CN115494784B - Master-slave follow-up equipment, control method thereof and handle assembly - Google Patents

Abstract

A master-slave follow-up device, a control method thereof and a handle assembly. The master-slave device comprises: the main control device comprises a handle assembly, wherein the handle assembly comprises a bracket and a handle rotationally connected with the bracket; and the controlled device is in signal connection with the master control device and comprises an actuator, and the actuator can rotate around a first axis. The bracket includes a plurality of rotatable joints, and the actuator rotates about the first axis in response to rotation of the handle relative to the bracket and/or rotation of the plurality of joints. The handle has a first rotational control that controls the actuator to rotate about the first axis.

Description

Master-slave follow-up equipment, control method thereof and handle assembly

Technical Field

At least one embodiment of the present invention relates to a master-slave follow-up apparatus, a control method of the master-slave follow-up apparatus, and a handle assembly.

Background

The master slave device allows a user to operate the master device to control the controlled device. The master control device and the controlled device can be positioned in the same space, and the local control of the master control device on the controlled device is realized. The master control device and the controlled device can be located in different spaces, and the remote control of the master control device on the controlled device is realized.

Currently, master-slave follow-up devices are widely applied to the medical field, so that the reliability and safety of medical operation are improved, and the fatigue strength of doctors is reduced. Davinci xi robot system of american scientific and Versius robot system of CMR scientific in england are the common master slave follow-up devices in medical field, and all can realize the function that the mechanical arm on the master control device controls the medical instrument on the controlled device, but can not make the medical instrument on the controlled device rotate too much angle towards one direction.

Disclosure of Invention

According to an embodiment of the present invention, there is provided a master-slave follow-up apparatus including: the main control device comprises a handle assembly, wherein the handle assembly comprises a bracket and a handle rotationally connected with the bracket; a controlled device in signal communication with the master control device and including an actuator rotatable about a first axis, wherein the cradle includes a plurality of rotatable joints, the actuator rotating about the first axis in response to rotation of the handle relative to the cradle and/or rotation of the plurality of joints; and the handle has a first rotational control that controls the actuator to rotate about the first axis.

For example, the handle assembly further comprises a manual member rotatably coupled to the handle; the handle rotates relative to the bracket about a handle rotation axis, and the manual member and the first rotation controller are spaced apart from each other in a circumferential direction of the handle about the handle rotation axis.

For example, the handle has two of the first rotation controls, the two first rotation controls being oppositely disposed; and the manual member is located between the two first rotation controllers in a circumferential direction of the handle about the handle rotation axis.

For example, the handle has two of the first rotation controls, the two first rotation controls being oppositely disposed; the handle assembly comprises two manual members which are oppositely arranged; the two manual members and the two first rotation controllers are alternately arranged in a circumferential direction of the handle about the handle rotation axis.

For example, the manual member includes a first end and a second end opposite to each other, the first end is rotatably connected with the handle to move the second end to approach or separate from the handle, and the first end of the manual member is farther from the end of the handle connected with the bracket than the second end; the first rotation control does not extend beyond the first and second ends of the manual member in an extension direction of the handle.

For example, the actuator comprises an elongated actuation shaft, the first axis being parallel to a direction of extension of the elongated actuation shaft.

For example, the handle rotates relative to the bracket about a handle rotation axis, which is parallel to the extension direction of the handle.

For example, the actuator is rotatable about a second axis, the actuator is rotatable about a third axis, and the first, second, and third axes are perpendicular to one another; the first rotation control has a first gear, a second gear, and a third gear, the first rotation control controls the actuator to rotate about the first axis when the first rotation control is in the first gear, the first rotation control controls the actuator to rotate about the second axis when the first rotation control is in the second gear, and the first rotation control controls the actuator to rotate about the third axis when the first rotation control is in the third gear.

For example, the actuator is rotatable about a second axis, the actuator is rotatable about a third axis, and the first, second, and third axes are perpendicular to one another; the handle is further provided with a second rotation controller and a third rotation controller, the second rotation controller controls the actuator to rotate around the second axis, and the third rotation controller controls the actuator to rotate around the third axis.

For example, the first rotational control does not control the rotation of the plurality of joints and the rotation of the handle.

For example, the first rotation controller is a switch; the switch is configured to: opening the switch and rotating the actuator about the first axis; closing the switch and stopping the actuator from rotating about the first axis.

For example, the switch has a first open position and a second open position; the switch is configured to: opening the switch to a first open position, the actuator rotating clockwise about the first axis; opening the switch to a second open position, the actuator rotates counterclockwise about the first axis.

For example, the first rotation controller is a rotatable operation knob; the operation knob is configured to: rotating the operating knob, and rotating the actuator around the first axis; and stopping rotating the operating button, and stopping rotating the actuator around the first axis.

