CN117017481A - Armrest driving device and surgical robot system - Google Patents

Abstract

The invention provides a handrail driving device and a surgical robot system, wherein the handrail driving device comprises a driving control assembly and a detection assembly; the detection assembly comprises a base, an armrest driving part, a sensor and a buffering damping part; the handrail driving part is movably connected with the base along a preset direction; the sensor is arranged between the handrail driving part and the base and is used for detecting the activity of the handrail driving part relative to the base and obtaining a detection signal; one end of the buffer damping part is connected with the sensor, the other end of the buffer damping part is connected with the handrail driving part and/or the base, and the buffer damping part has preset damping; when the external force born by the handrail driving part along the preset direction is not more than the preset damping, the buffer damping part is used for balancing the external force born by the handrail driving part so as to keep the handrail driving part stationary relative to the base; when the external force applied to the handrail driving part along the preset direction is greater than the preset damping, the handrail driving part overcomes the preset damping and moves relative to the base; the driving control component drives the target object to move.

Description

Armrest driving device and surgical robot system

Technical Field

The invention relates to the technical field of medical equipment, in particular to a handrail driving device and a surgical robot system.

Background

The medical trolley is mainly used for conveying medical equipment, is convenient for the medical equipment to move back and forth, and for the medical equipment with lighter weight, an operator can move by pushing only by hand, however, for the medical equipment with larger volume and weight, the operator is very laborious in the pushing process, so that the existing medical trolley can increase an electric pushing system for the medical equipment with larger weight, thereby assisting the operator in realizing the position movement of the medical equipment.

Most handrail driving systems in the prior art adopt an encoder mode to realize feedback, and the driving mode has higher sensitivity, but has higher requirements on environment and installation, and magnets matched with the handrail driving systems are easy to lose magnetism, so that the handrail driving systems are out of order in the using process; in addition, the anti-false touch function of the handrail driving system in the prior art is weak, if the handrail is touched by accidental factors in the operation process, the whole medical trolley is easy to move, and the risk is high.

In order to overcome the defects, the current technical means mainly control the sensitivity by reducing the resolution of the sensor, so that the practicability is low; and the possibility of false touch is still higher by reducing false touch through a mode of additionally adding a sensor on one side. In addition, the sensor adopted in the prior art has smaller bearing force value and is extremely easy to damage; and the deflection direction of the device is easily confused. In order to improve the reliability, the number of additionally arranged detection devices is too large, so that the reliability of the whole device is poor, and the assembly process is complex.

Disclosure of Invention

The invention aims to provide a handrail driving device and a surgical robot system, which are used for solving the problems of the existing handrail driving system.

In order to solve the above technical problems, the present invention provides an armrest driving device, which includes: a drive control assembly and at least one detection assembly; the detection assembly comprises a base, a handrail driving part, a sensor and a buffering damping part;

the handrail driving part is movably connected with the base along a preset direction; the sensor is arranged between the handrail driving part and the base and is used for detecting the activity of the handrail driving part relative to the base and obtaining a detection signal; one end of the buffer damping part is connected with the sensor, the other end of the buffer damping part is connected with the handrail driving part and/or the base, and the buffer damping part has preset damping;

when the external force applied to the handrail driving part along the preset direction is not more than the preset damping, the buffer damping part is used for balancing the external force applied to the handrail driving part so as to keep the handrail driving part stationary relative to the base;

when the external force applied to the handrail driving part along the preset direction is greater than the preset damping, the handrail driving part overcomes the preset damping and moves relative to the base;

the driving control component acquires the detection signal and is used for driving the target object to move according to the moving direction of the handrail driving part and the detection signal.

Optionally, the buffering damping part comprises at least two damping devices, and the at least two damping devices are distributed on two sides of the sensor along the preset direction; one end of the damping device is connected with the sensor, and the other end of the damping device is connected with the handrail driving part and/or the base.

