CN116211456B - Surgical instrument control handle - Google Patents
Surgical instrument control handle Download PDFInfo
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- CN116211456B CN116211456B CN202310172494.0A CN202310172494A CN116211456B CN 116211456 B CN116211456 B CN 116211456B CN 202310172494 A CN202310172494 A CN 202310172494A CN 116211456 B CN116211456 B CN 116211456B
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- 210000003811 finger Anatomy 0.000 claims abstract description 67
- 210000003813 thumb Anatomy 0.000 claims abstract description 21
- 238000013016 damping Methods 0.000 claims abstract description 18
- 238000003825 pressing Methods 0.000 claims abstract description 13
- 230000006698 induction Effects 0.000 claims abstract description 10
- 241000282376 Panthera tigris Species 0.000 claims abstract description 7
- 230000008859 change Effects 0.000 claims abstract description 5
- 210000000707 wrist Anatomy 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 7
- 230000007717 exclusion Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 4
- 239000000084 colloidal system Substances 0.000 description 3
- 210000004247 hand Anatomy 0.000 description 3
- 230000001580 bacterial effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000005415 magnetization Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000035484 reaction time Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to the technical field of medical instruments, in particular to a surgical instrument control handle which is used for realizing single-hand operation, and comprises a control board connected inside a shell, wherein the shell is provided with a first side face, a second side face, a third side face and a fourth side face which are sequentially connected end to end; the first side surface is provided with a key connected with the control panel and used for switching control signals sent by the control handle by pressing the key by an index finger or a middle finger; the second side surface is provided with a double-arc-shaped groove and is provided with a finger clamping plate, and the index finger and the middle finger are limited in the double-arc-shaped groove of the second side surface through the finger clamping plate to prevent slipping; the third side surface is provided with a damping sleeve, and the control handle is held by the damping sleeve by accommodating the thumb and abutting the tiger mouth area between the thumb and the index finger with the third side surface; the fourth side is provided with an operating handle, the operating handle is movably connected with the shell, and in a holding state of the operating handle, the operating handle is pressed down by a thumb, and a control signal is generated by driving the first magnet inside to change the angle with the magnetic induction chip on the control board.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a surgical instrument control handle.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The control part and the execution part of the operation robot are generally divided into a split type structure of two devices or an integrated structure, although the integrated operation robot is electrically controlled, the components of the control part and the execution part are positioned in one shell or one unit, and an operator is required to be always positioned at a fixed position of the operation end of the operation robot to execute the operation, so that on one hand, the movement accuracy of the execution part is difficult to ensure due to the difference of the movement strokes of the control part and the execution part; on the other hand, the operator is easy to be tired when the operator is fixed in position and operates for a long time. The control end of the split robot is mainly a floor device, so that the split robot is large in weight and not easy to move. Meanwhile, the split type robot is difficult to sterilize before leaving the factory due to large volume, and a sterile cover sheet is required to cover in the actual use process, so that doctors are prevented from contacting with a bacterial environment or being away from an operation area to be isolated, and the operation efficiency is prevented from being influenced.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides the surgical instrument control handle, which uses micro components such as a gyroscope, an accelerometer, a magnetometer and the like as a control end and integrates the micro components into a shell of a quasi-hand design, forms single-hand control by using the rotation of the handle and the matching of keys, and simultaneously adds an disabling key design, so that a control signal sent out by the handle in the movement process is controlled to be on-off through the disabling key, thereby not only helping an operator save physical strength, but also avoiding accidents during operation.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a first aspect of the present invention provides a surgical instrument manipulation handle comprising a control panel connected inside a housing having a first side, a second side, a third side and a fourth side connected end to end in sequence;
the first side surface is provided with a key connected with the control panel and used for switching control signals sent by the control handle by pressing the key by an index finger or a middle finger; the second side surface is provided with a double-arc-shaped groove and is provided with a finger clamping plate, and the index finger and the middle finger are limited in the double-arc-shaped groove of the second side surface through the finger clamping plate to prevent slipping; the third side surface is provided with a damping sleeve, and the control handle is held by the damping sleeve by accommodating the thumb and abutting the tiger mouth area between the thumb and the index finger with the third side surface; the fourth side is provided with an operating handle, the operating handle is movably connected with the shell, and in a holding state of the operating handle, the operating handle is pressed down by a thumb, and a control signal is generated by driving the first magnet inside to change the angle with the magnetic induction chip on the control board.