For example, the operation knob is further configured to: rotating the operating knob in a first direction, the actuator rotating clockwise about the first axis; operating the knob in a second direction opposite to the first direction, the actuator rotates counterclockwise about the first axis.

For example, the maximum angle that the actuator rotates about the first axis in response to rotation of the handle relative to the bracket and/or rotation of the plurality of joints is less than the maximum angle that the first rotation control controls rotation of the actuator.

For example, the master-slave device is a surgical robot, the master control device is disposed at a doctor end, the controlled device is disposed at a patient end, and the actuator is a surgical instrument.

According to an embodiment of the present invention, there is provided a control method for a master-slave device, including: controlling the handle to rotate relative to the bracket and/or controlling the plurality of joints to rotate such that the actuator rotates about the first axis; and controlling the first rotation controller to rotate the actuator about the first axis.

According to an embodiment of the present invention, there is provided a handle assembly including a bracket and a handle rotatably coupled to the bracket, wherein the bracket includes a plurality of rotatable joints and the handle has a first rotation control.

For example, the first rotation control is a switch or a rotatable operating knob.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly described below, and it is apparent that the drawings in the following description only relate to some embodiments of the present invention and are not limiting on the present invention.

FIG. 1 is a schematic structural diagram of a master-slave follower device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a handle assembly of a master control device in a master-slave device according to an embodiment of the present invention;

FIG. 3 is an enlarged schematic view of area AA of FIG. 2;

FIG. 4 is a schematic structural diagram of a handle, a first rotary controller and a manual member in a master control device of a master-slave device according to an embodiment of the present invention;

fig. 5 is a schematic layout of a first rotary controller and a manual member in a master control apparatus of a master-slave device according to the present common embodiment;

fig. 6 is a schematic layout diagram of a first rotary controller in a master control apparatus of a master slave device according to an embodiment of the present invention;

fig. 7 is a first layout diagram of a first rotation controller, a second rotation controller and a third rotation controller in a master control apparatus of a master-slave device according to an embodiment of the present invention;

fig. 8 is a layout diagram of a first rotation controller, a second rotation controller and a third rotation controller in a master control device of a master-slave device according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a first rotation controller in a master control device of a master-slave device according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without inventive step, are within the scope of protection of the invention.

Unless defined otherwise, technical or 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 use of "first," "second," and similar terms in the description and claims of the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. "inner", "outer", "upper", "lower", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

The drawings in the present application are not necessarily to scale, the exact dimensions and quantities of the various features may be determined according to particular needs. The drawings described in this disclosure are for illustrative purposes only.

Although some of the embodiments described herein often refer to surgical procedures or tools, or medical procedures or tools, the techniques disclosed herein are also applicable to non-medical procedures and non-medical tools. For example, the tools, systems, and methods described herein can be used for non-medical purposes, including industrial uses, general-purpose robotic uses, and sensing or manipulation of non-tissue workpieces.

The master slave device allows a user to operate the master device to control the controlled device. For example, the master control device comprises a handle assembly, the controlled device comprises an actuator, the user manually operates the handle assembly of the master control device, and the actuator on the controlled device correspondingly moves along with the movement position and the movement posture of the handle assembly. However, due to the limited flexibility of the human hand, the handle assembly cannot be rotated too much in one direction, and thus the actuator on the controlled device cannot be rotated too much in one direction, for example, more than 180 degrees, further for example, more than 270 degrees, further for example, more than 360 degrees; this obviously limits the flexibility of the master-slave device. In particular, in the application of master-slave devices to the medical field, it is necessary, in some cases during the surgical procedure, for the surgical instruments used as actuators on the controlled device to be rotated through a particularly large angle in one direction, for example over 180 degrees, further for example over 270 degrees, further for example over 360 degrees, which is not possible with all master slave devices today.

According to the embodiment of the invention, the first rotation controller is arranged, and the actuator on the controlled device can rotate towards one direction by any angle without the limitation of human flexibility according to the actual requirement under the control of the main control device, for example, the actuator can rotate towards one direction by more than 180 degrees, further for example, more than 270 degrees, further for example, more than 360 degrees, so that the flexibility of the main-slave follow-up device is greatly improved.

