion of the clamping mechanism 4 is hinged to one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is a moving end. The clamping portion extends in the direction of the outside of the main hand case 6, and the connecting portion extends in the direction of the inside of the main hand case 6.

In the illustrated preferred embodiment, two clamping mechanisms 4 are provided, and are respectively arranged on two sides of the main hand housing 6, and can be symmetrically arranged or asymmetrically arranged, and the clamping parts of the two clamping mechanisms 4 rotate relative to the main hand housing 6 when acting force is applied. It should be understood that the clamping means 4 may be provided as one. The non-contact sensor assembly comprises a non-contact sensor and a sensor sensing piece, the non-contact sensor is fixedly arranged in the main hand shell 6, and the sensor sensing piece is positioned in the main hand shell 6 and connected with the moving end of the connecting rod mechanism. As can be seen from fig. 1, the distance between the clamping portion of the clamping mechanism 4 and the main hand housing 6 increases in a direction away from the hinge point of the clamping mechanism 4 and the main hand housing 6. Of course, in another embodiment, the clamping portion of the clamping mechanism 4 extends toward the outside of the main hand housing 6, for example, the clamping portion may also be in an inverted "L" shape.

In addition, fixture 4's clamping part and connecting portion fixed connection perhaps are integrated into one piece, both extend to main hand casing 6 outside and inboard respectively, and there is the contained angle between clamping part and the connecting portion, thereby make the clamping part rotate to the direction that is close to main hand casing 6 when receiving the effort towards main hand casing 6, drive connecting portion for main hand casing 6 towards near-end pivot through the clamping part, drive link mechanism towards the near-end motion through connecting portion, thereby drive the sensor response piece with link mechanism fixed connection and move to the direction of keeping away from non-contact sensor.

When an operator drives the clamping mechanism 4 to rotate close to the main hand shell 6, the connecting rod mechanism is driven to move, and therefore the sensor sensing piece is driven to be far away from the non-contact sensor. Therefore, the movement of the clamping mechanism 4 is converted into the displacement change between the sensor sensing piece and the non-contact sensor, and the displacement signal change is converted into the electric signal change by the non-contact sensor, so that the movement of the slave end actuating mechanism is controlled, and the opening and closing of the slave end actuating mechanism are reproduced in real time through the opening and closing of the clamping mechanism.

In the teleoperation main hand clamping mechanism shown in fig. 1 and 2, the clamping mechanism 4 includes a first clamping mechanism and a second clamping mechanism, the first clamping mechanism and the second clamping mechanism are respectively hinged with the main hand housing 6 at a first rotation center and a second rotation center, and the first rotation center and the second rotation center are arranged at intervals. The link mechanism includes a third link 53 and a fourth link 54. One end of the third link 53 is hinged to the connecting portion of the second clamping mechanism, and one end of the fourth link 54 is hinged to the connecting portion of the first clamping mechanism. The other ends of the third link 53 and the fourth link 54 are hinged to each other to form a moving end. Specifically, first fixture and second fixture can set up the both sides at main hand casing 6, can symmetrical setting or asymmetric setting, when first fixture and second fixture set up along the central line symmetry of main hand casing 6, link mechanism's motion end moves along the central line direction, when first fixture and second fixture set up asymmetrically, link mechanism's motion end can move along specific direction, under different settings, non-contact sensor's the corresponding emergence in position that sets up changes, with the sensor response piece is close to or keeps away from non-contact sensor under the drive of motion end. It should be understood that when only one gripper mechanism 4 is provided, the link mechanism includes only the third link 53 or the fourth link 54, one end of which forms a connection end to be hinged with the connection portion of the gripper mechanism 4 and the other end of which forms a movement end.

More preferably, the first clamping mechanism and the second clamping mechanism are symmetrically arranged along the center line of the main hand housing 6, the moving end of the link mechanism is located on the center line of the main hand housing 6, and the sensor sensing part is driven to approach or leave the non-contact sensor along the direction of the center line of the main hand housing 6 when the clamping mechanism 4 rotates. Specifically, the first clamping mechanism includes a first clamping portion 41 and a first connecting portion 51, and the second clamping mechanism includes a second clamping portion 42 and a second connecting portion 52, which are respectively symmetrically disposed at both sides of the main hand case 6. The first connecting part 51 and the first clamping part 41 are fixedly connected and hinged to the main hand shell 6 at the connection part to form a first rotation center; the second connecting portion 52 and the second clamping portion 42 are fixedly connected and hinged to the main hand case 6 at the connection, forming a second center of rotation. Through set up first, two rotation centers of second in 6 central lines of main hand casing body both sides and replace traditional setting up a rotation center on 6 central lines of main hand casing body to avoid main hand casing body 6 to take place the phenomenon of backward drunkenness, thereby reduce the error that probably appears in the operation process, realize the more accurate motion control to the slave end actuating mechanism.