The control panel is connected with the gyroscope, the accelerometer and the magnetometer.
The casing includes casing upper cover and casing lower cover that structural dimension corresponds, and the control panel is connected at casing lower cover internal surface, and switch swing joint is at the upper surface of casing upper cover and corresponds the control handle switch on the control panel, through the power break-make of switch control handle.
The key corresponds to an disabling key switch on the control panel, and the control panel is started or cut off to send out a control signal by pressing and lifting the key.
The finger clamping plate is fixed on the lower cover of the shell through a fastener and comprises a supporting rib and a clamping plate which are arranged in a T shape, one end of the supporting rib is positioned at the center line of the double-arc-shaped groove on the second side surface, and the other end of the supporting rib is connected with the middle part of the arc-shaped clamping plate; the two arc central lines of the double arc grooves are symmetrical and face to the middle part of the inner side of the second side surface, and a space for accommodating the index finger and the middle finger is formed on the second side surface through the double arc grooves of the second side surface and the arc clamping plates.
One end of the operating handle is sleeved on a rotating shaft in the lower cover of the shell and is movably connected with the rotating shaft, the region of the operating handle sleeved on the rotating shaft is connected with a first magnet, and the first magnet corresponds to the magnetic induction chip on the control board in position.
When the operating handle is pressed down, the rotating shaft rotates to enable the other end of the operating handle to be close to the fourth side face, and a second magnet is arranged at a position corresponding to the fourth side face and the operating handle.
The second magnets are arranged in pairs with the same polarity, and the operation handle is reset after being pressed by the mutual exclusion of the same polarity of the paired magnets.
In a second aspect, the present invention provides a surgical instrument comprising an actuator and a steering handle as described above, the steering handle being communicatively coupled to the actuator, the actuator effecting bending, rotation and pinching actions by receiving signals transmitted by the steering handle.
Compared with the prior art, the above technical scheme has the following beneficial effects:
1. the operation handle realizes single-hand holding operation, after the handle is held, the wrist control handle acquires a triaxial rotation angle value through the gyroscope, the accelerometer and the magnetometer when rotating, and the triaxial rotation angle corresponds to the bending, rotating and other actions of the tail end of the surgical instrument; the signal generated by pressing the operating handle with the thumb is processed by the control board to realize the clamping action of the control instrument.
2. The finger-fitting design is that the index finger and the middle finger form a containing channel through the double arc-shaped grooves on the second side surface, and the supporting rib of the finger clamping plate is matched with the outline of the finger condyle to form an anti-slip design of the handle, so that slipping is avoided; the third side surface and the fourth side surface form a tiger mouth clamping, and the thumb operates the clamping, so that the operating handle is prevented from being out of hand due to accidents in the operation process.
3. The operator needs to wear gloves in the operation process, the holding feeling needs to be increased, so that the slip and hand-off probability in the use process is reduced, the extrusion deformation of the damping sleeve is beneficial to delaying the hand-off time through the damping sleeve in emergency, and the reaction time is reserved for the operator.