FIG. 1 is a schematic structural diagram of a master-slave follower device according to an embodiment of the present invention; FIG. 2 is a schematic structural view of a handle assembly of a master control device according to an embodiment of the present invention; FIG. 3 is an enlarged schematic view of area AA of FIG. 2; fig. 4 is a schematic structural diagram of a handle, a first rotary controller and a manual member in a master control device of a master-slave device according to an embodiment of the present invention. Referring to fig. 1 to 4, a master slave device according to an embodiment of the present invention includes a master apparatus 100 and a slave apparatus 200; the master control device 100 comprises a handle assembly 110, wherein the handle assembly 110 comprises a bracket and a handle 112 rotatably connected with the bracket; the controlled device 200 is in signal connection with the master control device 100 and comprises an actuator 210, wherein the actuator 210 can rotate around a first axis A1; the cradle includes a plurality of rotatable joints, and the actuator 210 rotates about the first axis A1 in response to rotation of the handle 112 relative to the cradle and/or rotation of the plurality of joints of the cradle; and the handle 112 has a first rotational control 112C1 that controls the actuator 210 to rotate about a first axis A1.

For example, referring to fig. 1 and 2, the master control device includes a workspace 130 and a crossbar 120, with the handle assembly 110 disposed within the workspace 130. An arm of a user 140 (e.g., a physician) rests on the cross beam 120 to operate the handle assembly 110 disposed in the workspace 130. For example, two handle assemblies 110 with the same structure are arranged in the working space 130 of the master control device, and the two handle assemblies 110 are respectively operated by the left hand and the right hand of the user 140; only one handle assembly 110 is shown in fig. 2, and the other handle assembly 110 is identical in structure to the handle assembly 110 shown in fig. 2 and will not be described again. For example, a viewer (not shown) is also disposed in the working space 130 of the master device, and the user 140 can observe real-time conditions at the controlled device (e.g., real-time surgical conditions at the surgical site) through the viewer and manipulate the handle assembly 110 based on the observation result.

For example, referring to fig. 2 and 4, the rest of the handle assembly 110 in fig. 2 integrally constitutes a bracket of the handle assembly 110, except for the handle 112, the first rotation control 112C1, the hand member 113, and the hand ring 114 shown in fig. 4. As an example, fig. 2 and 3 show that the plurality of joints included in the holder are a joint 111J1, a joint 111J2, a joint 111J3, a joint 111J4, a joint 111J5, and a joint 111J6, respectively; at joint 111J1, at least part of the stand is rotatable about axis S1; at joint 111J2, at least part of the stand is rotatable about axis S2; at joint 111J3, at least part of the stand is rotatable about axis S3; at joint 111J4, at least part of the stand is rotatable about axis S4; at joint 111J5, at least part of the stand is rotatable about axis S5; and at joint 111J6 at least part of the stand is rotatable about axis S6. For example, the handle 112 rotates relative to the bracket about the handle rotation axis S7; the connection location between the handle 112 and the bracket may be referred to as a joint 111J7. Thus, the entire handle assembly 110 has a total of 7 rotatable joints; when the user operates the handle assembly 110, the 7 joints of the handle assembly 110 rotate, the position and the posture of the handle assembly 100 change, and the actuator 210 on the controlled device 200 correspondingly moves along with the change of the position and the posture of the handle assembly 100. It should be noted that when the user operates the handle assembly 110, the 7 joints rotate simultaneously, or one of the 7 joints rotates while the other joint does not rotate.

For example, the controlled device 200 is in signal connection with the main control device 100, the signal connection may be implemented through a wired connection, or may also be implemented through a wireless connection, or through a combination of a wired connection and a wireless connection, and the embodiment of the present invention is not limited. For example, the controlled device 200 is in signal connection with the master control device 100, and includes: the controlled device 200 accepts the instruction of the master control device 100 and performs a corresponding action in response to the instruction; the master device 100 accepts feedback of the controlled device 200 and determines the next instruction based on the feedback. For example, the controlled device 200 includes an arm assembly on which the actuator 210 is mounted. For example, the actuator 210 may be any tool capable of performing a function, such as a stapler, a clip applier, a bipolar electrosurgical blade, an ultrasonic blade, or the like. As an example, 4 actuators 210 are shown in fig. 1; however, embodiments of the present invention do not limit the number of actuators 210.

For example, in response to rotation of handle 112 relative to the bracket and/or rotation of multiple joints of the bracket, actuator 210 rotates about first axis A1; that is, in response to 7 joint rotations of the handle assembly 110 as described above, the actuator 210 rotates about the first axis A1. In this case, the actuator 210 may be caused to rotate around the first axis A1 by rotation of 1 joint out of the 7 joints, the actuator 210 may be caused to rotate around the first axis A1 by rotation of a part of the 7 joints, and the actuator 210 may be caused to rotate around the first axis A1 by rotation of all of the 7 joints, which is not limited in this embodiment of the present invention.