Preferably, the link mechanism further includes an elastic member 55, and two ends of the elastic member 55 are respectively connected to the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism, in the illustrated embodiment, the elastic member 55 is a spring, such as a tension spring or a compression spring, and may also be another member having elasticity. More preferably, the elastic member 55 is a tension spring. Through the mutual cooperation of link mechanism and extension spring for extension spring structural arrangement and assembly process are simpler, and the operator can have the sense of touch more to the centre gripping resistance when centre gripping first fixture and second fixture, have the on-the-spot sense similar to operation position.

Specifically, an end of the first connecting portion 51 away from the first rotation center is connected to an end of the elastic member 55 away from the first clamping portion 41 at a first connecting position; one end of the second connecting part 52 far away from the second rotation center is connected with one end of the elastic element 55 far away from the second clamping part 42 at a second connecting position, and one end of the third connecting rod 53 is hinged with the second connecting part 52 at the second connecting position; one end of the fourth link 54 is hinged to the first connection portion 51 at a first connection position; the other ends of the third link 53 and the fourth link 54 are hinged at a third connecting position to form a moving end; the sensor induction piece is fixedly connected with the moving end.

With such a configuration, when the first clamping mechanism and the second clamping mechanism rotate relative to the main hand housing 6 to realize the clamping action, the first connection position and the second connection position are driven to be away from each other, so that the elastic member 55 is stressed and stretched, and the third connection position formed by the third connecting rod 53 and the fourth connecting rod 54 is driven to move in the direction away from the non-contact sensor, when the acting force on the clamping mechanism 4 is eliminated, the elastic member 55 contracts under the action of the restoring force, so that the first connection position and the second connection position are driven to approach each other, so that the third connecting rod 53 and the fourth connecting rod 54 are driven to move in the direction close to the non-contact sensor, and the first clamping portion 41 and the second clamping portion 42 are restored to the initial positions.

In the present embodiment, the lengths of the first connecting portion 51 and the second connecting portion 52 are both greater than the distance between the first rotation center and the second rotation center and the center line of the main hand case, and one ends of the first connecting portion 51 and the second connecting portion 52 are distributed in a crossed manner and hinged to one ends of the fourth connecting rod 54 and the third connecting rod 53 respectively to form a first hinge point and a second hinge point.

In another embodiment, as shown in fig. 5, the lengths of the first connecting portion 51 and the second connecting portion 52 are smaller than the distance between the first rotation center and the second rotation center and the center line of the main hand case, the connecting portions of the first clamping mechanism and the second clamping mechanism are spaced apart from each other, and one ends of the first connecting portion 51 and the second connecting portion 52 are hinged to one ends of the fourth link 54 and the third link 53, respectively, to form a first hinge point and a second hinge point. At this time, the elastic member between the connecting portion of the first clamping mechanism and the connecting portion of the second clamping mechanism is preferably a tension spring.

Preferably, when the distance between the non-contact sensor and the sensor sensing piece is larger than a preset value, the non-contact sensor is disconnected with the control system, so that the control of the slave end actuator is lost, and the situation that the clamping force of the slave end actuator is too large to cause tissue damage is prevented.

In one embodiment, a first signal is generated when the sensor is moved by the clamping mechanism 4, and the non-contact sensor receives the first signal from the sensor and converts it into a second signal related to the change in position, which is then transmitted to the control system for controlling the operation and movement of the slave end effector, such as the change in surgical clamp angle.

As described above, in the present invention, the non-contact sensor assembly may employ any non-contact sensor suitable for sensing a change in displacement in the art, for example, a photoelectric sensor or an electromagnetic sensor, preferably a photoelectric sensor. Certainly, the non-contact sensor assembly in the present invention may also be an electromagnetic sensor assembly, in this case, the non-contact sensor is an electromagnetic sensor, the sensor sensing element is an electromagnetic sensor sensing element, and the conversion between signals can also be realized in a non-contact manner through the cooperation between the electromagnetic sensor and the electromagnetic sensor sensing element.