4. The design of the disabling key, the key controlled by the index finger or the middle finger on the first side corresponds to the disabling signal control on the control panel, the signal feedback transmission is realized by pressing the key, when the wrist moves to the limit position, the disabling key is disconnected by pressing the key, so that the operating handle does not send control signals to the surgical instrument any more, the disabling key is pressed down again after the wrist resets, the operation of the surgical instrument is continued to reach the required position, the position of the surgical instrument can be controlled by an operator in a limited wrist movement stroke more accurately, the physical consumption of the operator is also saved, the disabling key can be disconnected rapidly when the emergency exists, and the surgical accident caused by misoperation is avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
FIGS. 1 and 2 are schematic views of the overall structure of a surgical instrument handle provided in accordance with one or more embodiments of the present invention;
FIGS. 3 and 4 are schematic views of an exploded view of a surgical instrument handle according to one or more embodiments of the present invention;
FIG. 5 is a schematic view of a structure for implementing handle restraint in a lower cover of a surgical instrument manipulation handle provided by one or more embodiments of the present invention;
FIG. 6 is a schematic view of a surgical instrument handle with an operating handle having a magnet rotated about a control plate to effect clamping control of the instrument according to one or more embodiments of the present invention;
FIG. 7 (a) is a schematic view of a surgical instrument handle in a gripping configuration provided in accordance with one or more embodiments of the present invention;
FIGS. 7 (b) -7 (d) are schematic views illustrating a structure of a surgical instrument handle according to one or more embodiments of the present invention for achieving finger restraint in a holding state;
FIGS. 8-10 are schematic illustrations of a configuration for controlling a surgical instrument to achieve different angular movements and clamping using a surgical instrument manipulation handle in accordance with one or more embodiments of the present invention, respectively;
in the figure: 1 upper cover of the shell, 2 lower cover of the shell, 3 operation handle, 4 first magnet, 5 second magnet, 6 finger splint, 7 button, 8 bolt, 9 control panel, 10 switch, 11 damping cover, 101 first side, 102 second side, 103 third side.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As described in the background art, although the integrated surgical robot is electrically controlled, the components of the control part and the execution part are all in one housing or one unit, and the operator is required to be always located at a fixed position of the operation end of the surgical robot to perform the operation, and the operation is easy to be tired for a long time. The control end of the split robot is mainly floor equipment, is heavy and not easy to move, and is fixed in position. Meanwhile, the split type robot is difficult to sterilize before leaving the factory due to large volume, and a sterile cover sheet is required to cover in the actual use process, so that doctors are prevented from contacting with a bacterial environment or being away from an operation area to be isolated, and the operation efficiency is prevented from being influenced.
Therefore, the following embodiment provides a surgical instrument control handle, which uses micro components such as a gyroscope, an accelerometer, a magnetometer and the like as a control end and integrates the micro components into a shell of a quasi-hand design, uses the rotation of the handle and the cooperation of keys to form single-hand control, and simultaneously adds an disabling key design, so that a control signal sent by the handle in the movement process is controlled to be on-off through the disabling key, thereby helping an operator to recover physical strength and avoiding accidents during the operation. Thereby separating the control handle and the operation table, and reducing the space occupied by operation equipment in an operating room. The handle and the operation panel of the prior art are integrated, and the operation is realized by setting parameters through keys on the operation panel, but the operation panel of the mode has large volume, cannot be wholly sterilized, cannot be close to a sterile area, and needs to occupy a large amount of preoperative preparation time for isolation. The split handle can sterilize, is a handheld sterilization device, has no limit on the operation position and is not affected.
Embodiment one:
as shown in fig. 1-2, a surgical instrument control handle includes a control board 9 connected inside a housing having a first side 101, a second side 102, a third side 103, and a fourth side connected end to end in sequence;
the first side 101 is provided with a key 7 connected with the control panel 9, and is used for switching control signals sent by the surgical instrument which is operated by the handle through pressing the key 7 by the index finger or the middle finger; the second side 102 is provided with a double arc-shaped groove and is provided with a finger splint 6, and the index finger and the middle finger are limited in the groove of the second side 102 through the finger splint 6 to prevent the separation; the third side surface 103 is provided with a damping sleeve 11, and the damping sleeve 11 is used for accommodating the thumb and enabling the tiger mouth area between the thumb and the index finger to be abutted against the third side surface 103 so as to realize holding; the fourth side is provided with an operating handle 3, the operating handle 3 is movably connected with the shell, the operating handle 3 is pressed by a thumb to change the angle with the magnetic induction chip on the control board 9 through driving the first magnet 4 inside, and a control signal is generated.
The control panel 9 is connected with the gyroscope, the accelerometer and the magnetometer, and realizes the bending and rotation control of the instrument in all directions through swinging at different angles. And the gyroscope and the accelerometer feed back signals to obtain the information of the movement direction, the speed and the angle of the control handle relative to the initial position, the information is sent to the instrument to realize the control of the instrument, and the magnetometer is used for checking the positioning direction.