Optionally, the sensor includes a sensor body and a first connector, and the handrail driving part includes a second connector;

one end of the sensor body is connected with the base, and the other end of the sensor body is connected with the second connecting piece through the first connecting piece;

optionally, the handrail driving part is rotatably connected with the base around a first axis, and the accommodating groove is perpendicular to the first axis; or,

the handrail driving part is rotatably connected with the base along a second axis, and the accommodating groove is perpendicular to the second axis.

The base or the handrail driving part comprises a containing groove, and the first connecting piece is contained in the containing groove and is in clearance fit with the containing groove in the preset direction.

Optionally, the buffering damping portion includes at least two damping devices, the damping devices are arranged on the base or the handrail driving portion along a direction perpendicular to the accommodating groove, penetrate into the accommodating groove, and lean against the first connecting piece.

Optionally, the side wall of the accommodating groove is used for abutting against the first connecting piece in the preset direction so as to limit the travel of the first connecting piece in the preset direction.

Alternatively, when the handrail driving part is not subjected to an external force in the predetermined direction, the handrail driving part is located at an initial position with respect to the base; the handrail driving part can move towards two opposite sides of the initial position along the preset direction;

the drive control assembly drives the target object to move along the direction matched with the moving direction of the handrail driving part according to the moving direction of the handrail driving part relative to the initial position.

Optionally, the handrail driving device comprises two detection assemblies; wherein the base of a second of the detection assemblies is disposed on the handrail drive portion of a first of the detection assemblies, and the predetermined directions of the two detection assemblies are different, the predetermined direction of the first of the detection assemblies being a circumferential rotational direction about a first axis, the predetermined direction of the second of the detection assemblies being an axial movement direction along a second axis; wherein the first axis is arranged at an angle to the second axis.

Optionally, the driving control assembly is configured to drive the turning motion of the target object along the rotation direction adapted to the handrail driving part according to the detection signal of the sensor of the first detection assembly; and driving the target object to advance and retreat along the moving direction adapted to the handrail driving part according to the detection signal of the sensor of the second detection assembly.

Optionally, the handrail driving device further comprises a handrail body and two switches, wherein the two switches are respectively arranged on the handrail body;

the driving control component is also used for acquiring the opening and closing signals of the two switches and driving the target object to move according to the detection signals when the opening and closing signals of the two switches are simultaneously opened; otherwise, the drive control component stops driving the target object to move.

In order to solve the technical problem, the invention also provides a surgical robot system, which comprises the handrail driving device.

In summary, in the handrail driving device and the surgical robot system provided by the present invention, the handrail driving device includes a driving control assembly and at least one detection assembly; the detection assembly comprises a base, a handrail driving part, a sensor and a buffering damping part; the handrail driving part is movably connected with the base along a preset direction; the sensor is arranged between the handrail driving part and the base and is used for detecting the activity of the handrail driving part relative to the base and obtaining a detection signal; one end of the buffer damping part is connected with the sensor, the other end of the buffer damping part is connected with the handrail driving part and/or the base, and the buffer damping part has preset damping; when the external force applied to the handrail driving part along the preset direction is not more than the preset damping, the buffer damping part is used for balancing the external force applied to the handrail driving part so as to keep the handrail driving part stationary relative to the base; when the external force applied to the handrail driving part along the preset direction is greater than the preset damping, the handrail driving part overcomes the preset damping and moves relative to the base; the driving control component acquires the detection signal and is used for driving the target object to move according to the moving direction of the handrail driving part and the detection signal.

Thus, on the one hand, based on the arrangement of the buffer damping part, when the external force applied to the handrail driving part is not more than the preset damping, the handrail driving part is kept static relative to the base, and the movement of a target object caused by misoperation in the operation process can be reduced or avoided. And the arrangement of the buffer damping part reduces the requirement on the mounting precision of the sensor, and is beneficial to improving the assembly efficiency and the assembly success rate. On the other hand, the driving control component drives the target object to move according to the moving direction of the handrail driving part detected by the sensor and the detection signal of the sensor, so that the operation is visual, and the deflection direction of the target object is not easy to be confused. On the other hand, the problems of false touch and the like are avoided without arranging an additional sensor, the number of the sensors is reduced, the assembly process is simplified, and the reliability is improved.