One particular embodiment of a non-contact sensor assembly is shown in FIG. 2. The non-contact sensor assembly shown in fig. 2 is a photoelectric position sensor assembly, the non-contact sensor is a photoelectric sensor 1, the sensor sensing member is a photoelectric sensor sensing member, and the photoelectric position sensor assembly further includes a light signal stopper 2, wherein the photoelectric sensor 1 is fixed in the main hand housing 6 and is disposed at one end away from the link mechanism. The optical signal block 2 is fixedly arranged in the main hand shell 6 and is positioned between the photoelectric sensor 1 and the photoelectric sensor sensing piece. The optical signal block 2 is provided with at least one transmission channel configured to transmit an optical signal through the photoelectric sensor, and the photoelectric sensor 1 includes at least one reflection-type photoelectric sensor chip configured to transmit an optical signal. The photoelectric sensor sensing piece is fixedly connected with the moving end of the connecting rod mechanism at a third connecting position. Specifically, the photoelectric sensor 1 is a photoelectric sensor circuit board, which may include one or two reflection-type photoelectric sensor chips, and the number of transmission channels provided on the optical signal block 2 is equal to the number of reflection-type photoelectric sensor chips. Preferably, the photoelectric sensor 1 comprises two reflection-type photoelectric sensor chips capable of working independently at the same time, so that mutual verification and redundancy are achieved, and the motion reliability of the teleoperation main hand clamping mechanism in the operation process is guaranteed.

Specifically, the photoelectric position sensor assembly is configured to emit a light signal by the photoelectric sensor 1, the photoelectric sensor sensing member reflects the light signal to generate the first signal, and the photoelectric sensor 1 receives the first signal and converts the first signal into a linearly varying electrical signal (i.e., a second signal) for indicating a relative position change of the photoelectric sensor 1 and the photoelectric sensor sensing member.

The optical signal block 2 is provided with two channels 21 (see fig. 4), and the two channels 21 are separated by a baffle 22. The two channels 21 are provided to prevent interference between the optical signals emitted from the two photosensor chips. The photosensor sensing element shown in fig. 3 is a light-reflecting slide 3, the light-reflecting slide 3 being arranged to reflect said light signal. When the photoelectric sensor works, optical signals emitted by two photoelectric sensor chips on a circuit board of the photoelectric sensor 1 respectively irradiate the light reflection sliding block 3 through the two channels 21, then the light reflection sliding block 3 receives the optical signals reflected by the light reflection sliding block 3 through the photoelectric sensor chips, the light reflection sliding block 3 is driven to move by the connecting rod mechanism, so that the distance between the light reflection sliding block 3 and the photoelectric sensor chips is changed, the photoelectric sensor chips convert the detected distance change into a linear change electric signal and transmit the linear change electric signal to the control system through a voltage amplification circuit, so that the change of the angle of a slave end surgical actuator, namely a surgical clamp is controlled, and the precision of surgical operation is greatly improved. Preferably, the optical signal block 2 is made of an elastic material to avoid abrasion with the optical reflection slider 3 and the circuit board of the photosensor 1.

As shown in fig. 1, the main hand housing 6 further preferably includes a mounting portion 61 and a supporting portion 62, wherein a proximal end of the mounting portion 61 is connected to the supporting portion 62, and a distal end is a free end for externally connecting a motor, and the motor is used to drive the main hand housing 6 to integrally rotate. Specifically, the mounting portion 61 is a closed housing having a receiving cavity therein, and the noncontact sensor assembly (e.g., the photosensor 1, the optical signal block 2, and the light reflection slider 3 shown in fig. 2) and the link mechanism (e.g., the links 53 to 54 and the elastic member 55 shown in fig. 2) are located in the receiving cavity of the mounting portion 61. By arranging the non-contact sensor assembly in the closed housing of the mounting portion 61, interference from external optical signals can be avoided, and the system has strong anti-interference capability. The support portion 62 is configured to abut against the palm or the mouth of the hand of the operator when the operator presses the clamping mechanism 4, so as to support the hand and relieve the hand fatigue.