As shown in fig. 3-6, the casing includes a casing upper cover 1 and a casing lower cover 2 with corresponding structural dimensions, a control board 9 is fixed on the inner surface of the casing lower cover 2 through a bolt 8, a switch 10 is movably connected on the upper surface of the casing upper cover 1 and corresponds to a handle power switch on the control board 9, and the casing upper cover 1 is limited to slide, and the power on-off of the handle is controlled through the switch 10.
The key 7 corresponds to a disabled key switch on the control board 9 and is limited by the upper cover and the lower cover, and the control signal sent by the control board 8 to the surgical instrument (refer to the end effector of the surgical instrument) is started/cut off by pressing and lifting the key 7.
The finger clamping plate 6 is fixed on the lower cover 2 of the shell through a bolt 8, the finger clamping plate 6 comprises a supporting rib and a clamping plate which are arranged in a T shape, one end of the supporting rib is positioned at the center line of the double arc-shaped groove of the second side surface 102, and the other end of the supporting rib is connected with the middle part of the arc-shaped clamping plate; the two arc center lines of the double arc grooves are symmetrical and face the middle part of the inner side of the second side surface 102; a space for accommodating the index finger and the middle finger is formed on the second side 102 by the double arc-shaped groove of the second side 102 and the arc-shaped clamping plate.
One end of the operating handle 3 is sleeved on a rotating shaft inside the lower cover 2 of the shell and is movably connected with the rotating shaft, the region of the operating handle 3 sleeved on the rotating shaft is connected with the first magnet 4, and the first magnet 4 corresponds to the magnetic induction chip on the control board 9 in position.
When the operating handle 3 is pressed down, the other end of the operating handle 3 is made to be close to the fourth side face by rotating around the rotating shaft, the second magnet 5 is arranged at the position corresponding to the fourth side face and the operating handle 3, as shown in fig. 5, the second magnets 5 are arranged in pairs with the same polarity, and the operating handle 3 is reset after being pressed down by the mutual exclusion of the same polarity of the pairs of magnets.
As shown in fig. 6, the first magnet 4 is driven to rotate around the magnetic induction chip of the control board 9 when the operation handle 3 rotates around the rotation shaft, so that the control board can detect the rotation angle of the operation handle 3 through the magnetic induction chip, thereby being used for controlling the instrument clamp.
In this embodiment, the first magnet 4 may be a radial magnet, that is, the magnetic field direction is radial. Taking a cylindrical magnet as an example, the N, S poles of the radial magnet respectively form two semi-cylinders, so that the direction of the poles is the diameter direction of the cylinder. And the axial magnet is arranged coaxially with the N, S small cylindrical magnetic poles.
The radial and axial magnets are dependent on the direction of magnetization at the time of manufacture, in this embodiment, the radial magnetization magnets change the direction of the magnetic field when spinning about an axis on the housing, and the changing magnetic field position signal is obtained by the magnetic induction chip and converted into an angular position signal for instrument control.
In this embodiment, the operation handle 3 realizes limited rotation through the protrusions correspondingly arranged on the inner surfaces of the upper cover 1 and the lower cover 2 of the shell, or the rotation angle is limited by the ribs on the inner surface of the lower cover 2 of the shell.
The housing formed by connecting the housing upper cover 1 and the housing lower cover 2 forms a handle with an anti-drop function, as shown in fig. 7 (a), wherein the index finger and the middle finger are positioned on the second side 102 of the housing and sandwich the finger clamping plate 6, the tip of the index finger or the middle finger is positioned on the first side 101 to press the key 7, the thumb passes through the damping sleeve 11 to enable the tiger mouth area to be positioned on the third side 103, and the operating handle 3 positioned on the fourth side is controlled by the thumb.