Drawings

Those of ordinary skill in the art will appreciate that the figures are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. Wherein:

fig. 1 is a schematic view of an application scenario of a handrail driving device for driving and controlling a surgical robot dolly according to an embodiment of the present invention;

fig. 2 is a schematic longitudinal cross-sectional view of an handrail drive device according to an embodiment of the invention;

FIG. 3 is a schematic longitudinal cross-sectional view of a first sensing assembly and a second sensing assembly according to an embodiment of the present invention;

FIG. 4 is an exploded view of a first detection assembly according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a first detection assembly according to an embodiment of the present invention;

FIG. 6 is a schematic longitudinal cross-sectional view of a first detection assembly according to an embodiment of the present invention;

FIG. 7 is a schematic view of a sensor mount and a sensor of a first sensing assembly according to an embodiment of the present invention;

FIG. 8 is a schematic view of a handrail seat and a second connector of a first detection assembly according to an embodiment of the present invention;

FIG. 9 is a schematic diagram of a mounting base of a first detection assembly according to an embodiment of the present invention;

FIG. 10 is a schematic diagram of a second detection component according to an embodiment of the present invention disposed on a first detection component;

FIG. 11 is a schematic diagram of a second detection assembly according to an embodiment of the present invention;

FIG. 12 is a schematic longitudinal cross-sectional view of a second detection assembly according to an embodiment of the present invention;

FIG. 13 is a schematic view of a first connector and a second connector of a second sensing assembly according to an embodiment of the present invention;

FIG. 14 is a schematic view of a armrest body and switch of an embodiment of the present invention;

fig. 15 is a schematic diagram of a switch according to an embodiment of the invention.

Detailed Description

The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "first," "second," "third," or the like, may explicitly or implicitly include one or at least two such features, with "one end" and "another end" and "proximal end" and "distal end" generally referring to the corresponding two portions, including not only the endpoints. The terms "proximal" and "distal" are defined herein with respect to an operator, such as a surgeon or clinician. The term "proximal" refers to a location of an element closer to an operator, and the term "distal" refers to a location of an element further from an operator. Furthermore, as used in this disclosure, "mounted," "connected," and "disposed" with respect to another element should be construed broadly to mean generally only that there is a connection, coupling, mating or transmitting relationship between the two elements, and that there may be a direct connection, coupling, mating or transmitting relationship between the two elements or indirectly through intervening elements, and that no spatial relationship between the two elements is to be understood or implied, i.e., that an element may be in any orientation, such as internal, external, above, below, or to one side, of the other element unless the context clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, directional terms, such as above, below, upper, lower, upward, downward, left, right, etc., are used with respect to the exemplary embodiments as they are shown in the drawings, upward or upward toward the top of the corresponding drawing, downward or downward toward the bottom of the corresponding drawing.

The invention aims to provide a handrail driving device and a surgical robot system, which are used for solving the problems of the existing handrail driving system. The following description refers to the accompanying drawings.

Referring to fig. 1, an application scenario of an armrest driving device for driving and controlling a surgical robot trolley is shown, wherein the surgical robot trolley comprises a base 01, a lifting column 02, a mechanical arm 03 and a surgical instrument 04. Because the surgical robot trolley has relatively large volume and weight, the operator is very laborious to directly push the surgical robot trolley to move (such as forward, backward, left and right turns, etc.). The operation robot carriage is provided with the armrest driving device 05, and the operator applies an external force to the armrest driving device 05, and the whole operation robot carriage is driven to move or stop by a power device such as a driving motor through detection and control of the armrest driving device 05. Can realize the labor-saving and accurate driving of the operation robot trolley to move or stop.