For example, the first rotation controller 112C1 controls the actuator 210 to rotate about the first axis A1; that is, in the present embodiment, in addition to the 7-joint rotation of the handle assembly 112 causing the actuator 210 to rotate about the first axis A1 as described above, a first rotation controller 112C1 is provided to exclusively control the rotation of the actuator 210 about the first axis A1, thereby increasing the flexibility of the master-slave follower device. The first rotation controller 112C1 can control the actuator 210 to rotate in one direction by any angle around the first axis A1 without limitation of human flexibility. For example, the actuator 210 may be rotated in one direction about the first axis A1 by more than 180 degrees, further for example more than 270 degrees, further for example more than 360 degrees, under the control of the first rotation controller 112C1, thereby greatly improving the flexibility of the master-slave follower device. For example, the first rotation controller 112C1 may be a switch or an operation button as will be described below, and a single finger of the user 140 performs a toggle or rotation or pressing motion to operate the switch or the operation button, which is simple and convenient. For example, in actual operation, with the user 140 closing or not rotating or pressing the first rotary control 112C1, the user 140 operates the handle assembly 110 such that the actuator 210 rotates about the first axis A1 in response to rotation of the handle 112 relative to the bracket and/or rotation of the plurality of joints of the bracket; alternatively, the user 140 holds the handle 112 stationary and the various joints of the stent stationary, and the user 140 either opens or rotates or presses the first rotational control 112C1 such that the actuator 210 rotates about the first axis A1 under the control of the first rotational control 112C1.

For example, referring to fig. 2, 3 and 4, in a master-slave follower apparatus according to an embodiment of the present invention, the handle assembly 110 further includes a manual member 113 rotatably connected to the handle 112; the handle 112 is rotated relative to the bracket about the handle rotation axis S7, and the manual member 113 and the first rotation controller 112C1 are spaced apart from each other in the circumferential direction of the handle 112 about the handle rotation axis S7. For example, the manual member 113 is a member that the finger of the user 140 directly contacts. For example, a hand ring 114 is further provided near the second end 113E2 of the manual member 113 for fixing the finger of the user 140. For example, the handle assembly 110 includes two manual members 113 as described above. For example, in actual operation, the thumb of the user 140 is inserted into the left hand ring 114 and controls the left hand member 113, the middle finger of the user 140 is inserted into the right hand ring 114 and controls the right hand member 113, and other fingers of the user 140, such as the index finger, can flexibly and conveniently control the first rotation controller 112C1. By disposing the manual member 113 and the first rotation controller 112C1 to be spaced apart from each other in the circumferential direction of the handle 112 about the handle rotation axis S7, it is possible to facilitate the user 140 to manipulate the manual member 113 and the first rotation controller 112C1 with different fingers. It should be noted that the position and posture of the other fingers of the user 140 and the wrist can be kept unchanged during the process of the other fingers of the user 140, such as the index finger, flexibly and conveniently controlling the first rotary controller 112C1; that is, the user 140 is not limited by the flexibility of the human hand in manipulating the first rotary controller 112C1.

In fig. 2, 3 and 4, a first rotation controller 112C1 is shown; however, embodiments of the invention are not limited thereto. Fig. 5 is a schematic layout of the first rotation controller and the manual component in the master control apparatus of the master-slave device according to the present common embodiment. In the perspective of fig. 5, the handle rotation axis S7 is perpendicular to the paper. Referring to fig. 5, for example, the handle 112 has two first rotation controllers 112C1, and the two first rotation controllers 112C1 are oppositely disposed; and the manual member 113 is located between the two first rotation controllers 112C1 in the circumferential direction of the handle 112 about the handle rotation axis S7. Since the handle 112 is rotatable about the handle rotation axis S7, in order for the user to conveniently operate the first rotation controller 112C1 no matter what angle the handle 112 is rotated, the embodiment of the present invention provides two first rotation controllers 112C1 for the user 140 to select for use. For example, in actual practice, the user 140 may select the most handy one of the first rotation controllers 112C1 to use according to the rotation angle of the handle 112, and the user 140 may replace the used first rotation controller 112C1 according to a change in the rotation angle of the handle 112. The two first rotation controllers 112C1 are oppositely arranged for the user 140 to choose to use; if the two first rotation controllers 112C1 are not disposed opposite to each other but disposed closer to each other, the user 140 has a limited space for selection, losing the meaning of disposing the two first rotation controllers 112C1. The manual member 113 is located between the two first rotation controllers 112C1 in the circumferential direction of the handle 112 about the handle rotation axis S7, facilitating the user 140 to manipulate the first rotation controllers 112C1 and the manual member 113 with different fingers. Since the two first rotation controllers 112C1 have the same function (i.e., control the actuator 210 to rotate about the first axis A1), the user 140 may select one first rotation controller 112C1 to use at the same time. It should be noted that fig. 5 is a schematic layout diagram of the first rotation controller 112C1 and the manual member 113, and fig. 4 can be referred to for specific structures of the first rotation controller 112C1 and the manual member 113.