In a preferred embodiment, the teleoperated master hand clamp mechanism of the present invention further comprises a safety switch 7, as shown in fig. 1, the safety switch 7 being arranged to be triggered by the action of an operator. Preferably, the safety switch 7 may also be one of a push-button switch or a human body detection type trigger switch or a toggle switch, which is triggered by pressing or touching or toggling. As shown, the safety switch 7 is disposed on the mounting portion 61, and in an operating state, that is, when the master gripping mechanism is matched with the slave actuator for remote operation, the thumb and middle finger of the operator press the first gripping portion 41 and the second gripping portion 42 respectively, and the gripping mechanism 4 is pressed by the fingers, so as to control the opening and closing of the slave surgical forceps. When the hand of the operator acts on the safety switch 7, for example, the hand can act on the safety switch 7 in a manner of propping, touching, pressing or toggling, so as to trigger the safety switch to work 7, and at this time, the remote operation of the master hand clamping mechanism and the slave end execution mechanism is disconnected, that is, the clamping mechanism and the slave end surgical clamp are disconnected. Through setting up safety switch 7, can make things convenient for the operator to switch between the operation arm of difference, can also avoid moreover because of the operator is in the operation in-process, because maloperation actuates fixture 4 to cause the motion of following end operation clamp, cause the potential safety hazard.

As shown in fig. 3, the teleoperated master hand gripping mechanism also preferably includes a slider guide 8. The slider guide 8 is fixedly provided in the mounting portion 61, and the light reflecting slider 3 is slidably provided on the slider guide 8.

Preferably, the contact surfaces of the slider guide 8 and the light-reflecting slider 3 are adapted to each other, and the slider guide 8 is provided with a sliding groove adapted to the shape of the contact surface of the light-reflecting slider 3, along which the link mechanism drives the light-reflecting slider 3 to slide. As shown in fig. 3, the light-reflecting slider 3 has a cylindrical shape with a circular cross section. Correspondingly, a slider guide 8 is provided below the light-reflecting slider 3, the top of which is provided with an arc-shaped sliding groove adapted to the shape of the contact surface of the light-reflecting slider 3. The arc-shaped sliding groove has a limiting effect on the light reflection sliding block 3, and reduces friction force when the light reflection sliding block 3 moves.

In addition, as shown in fig. 1, the ends of the first clamping portion 41 and the second clamping portion 42 facing away from the mounting portion 61 may be curved, and the curved surface is recessed to facilitate gripping by the fingers of the operator. Preferably, the ends of the first clamping portion 41 and the second clamping portion 42 may be further provided with a finger sleeve 43, and the finger sleeve 43 is provided to make the fingers of the operator feel more comfortable when operating the clamping mechanism 4. Preferably, the finger stall 43 is made of an elastic material, for example, a fiber material or a rubber material having high elasticity may be used.

This embodiment provides a surgical robotic system, which includes a control system, a teleoperated master hand gripping mechanism and a slave-end actuator in any of the above embodiments, wherein the control system is electrically connected to the non-contact sensor of the teleoperated master hand gripping mechanism. When a force is applied to the clamping part of the clamping mechanism 4, the clamping part rotates towards the direction close to the main hand shell 6 to drive the moving end of the link mechanism to move, the sensor sensing piece generates a first signal related to displacement change along with the moving end of the link mechanism when approaching or departing from the non-contact sensor, the non-contact sensor receives the first signal, converts the first signal into a second signal related to position change and sends the second signal to the control system, and the control system is configured to control the operation of the slave end execution mechanism according to position change information contained in the second signal when receiving the second signal sent from the non-contact sensor.

The signal control flow of the teleoperated master hand gripping mechanism of the present invention will now be described with reference to the embodiment shown in fig. 1-4.

In an operating state, the circuit board of the photosensor 1 emits optical signals, the optical signals emitted by the two photosensor chips on the circuit board of the photosensor 1 are respectively irradiated onto the light reflection slider 3 through the two channels 21, the light reflection slider 3 reflects the optical signals to generate first signals, and the photosensor chips receive the first signals and convert the first signals into electrical signals (i.e., second signals) which change linearly. When an operator operates the clamping mechanism 4 to drive the light reflection sliding block 3 to move, the distance between the light reflection sliding block 3 and the photoelectric sensor chip changes, and at the moment, the second signal can indicate the relative position change of the photoelectric sensor chip and the light reflection sliding block 3. And then the second signal is sent to a control system of the surgical robot through a preposed voltage amplifying circuit. And the control system is configured to control the change in angle of the slave end effector, e.g., a surgical implement such as a surgical clamp, based on the position change information contained in the second signal when the second signal is received.