It should be noted that the surgical robot trolley shown in fig. 1 is only an exemplary example of the target object driven and controlled by the handrail driving device 05, and in other embodiments, the target object driven and controlled by the handrail driving device 05 may be replaced by another surgical operation platform or a medical trolley, which is not limited by the present invention.

Referring to fig. 2 to 15, an embodiment of the present invention provides a handrail driving device 05, which includes a driving control assembly (not shown) and at least one detecting assembly 10, wherein the detecting assembly 10 includes a base 11, a handrail driving portion 12, a sensor 13 and a buffering damping portion 14; the handrail driving part 12 is movably connected with the base 11 in a predetermined direction; a sensor 13 provided between the handrail driving portion 12 and the base 11 for detecting the movement amount of the handrail driving portion 12 relative to the base 11; one end of the buffer damping part 14 is connected with the sensor 13, the other end of the buffer damping part 14 is connected with the handrail driving part 12 and/or the base 11, and the buffer damping part 14 has preset damping; when the external force applied to the handrail driving portion 12 along the predetermined direction is not greater than the preset damping, the buffer damping portion 14 is configured to balance the external force applied to the handrail driving portion 12, so as to keep the handrail driving portion 12 stationary relative to the base 11; when the external force applied to the handrail driving portion 12 along the predetermined direction is greater than the preset damping, the handrail driving portion 12 moves relative to the base 11 against the preset damping; the drive control component acquires the amount of activity detected by the sensor 13 and is used to drive the target object to move according to the direction of activity and the amount of activity of the handrail drive portion 12.

Alternatively, in some embodiments, the drive control assembly may include only a control module, and the target object may be provided with a driving device, where the control module may implement driving of the target object by sending a control driving signal to the driving device of the target object. In other embodiments, the driving control assembly may include a control module and a driving module, where the driving module includes a motor and other power devices commonly used in the art, and the driving control assembly may be disposed outside the target object, or may be integrally disposed in the target object, or may be disposed partially outside the target object, or may be integrally disposed partially in the target object, and the specific structure and principle of the driving control assembly may refer to the prior art, which is not described in the present disclosure.

So configured, on the one hand, based on the provision of the buffer damping portion 14, when the external force applied to the handrail driving portion 12 is not greater than the preset damping, the handrail driving portion 12 remains stationary relative to the base 11, so that movement of the target object due to misoperation during the operation can be reduced or avoided. And the arrangement of the buffer damping part 14 reduces the requirement on the installation precision of the sensor 13, thereby being beneficial to improving the assembly efficiency and the assembly success rate. On the other hand, the driving control component drives the target object to move according to the moving direction of the handrail driving part 12 detected by the sensor 13 and the detection signal of the sensor 13, so that the operation is visual, and the deflection direction of the target object is not easy to be confused. On the other hand, the problems of false touch and the like are avoided without arranging an additional sensor, the number of the sensors is reduced, the assembly process is simplified, and the reliability is improved.

In some applications, the target object only needs to move in one direction, for example, a certain medical trolley only needs to move left and right, and the handrail driving device 05 may only include one detection assembly 10. The detection assembly 10 can detect an external force applied by an operator in a left-right direction and drive the medical trolley to move left and right when the external force exceeds a preset damping. In other applications, there are more than two moving requirements of the target object, and the handrail driving device 05 may include more than two detecting assemblies 10 corresponding to such an application. In addition, the size of the preset damping can be selected in an adapting way according to different target objects and different application scenes, and the invention is not limited to the above.

An example handrail drive device 05 including two detection assemblies 10 is described below with reference to the examples shown in fig. 2 to 15. As shown in fig. 2 and 3, the handrail driving device 05 includes two detecting assemblies 10, which are referred to as a first detecting assembly 10a and a second detecting assembly 10b, respectively, for convenience of description. The handrail drive device 05 further comprises a handrail body 30, the handrail body 30 preferably being arranged in a horizontal direction for being gripped and forced by an operator. The external force applied to the armrest body 30 can be transmitted to the first and second detecting members 10a and 10b, and detected by the first and second detecting members 10a and 10b. For convenience of description, the extending direction of the armrest body 30 is referred to as X-direction. The direction perpendicular to the X direction along the horizontal direction is referred to as the Y direction, and the vertical direction is referred to as the Z direction.