As shown in fig. 7 (b), the damping sleeve 11 is a flexible material and is internally filled with a viscous colloid, deformation can be caused by extrusion, when the thumb joint is embedded into a hole of the damping sleeve 11, the damping sleeve 11 is pressed and deformed by finger joint pressing force, the filled colloid is limited by the upper shell and the lower shell to expand in volume as shown in the figure, the rear joint of the thumb is locked, when the finger needs to be taken out, only force is needed to apply, the colloid in the damping sleeve 11 is stressed and deformed, and the damping sleeve is slowly pulled out, and the locking mode is favorable for delaying by the damping sleeve 11 and reserving the reaction time for an operator in emergency situations, such as when the handle is impacted and is about to be taken out of hands.
As shown in fig. 7 (c), the cross section of the supporting rib of the finger splint 6 is a cambered surface on both sides, and the supporting rib is attached to the outline of the finger condyle to form an anti-skid design of the handle.
As shown in fig. 7 (d), the double-arc groove of the second side 102 is a double-arc inner ball groove, when the index finger and the middle finger are held, the index finger and the middle finger are close to each other and are attached more tightly due to the influence of the gradient curved surface of the double-arc track, so that the index finger and the middle finger clamp 6 support ribs are clamped by the index finger and the middle finger, and the operation handle is prevented from sliding relatively.
The operating handle with the structure realizes single-hand holding operation, as shown in fig. 8-10, after the handle is held, when the wrist control handle rotates, the gyroscope is matched with the accelerometer and the magnetometer to acquire the value of the triaxial rotation angle, and the triaxial rotation angle corresponds to the bending, rotating and other actions of the tail end of the surgical instrument; by pressing the operating handle 3 with the thumb, the generated signal is processed by the control board 9 to realize the clamping action of the control instrument.
The design of the simulated hand, the design of the index finger and middle finger channels, the slip prevention, the clamping of the tiger mouth and the clamping of the thumb operation simulate the common surgical instrument. During the operation, the hands may be accidentally taken off, and an anti-drop mechanism with the hands is needed. As the doctor needs to wear gloves in the operation process, the holding feeling needs to be increased so as to reduce the slipping and unhooking probability in the use process.
The design of the disabling key, the key 7 controlled by the index finger or the middle finger on the first side 101 corresponds to the disabling signal control on the control board 9, the key 7 is pressed to realize signal feedback transmission, when the wrist movement is limited, the disabling key is pressed to disconnect the operating handle, the operating handle does not send control signals to the surgical instrument any more, the wrist is reset, the instrument state is kept unchanged during the period, the disabling key is pressed again, the operation of the operating instrument is continued to reach the required position, and the control mode can lead the operator to control the position of the instrument more accurately in the limited wrist movement stroke due to inconsistent and larger difference between the movement stroke of the wrist of the operator and the movement stroke of the instrument, saves the physical consumption of the operator, and can quickly disconnect the disabling key when an emergency exists. Avoiding the operation accident caused by misoperation.
Embodiment two:
a surgical instrument comprises an actuating mechanism and the control handle, wherein the control handle is in communication connection with the actuating mechanism, and the actuating mechanism realizes bending, rotating and clamping actions by receiving signals sent by the control handle.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A surgical instrument control handle, characterized by: the control board is connected inside the shell, and the shell is provided with a first side face, a second side face, a third side face and a fourth side face which are sequentially connected end to end;
the first side surface is provided with a key connected with the control panel and used for switching control signals sent by the control handle by pressing the key by an index finger or a middle finger; the second side surface is provided with a double-arc-shaped groove and is provided with a finger clamping plate, and the index finger and the middle finger are limited in the double-arc-shaped groove of the second side surface through the finger clamping plate to prevent slipping; the third side surface is provided with a damping sleeve, and the control handle is held by the damping sleeve by accommodating the thumb and abutting the tiger mouth area between the thumb and the index finger with the third side surface; the fourth side surface is provided with an operating handle which is movably connected with the shell, and in a holding state of the operating handle, the operating handle is pressed down by a thumb, and a control signal is generated by driving the first magnet inside to change the angle with the magnetic induction chip on the control board;
after the handle is held, when the wrist control handle rotates, the gyroscope is matched with the accelerometer and the magnetometer to obtain a triaxial rotation angle value, and the triaxial rotation angle corresponds to the bending and rotation of the tail end of the surgical instrument; the signal generated by pressing the operating handle with the thumb is processed by the control board to realize the clamping action of the control instrument.