For example, referring to fig. 5, the handle 112 has two first rotation controllers 112C1, the two first rotation controllers 112C1 being disposed opposite to each other; the handle assembly 110 includes two hand members 113, the two hand members 113 being disposed opposite to each other; in the circumferential direction of the handle 112 about the handle rotation axis S7, two manual members 113 and two first rotation controllers 112C1 are alternately arranged. By arranging the two first rotation controllers 112C1 and the two manual members 113 as described above, the manipulation by the user 140 is very convenient.

For example, referring to fig. 4, the manual member 113 includes a first end 113E1 and a second end 113E2 opposite to each other, the first end 113E1 is rotatably connected to the handle 112 to move the second end 113E2 closer to or away from the handle 112, and the first end 113E1 of the manual member 113 is farther from the end of the handle 112 connected to the bracket than the second end 113E 2; in the extending direction of the handle 112, the first rotation controller 112C1 does not go beyond the first end 113E1 and the second end 113E2 of the manual member 113. For example, when the user 140 presses the hand member 113 with his/her finger, the first end 113E1 of the hand member 113 is rotated inward relative to the handle 112, and the second end 113E2 of the hand member 113 is brought close to the handle 112; the finger of the user 140 pulls the manual member 113 outward through the hand ring 114, the first end 113E1 of the manual member 113 rotates outward relative to the handle 112, and the second end 113E2 of the manual member 113 is away from the handle 112. For example, in actual operation, the thumb of the user 140 is inserted into the left hand ring 114 and controls the left hand member 113, the middle finger of the user 140 is inserted into the right hand ring 114 and controls the right hand member 113, and the other fingers of the user 140, such as the index finger, control the first rotation controller 112C1; in this case, by disposing the first rotation controller 112C1 not to exceed the first end 113E1 and the second end 113E2 of the manual member 113 in the extending direction of the handle 112, it is possible to avoid a situation where other fingers of the user 140, such as the index finger, do not reach the first rotation controller 112C1, which is advantageous for the user 140 to manipulate the first rotation controller 112C1 conveniently and flexibly.

For example, referring to fig. 1, the actuator 210 includes an elongated actuation shaft 210S, and the first axis A1 is parallel to the direction of extension of the elongated actuation shaft 210S. In actual practice, rotation of the actuator 210 about the direction of extension of the elongated actuator shaft 210S (i.e., the first axis A1) is a frequently performed motion, and thus it is necessary to provide the first rotation controller 112C1 to specifically control this motion.

For example, referring to fig. 2, 3 and 4, the handle 112 rotates relative to the bracket about a handle rotation axis S7, the handle rotation axis S7 being parallel to the direction of extension of the handle 112. In this case, the first rotation controller 112C1 and the manual member 113, which are coupled as described above, are arranged at intervals in the circumferential direction around the handle rotation axis S7, which is very convenient for the user 140 to manipulate. For example, referring to fig. 2, 3 and 4, one end of the handle 112 is rotatably coupled to the bracket in the extending direction of the handle 112.

Fig. 6 is a schematic layout diagram of a first rotary controller in a master control apparatus of a master slave device according to an embodiment of the present invention. For example, referring to fig. 1 and 6, actuator 210 is rotatable about a second axis A2, actuator 210 is rotatable about a third axis A3, and first axis A1, second axis A2, and third axis A3 are perpendicular to one another; the first rotation control 112C1 has a first gear G1, a second gear G2 and a third gear G3. The first rotation control 112C1 controls the actuator 210 to rotate about the first axis A1 when the first rotation control 112C1 is in the first gear G1, the first rotation control 112C1 controls the actuator 210 to rotate about the second axis A2 when the first rotation control 112C1 is in the second gear G2, and the first rotation control 112C1 controls the actuator 210 to rotate about the third axis A3 when the first rotation control 112C1 is in the third gear G3. In this way, no matter the actuator 210 rotates around the first axis A1, the second axis A2, or the third axis A3, the actuator can rotate in one direction by any angle under the control of the first rotation controller C1 without the limitation of human flexibility, and the flexibility of the master-slave follow-up device according to the embodiment of the present invention is greatly improved.