In particular, the control system may obtain the relative distance between the photosensor chip and the light-reflecting slider 3 by processing the second signal. Further, the control system is configured to disconnect the circuit board of the photoelectric position sensor 1 when the relative distance between the photoelectric sensor chip and the light reflection slider 3 is greater than a preset value stored in the control system or set by user input, thereby cutting off the control of the master hand gripping mechanism on the slave end actuator.

Preferably, the control system is also electrically connected to a safety switch 7 of the teleoperated master hand gripping mechanism. In the working state, namely, the master hand clamping mechanism is operated to perform teleoperation on the slave end execution mechanism through teleoperation, when an operator triggers the safety switch 7, the control system is detected to interrupt the working state when the operator triggers the safety switch 7 in the working state, namely, the master hand clamping mechanism disconnects the teleoperation on the slave end execution mechanism.

While particular embodiments of the present invention have been illustrated and described, it would be obvious to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the invention. It is therefore intended to cover in the appended claims all such changes and modifications that are within the scope of this invention.

Claims

1. A teleoperation owner's hand fixture, its characterized in that includes: a main hand housing (6), a clamping mechanism (4), a linkage mechanism and a non-contact sensor assembly, wherein

The link mechanism is positioned in the main hand shell (6);

the clamping mechanism (4) comprises a clamping part and a connecting part which are connected with each other, the joint of the clamping part and the connecting part is hinged with the main hand shell (6), the connecting part of the clamping mechanism (4) is hinged with one end of the connecting rod mechanism, and the other end of the connecting rod mechanism is a moving end;

the non-contact sensor assembly comprises non-contact sensors and sensor sensing pieces which are arranged at intervals, the non-contact sensors are fixedly arranged in the main hand shell (6), and the sensor sensing pieces are positioned in the main hand shell (6) and connected with the moving end of the connecting rod mechanism;

the clamping portion extends towards the outer direction of the main hand shell (6), and the connecting portion extends towards the inner direction of the main hand shell (6).

2. Teleoperated main hand clamping mechanism according to claim 1, wherein the clamping mechanism (4) comprises a first and a second clamping mechanism arranged on both sides of the main hand housing (6), the first and the second clamping mechanism being hinged to the main hand housing (6) at a first and a second centre of rotation, respectively, the first and the second centre of rotation being arranged at a distance;

the link mechanism comprises a third link (53) and a fourth link (54);

one end of the third connecting rod (53) is hinged with the connecting part (52) of the second clamping mechanism, and one end of the fourth connecting rod (54) is hinged with the connecting part (51) of the first clamping mechanism;

the other ends of the third link (53) and the fourth link (54) are hinged to each other to form the moving end.

3. Teleoperated main hand clamping mechanism according to claim 2, wherein the first and second clamping mechanism are symmetrically arranged along the centre line of the main hand housing (6);

the moving end of the connecting rod mechanism is positioned on the central line of the main hand shell (6), and the clamping mechanism (4) drives the sensor sensing piece to be close to or far away from the non-contact sensor along the direction of the central line of the main hand shell (6) when rotating.

4. The teleoperational master hand clamping mechanism of claim 2,

the length of the connecting portion of the first clamping mechanism and the length of the connecting portion of the second clamping mechanism are both larger than the distance between the first rotating center and the distance between the second rotating center and the center line of the main hand shell, and the connecting portions of the first clamping mechanism and the connecting portions of the second clamping mechanism are distributed in a crossed mode and hinged to one ends of the fourth connecting rod (54) and the third connecting rod (53) respectively to form a first hinge point and a second hinge point.

5. The teleoperational master hand clamping mechanism of claim 2,

the length of the connecting portion of the first clamping mechanism and the length of the connecting portion of the second clamping mechanism are smaller than the distance between the first rotating center and the second rotating center and the center line of the main hand shell, the connecting portion of the first clamping mechanism and one end of the connecting portion of the second clamping mechanism are arranged at intervals, and one end of the first connecting portion and one end of the second connecting portion are hinged to one end of the fourth connecting rod (54) and one end of the third connecting rod (53) respectively to form a first hinge point and a second hinge point.