2. A surgical instrument manipulation handle according to claim 1, wherein: the control panel is connected with the gyroscope, the accelerometer and the magnetometer.
3. A surgical instrument manipulation handle according to claim 1, wherein: the shell comprises a shell upper cover and a shell lower cover, wherein the shell upper cover and the shell lower cover correspond to each other in structure size, the control panel is connected to the inner surface of the shell lower cover, the switch is movably connected to the upper surface of the shell upper cover and corresponds to the control handle power switch on the control panel, and the power on-off of the control handle is controlled through the switch.
4. A surgical instrument manipulation handle according to claim 1, wherein: the key corresponds to an disabling key switch on the control panel, and the control panel is started or cut off to send out a control signal by pressing and lifting the key.
5. A surgical instrument manipulation handle according to claim 1, wherein: the finger splint is fixed on the lower cover of the shell through the fastener, and the finger splint comprises a supporting rib and a clamping plate which are arranged in a T shape, one end of the supporting rib is positioned at the center line of the double-arc-shaped groove on the second side surface, and the other end of the supporting rib is connected with the middle part of the arc-shaped clamping plate.
6. A surgical instrument manipulation handle according to claim 5, wherein: the two arc central lines of the double arc grooves are symmetrical and face to the middle part of the inner side of the second side surface, and a space for accommodating the index finger and the middle finger is formed on the second side surface through the double arc grooves of the second side surface and the arc clamping plates.
7. A surgical instrument manipulation handle according to claim 1, wherein: one end of the operating handle is sleeved on a rotating shaft in the lower cover of the shell and is movably connected with the rotating shaft, the region of the operating handle sleeved on the rotating shaft is connected with a first magnet, and the first magnet corresponds to the magnetic induction chip on the control board in position.
8. A surgical instrument manipulation handle according to claim 7, wherein: when the operating handle is pressed down, the rotating shaft rotates to enable the other end of the operating handle to be close to the fourth side face, and a second magnet is arranged at a position corresponding to the fourth side face and the operating handle.
9. A surgical instrument manipulation handle according to claim 8, wherein: the second magnets are arranged in pairs with the same polarity, and the operation handle is reset after being pressed by the mutual exclusion of the same polarity of the paired magnets.
10. A surgical instrument comprising an actuator and a steering handle according to any one of claims 1-9, the steering handle being communicatively coupled to the actuator, the actuator effecting bending, rotation and clamping actions by receiving signals transmitted by the steering handle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310172494.0A CN116211456B (en) | 2023-02-22 | 2023-02-22 | Surgical instrument control handle |
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| CN202310172494.0A CN116211456B (en) | 2023-02-22 | 2023-02-22 | Surgical instrument control handle |
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| CN116211456B true CN116211456B (en) | 2023-11-17 |
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| CN114652446A (en) * | 2022-03-23 | 2022-06-24 | 敏捷医疗科技(苏州)有限公司 | Input control device of doctor console and doctor console |
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| US20200275985A1 (en) * | 2017-11-15 | 2020-09-03 | Intuitive Surgical Operations, Inc. | Master control device with multi-finger grip and methods therefor |
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| CN107847284A (en) * | 2015-06-16 | 2018-03-27 | 提坦医疗公司 | For receiving the handheld device of operator's input in robotic surgical system |
| CN113017841A (en) * | 2015-06-16 | 2021-06-25 | 提坦医疗公司 | Handle apparatus for receiving operator input in a robotic surgical system |
| CN205516431U (en) * | 2016-04-11 | 2016-08-31 | 吴取明 | Game paddle is felt to body |
| CN114052925A (en) * | 2022-01-12 | 2022-02-18 | 极限人工智能有限公司 | Handle mechanism, split type operation device and operation robot |
| CN114652446A (en) * | 2022-03-23 | 2022-06-24 | 敏捷医疗科技(苏州)有限公司 | Input control device of doctor console and doctor console |
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