Fig. 7 is a first schematic layout diagram of a first rotation controller, a second rotation controller and a third rotation controller in a master control device of a master slave device according to an embodiment of the present invention; fig. 8 is a second layout diagram of the first rotation controller, the second rotation controller and the third rotation controller in the master control device of the master-slave device according to the embodiment of the present invention. Referring to fig. 1, 7 and 8, the actuator 210 is rotatable about a second axis A2, the actuator 210 is rotatable about a third axis A3, and the first axis A1, the second axis A2 and the third axis A3 are perpendicular to each other; the handle 112 also has a second rotation control 112C2 and a third rotation control 112C3, the second rotation control 112C2 controlling the actuator 210 to rotate about the second axis A2, and the third rotation control 112C3 controlling the actuator 210 to rotate about the third axis A3. In this way, no matter the actuator 210 rotates around the first axis A1, the second axis A2, or the third axis A3, the actuator can rotate towards one direction by any angle under the control of the first rotation controller 112C1, the second rotation controller 112C2, or the third rotation controller 112C3 without being limited by the flexibility of human hands, and the flexibility of the master-slave follow-up device according to the embodiment of the present invention is greatly improved. For example, referring to fig. 7, the first rotation controller 112C1, the second rotation controller 112C2, and the third rotation controller 112C3 are aligned along the handle rotation axis S7 (i.e., the extending direction of the handle 112). For example, referring to fig. 8, the first rotation controller 112C1, the second rotation controller 112C2, and the third rotation controller 112C3 are arranged in the circumferential direction of the handle 112 about the handle rotation axis S7; further, for example, the first rotation controller 112C1, the second rotation controller 112C2, the third rotation controller 112C3, and the manual member 113 are uniformly arranged in the circumferential direction of the handle 112 about the handle rotation axis S7 to facilitate manipulation by the user 140. Note that, in the perspective of fig. 8, the handle rotation axis S7 is perpendicular to the paper.

It should be noted that, in the master-slave follow-up apparatus according to the embodiment of the present invention, the first rotation controller 112C1 does not control the rotation of the plurality of joints and the rotation of the handle 112. That is, the joints of the stand and the handle 112 do not change position and attitude as the first rotary control 112C is opened or rotated or depressed.

For example, the first rotation controller 112C1 is a switch; the switch is structured as follows: the switch is opened, and the actuator 210 rotates around the first axis A1; the switch is closed and the actuator 210 stops rotating about the first axis A1. FIGS. 2, 3 and 4 illustrate the first rotation controller 112C1 as a switch, specifically a toggle switch, having a toggle lever 112C1R; however, the embodiment of the present invention is not limited thereto, and the first rotation controller 112C1 may be any type of switch such as a push switch. Further, for example, a switch as the first rotation controller 112C1 has a first open position and a second open position; the switch is structured as follows: turning the switch to the first open position, the actuator 210 rotates clockwise about the first axis A1; turning the switch to the second open position, the actuator 210 rotates counterclockwise about the first axis A1. By the arrangement, the flexibility of the master-slave follow-up device of the embodiment of the invention is further increased. For example, in the case of the toggle switch shown in fig. 2, 3, and 4, the toggle lever 112C1R toggles to the left, the switch opens to a first open gear, and the actuator 210 rotates clockwise about the first axis A1; the shift lever 112C1R shifts to the right, the switch is opened to a second open position, and the actuator 210 rotates counterclockwise around the first axis A1. For the push switch, it may have a structure like a seesaw; pressing one end of the switch, opening the switch to a first opening gear, and rotating the actuator 210 clockwise around a first axis A1; pressing the second end of the switch opens the switch to a second open position and the actuator 210 rotates counterclockwise about the first axis A1. It should be noted that the second rotation controller 112C2 and the third rotation controller 112C3 described above may be switches as described above; for example, the structure of the second rotation controller 112C2 and the third rotation controller 112C3 may refer to the first rotation controller 112C1 of fig. 4.

Fig. 9 is a schematic structural diagram of a first rotation controller in a master control device of a master-slave device according to an embodiment of the present invention. For example, referring to fig. 9, the first rotation controller 112C1 is a rotatable operating knob; the operation knob is configured as follows: rotating the operating knob, the actuator 210 rotates around the first axis A1; the rotation of the operation knob is stopped and the actuator 210 stops rotating about the first axis A1. Further, the operation knob is further configured to: rotating the operating knob in a first direction, the actuator 210 rotates clockwise about the first axis A1; operating the knob in a second direction opposite to the first direction, the actuator 210 rotates counterclockwise about the first axis A1. It should be noted that the second rotation controller 112C2 and the third rotation controller 112C3 described above may also be the operation buttons described above, respectively; for example, the structure of the second rotation controller 112C2 and the third rotation controller 112C3 may refer to the first rotation controller 112C1 of fig. 9.

For example, according to an embodiment of the present invention, the maximum angle that actuator 210 rotates about first axis A1 in response to rotation of handle 112 relative to the bracket and/or rotation of the plurality of joints is less than the maximum angle that first rotation control 112C1 controls the rotation of actuator 210. That is, by providing the first rotation controller 112C1, it is possible to compensate for the disadvantage that the actuator 210 cannot be rotated by a large angle in one direction due to the limitation of the flexibility of human hands. It should be noted that the "maximum angle that the actuator 210 rotates about the first axis A1 in response to rotation of the handle 112 relative to the bracket and/or rotation of the plurality of joints" refers to the maximum angle that the user 140 can achieve with a finger contacting the hand member 113 for one-handed operation of the handle assembly 110.