6. The teleoperational master hand clamping mechanism of claim 2,

the connecting rod mechanism further comprises an elastic piece (55), and two ends of the elastic piece (55) are respectively connected with the connecting part of the first clamping mechanism and the connecting part of the second clamping mechanism;

preferably, the elastic member (55) is a tension spring.

7. The teleoperational master hand clamping mechanism of claim 1, wherein the non-contact sensor assembly is selected from an optoelectronic position sensor assembly or an electromagnetic sensor assembly;

preferably, the non-contact sensor assembly is an optoelectronic position sensor assembly.

8. Teleoperated master hand clamping mechanism according to claim 7, wherein the non-contact sensor assembly is the electro-optical position sensor assembly, the non-contact sensor is an electro-optical sensor (1), the sensor is an electro-optical sensor, the electro-optical position sensor assembly further comprises an optical signal stop (2), wherein

The photoelectric sensor (1) is spaced apart from the distal end of the linkage; the optical signal stop block (2) is fixedly arranged in the main hand shell (6) and is positioned between the photoelectric sensor (1) and the photoelectric sensor sensing piece;

the optical signal block (2) is provided with at least one transmission channel which is set to pass through an optical signal emitted by the photoelectric sensor;

preferably, the photosensor (1) comprises at least one reflective photosensor chip arranged to emit the light signal.

9. The teleoperational master hand clamping mechanism of claim 8,

the photoelectric sensor sensing piece is a light reflection sliding block (3), and the light reflection sliding block (3) is arranged to reflect the light signal.

10. Teleoperated master hand clamping mechanism according to claim 8, characterized in that the light signal block (2) is made of an elastic material.

11. The teleoperational master hand clamping mechanism according to claim 8, further comprising a slider guide fixedly disposed within the mounting portion (61) and on which the sensor sensing member is slidably disposed;

preferably, the contact surfaces of the slider guide and the sensor sensing member are adapted to each other; more preferably, the slider guide is provided with a sliding groove adapted to the shape of the contact surface of the sensor, and the link mechanism drives the sensor to slide along the sliding groove.

12. Teleoperated main hand clamping mechanism according to claim 1, further comprising a safety switch (7) arranged on the mounting portion (61), the safety switch (7) being arranged to be triggered by an action of an operator;

preferably, the safety switch (7) may be one of a push-button switch or a human body detection type trigger switch or a toggle switch.

13. Teleoperated master hand clamping mechanism according to claim 2, wherein the clamping portion of the first clamping mechanism and the clamping portion of the second clamping mechanism are cambered at the end facing away from the mounting portion (61); preferably, the clamping ends of the clamping parts of the first clamping mechanism and the second clamping mechanism are further provided with finger sleeves, and more preferably, the finger sleeves are made of elastic materials.

14. A surgical robotic system comprising a control system, a teleoperated master hand gripping mechanism according to any of claims 1-13 and a slave end actuator, wherein

The control system is electrically connected with the non-contact sensor of the teleoperation main hand clamping mechanism;

the clamping part of the clamping mechanism (4) is close to or far from the main hand shell (6) to rotate, the moving end of the link mechanism is driven to move, the sensor sensing piece generates a first signal related to displacement change along with the fact that the moving end of the link mechanism is close to or far from the non-contact sensor, and the non-contact sensor receives the first signal, converts the first signal into a second signal related to position change and sends the second signal to the control system;

the control system is configured to control the operation of the slave end actuator according to position change information contained in the second signal when receiving the second signal transmitted from the non-contact sensor.

15. The surgical robotic system of claim 14,

the control system is configured to obtain a relative distance between the non-contact sensor and the sensor by processing the second signal; and the control system is configured to disconnect the contactless sensor when the relative distance between the contactless sensor and the sensor is greater than a preset value stored in the control system or set by user input, thereby disconnecting the control of the teleoperated master hand gripping mechanism over the slave end actuator;

alternatively, the control system is configured to be electrically connectable to a safety switch of the teleoperated master hand gripping mechanism, and the control system is configured to interrupt the operating state upon detecting that an operator triggers the safety switch in the operating state, the operating state being configured to perform teleoperation of the slave end actuator by the teleoperated master hand gripping mechanism.