For example, according to an embodiment of the present invention, the master slave device is a surgical robot, the master control device 100 is disposed at the doctor end, the controlled device 200 is disposed at the patient end, and the actuator 210 is a surgical instrument. In this case, the user 140 is a doctor, the doctor controls the master control device 100, and the surgical instrument on the controlled device 200 performs the operation on the patient under the control of the master control device 100, so that the reliability and the safety of the medical operation are increased, the fatigue strength of the doctor is reduced, and the operation is not limited by space.

According to the embodiment of the invention, the control method of the master-slave follow-up equipment is also provided. The control method comprises the following steps: control handle 112 rotates relative to the support and/or controls articulation of the support such that actuator 210 rotates about first axis A1; and controlling the first rotation controller 112C1 such that the actuator 210 rotates about the first axis A1. Thus, in embodiments of the present invention, in addition to rotation of the handle 112 and/or multiple articulation of the carriage causing rotation of the actuator 210 about the first axis A1, the first rotation control 112C1 is employed to exclusively control rotation of the actuator 210 about the first axis A1, thereby increasing the flexibility of the master-slave follower device. The first rotation controller 112C1 can control the actuator 210 to rotate in one direction by any angle around the first axis A1 without limitation of human flexibility. For example, the actuator 210 may be rotated in one direction about the first axis A1 by more than 180 degrees, further for example more than 270 degrees, further for example more than 360 degrees, under the control of the first rotation controller 112C1, thereby greatly improving the flexibility of the master-slave follower device. For example, at the same time, the user 140 controls either the handle 112 and/or multiple joints of the control stand or the first rotational control 112C1. For example, in actual operation, with the user 140 closing or not rotating or pressing the first rotary control 112C1, the user 140 operates the handle assembly 110 such that the actuator 210 rotates about the first axis A1 in response to rotation of the handle 112 relative to the bracket and/or rotation of the plurality of joints of the bracket; alternatively, the user 140 holds the handle 112 stationary and the various joints of the stent stationary, and the user 140 either opens or rotates or presses the first rotational control 112C1 such that the actuator 210 rotates about the first axis A1 under the control of the first rotational control 112C1.

For example, according to an embodiment of the present invention, there is also provided a handle assembly, namely the handle assembly 110 as described above. The handle assembly 110 includes a bracket including a plurality of rotatable joints and a handle 112 rotatably coupled to the bracket, the handle 112 having a first rotational control 112C1. With respect to the handle assembly 110, the bracket, the handle 112, the plurality of joints, and the first rotation controller 112C1, reference may be made to the above description and no further description is provided herein. By providing the first rotation controller 112C1 in the handle assembly 110, the actuator 210 on the controlled apparatus 200 can rotate in one direction by any angle according to actual needs without limitation of human flexibility, for example, the actuator 210 can rotate in one direction by more than 180 degrees, further by more than 270 degrees, further by more than 360 degrees, thereby greatly improving flexibility of the master-slave follow-up device.

For example, according to an embodiment of the present invention, the first rotation controller 112C1 is a switch or a rotatable operation knob. In the case that the first rotation controller 112C1 is a switch or a rotatable operating knob, please refer to the above description, and will not be described herein again.

For example, according to the embodiment of the present invention, the handle 112 may further have a second rotation controller 112C2 and a third rotation controller 112C3, which are not described herein again with reference to the above description.

The above are exemplary embodiments of the invention only, and are not intended to limit the scope of the invention, which is defined by the appended claims.

Claims (17)

1. A master-slave device comprising:

the main control device comprises a handle assembly, and the handle assembly comprises a bracket and a handle rotationally connected with the bracket;

a controlled device in signal connection with the master control device and including an actuator rotatable about a first axis, wherein,

the bracket including a plurality of rotatable joints, the actuator rotating about the first axis in response to rotation of the handle relative to the bracket and/or rotation of the plurality of joints;

the handle having a first rotation control that controls rotation of the actuator about the first axis such that the handle assembly, in addition to rotation of the handle relative to the bracket and/or rotation of the plurality of joints causing rotation of the actuator about the first axis, exclusively controls rotation of the actuator about the first axis via the first rotation control;

the maximum angle that the actuator rotates about the first axis in response to rotation of the handle relative to the bracket and/or rotation of the plurality of joints is less than the maximum angle that the first rotation control controls the actuator to rotate about the first axis;

the handle assembly further comprises a manual member rotatably connected to the handle; the handle rotates relative to the bracket about a handle rotation axis, and the manual member and the first rotation controller are spaced apart from each other in a circumferential direction of the handle about the handle rotation axis.

2. The master-slave follower device of claim 1, wherein,

the handle is provided with two first rotation controllers which are oppositely arranged; and is

The manual member is located between the two first rotary controls in a circumferential direction of the handle about the handle rotation axis.

3. The master-slave follower device of claim 1, wherein,

the handle is provided with two first rotation controllers which are oppositely arranged;

the handle assembly comprises two manual members which are oppositely arranged;

the two manual members and the two first rotation controllers are alternately arranged in a circumferential direction of the handle about the handle rotation axis.

4. The master-slave follower device of claim 1, wherein,

the manual member comprises a first end and a second end which are opposite to each other, the first end is rotationally connected with the handle to drive the second end to move to be close to or away from the handle, and the first end of the manual member is far away from the end of the handle connected with the bracket than the second end;

the first rotation control does not extend beyond the first and second ends of the manual member in an extension direction of the handle.

5. The master-slave follower device of claim 1, wherein,

the actuator includes an elongated actuation shaft, and the first axis is parallel to a direction of extension of the elongated actuation shaft.

6. The master-slave follower device of claim 1 wherein the handle rotates relative to the bracket about a handle rotation axis parallel to the direction of extension of the handle.

7. Master-slave device according to any of claims 1 to 6,

the actuator is rotatable about a second axis, the actuator is rotatable about a third axis, and the first, second, and third axes are perpendicular to one another;

the first rotation controller has a first gear, a second gear and a third gear, the first rotation controller controls the actuator to rotate about the first axis when the first rotation controller is in the first gear, the first rotation controller controls the actuator to rotate about the second axis when the first rotation controller is in the second gear, and the first rotation controller controls the actuator to rotate about the third axis when the first rotation controller is in the third gear.

8. Master-slave device according to any of claims 1 to 6,

the actuator is rotatable about a second axis, the actuator is rotatable about a third axis, and the first, second, and third axes are perpendicular to one another;

the handle is further provided with a second rotation controller and a third rotation controller, the second rotation controller controls the actuator to rotate around the second axis, and the third rotation controller controls the actuator to rotate around the third axis.

9. The master-slave follower apparatus of any of claims 1-6, wherein the first rotational controller does not control the rotation of the plurality of joints and the rotation of the handle.

10. Master-slave device according to any of claims 1 to 6,

the first rotation controller is a switch;

the switch is configured to: opening the switch and rotating the actuator about the first axis; closing the switch and stopping the actuator from rotating about the first axis.

11. The master-slave follower device of claim 10, wherein,

the switch has a first open gear and a second open gear;

the switch is configured to: opening the switch to a first open gear, the actuator rotating clockwise about the first axis; opening the switch to a second open position, the actuator rotates counterclockwise about the first axis.

12. The master-slave device according to any one of claims 1 to 6, wherein,

the first rotating controller is a rotatable operating button;

the operation knob is configured to: rotating the operating knob, and rotating the actuator around the first axis; and stopping rotating the operating button, and stopping rotating the actuator around the first axis.

13. The master-slave follower device of claim 12, wherein,

the operation knob is further configured to: rotating the operating knob in a first direction, the actuator rotating clockwise about the first axis; the actuator is rotated counterclockwise about the first axis by operating the knob in a second direction opposite to the first direction.

14. The master-slave device according to any of claims 1-6, wherein the master slave device is a surgical robot, the master control device is disposed at a physician end, the controlled device is disposed at a patient end, and the actuator is a surgical instrument.

15. A method of controlling a master slave device according to any one of claims 1 to 14, comprising:

controlling the handle to rotate relative to the bracket and/or controlling the plurality of joints to rotate such that the actuator rotates about the first axis; and

controlling the first rotation controller to rotate the actuator about the first axis.

16. A handle assembly comprising a bracket and a handle rotatably coupled to the bracket, wherein the bracket comprises a plurality of rotatable joints, wherein the handle has a first rotational control, wherein the handle assembly is configured to:

the handle assembly also exclusively controls rotation of the actuator about the first axis via the first rotation control, in addition to rotation of the handle relative to the bracket and/or rotation of the plurality of joints causing rotation of the actuator about the first axis;

the maximum angle that the actuator rotates about a first axis in response to rotation of the handle relative to the bracket and/or rotation of the plurality of joints is less than the maximum angle that the first rotation control controls the actuator to rotate about the first axis; and is

The handle assembly further comprises a manual member rotatably connected to the handle; the handle rotates relative to the bracket about a handle rotation axis, and the manual member and the first rotation controller are spaced apart from each other in a circumferential direction of the handle about the handle rotation axis.

17. The handle assembly of claim 16, wherein the first rotational control is a switch or a rotatable operating knob.

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