The first detecting unit 10a detects the rotation of the handrail driving portion 12 relative to the base 11, and the driving control unit drives the target object to correspondingly generate the left-right turning motion. The second detecting unit 10b detects the forward and backward movement of the handrail driving portion 22 with respect to the base 21. Correspondingly, the driving control component drives the target object to correspondingly generate the advancing and retreating motion. So configured, the operation is intuitive, the logic is clear, and the deflection direction of the target object is not easy to be confused.

The first detecting element 10a will be specifically described below. Referring to fig. 4 to 9, the base 11 is for being fixed on a target object, and the handrail driving portion 12 is for receiving an external force applied from an operator. In the first detecting assembly 10a, the predetermined direction is a circumferential rotation direction about the first axis A1, and the first axis A1 preferably extends in the Z direction, that is, in the vertical direction. One end of the buffer damper 14 is connected to the sensor 13, and the other end of the buffer damper is connected to the base 11. When the external force applied by the operator exceeds the preset damping, the handrail driving portion 12 will rotate around the first axis A1, so that the sensor 13 is strained, the sensor 13 obtains a detection signal and feeds back the detection signal to the driving control assembly, and it can be understood that the detection signal actually reflects the activity of the handrail driving portion 12, that is, the rotation amount around the first axis A1. The drive control unit then drives the turning motion of the target object in the direction adapted to the rotational direction of the handrail driving part 12 based on the detection signal of the sensor 13 of the first detection unit 10 a. The turning movement is, for example, a left turn or a right turn, which can be achieved by differential movement of a set of driving wheels provided on the target object.

Alternatively, the sensor 13 includes a sensor body 131 and a first connector 132, and the handrail driving portion 12 includes a second connector 122; one end of the sensor body 131 is connected with the base 11, and the other end of the sensor body 131 is connected with the second connecting piece 122 through the first connecting piece 132; the base 11 or the handrail driving portion 12 includes a receiving groove 111, and the first connection member 132 is received in the receiving groove 111 and is clearance-fitted with the receiving groove 111 in a predetermined direction.

Although the predetermined direction in the first detection assembly 10a is the circumferential rotation direction around the first axis A1, the predetermined direction may be substantially reduced to the X direction because the handrail driving portion 12 is actually rotated by a small amount and the handrail driving portion 12 is arranged eccentrically with respect to the base 11, that is, the first axis A1 is substantially located at one end of the handrail driving portion 12.

In one example of the first detection assembly 10a, the base 11 includes a fixed mount 110 and a sensor mount 112, the fixed mount 110 being attachable to a target object, such as a lifting column 02 of a surgical robotic cart, for example, by screws. The sensor mount 112 is mounted to the mount 110, such as by a dowel pin. Referring to fig. 4 to 6, the sensor fixing member 112 has a sensor mounting cavity 113, and the accommodating groove 111 is also formed on the sensor fixing member 112, and the sensor mounting cavity 113 and the accommodating groove 111 extend along the Y direction. The sensor body 131 is accommodated in the sensor mounting cavity 113, one end of the sensor body 131 is connected with the sensor fixing member 112, and the other end of the sensor body 131 is connected with the first connecting member 132.

Further, the handrail driving portion 12 includes a handrail seat 120, and the handrail seat 120 is rotatably connected to the base 11 (specifically, the fixing seat 110) through a bearing 15, and the rotation axis of the bearing 15 is the first axis A1. The second connecting member 122 is disposed on the armrest seat 120 and is cooperatively connected with the first connecting member 132. For example, the second connecting member 122 has a recess 123 adapted to the outer dimension of the first connecting member 132, one end of the first connecting member 132 is clamped into the recess 123, and the other end of the first connecting member 132 is accommodated in the accommodating groove 111 and connected to the sensor body 131. So configured, the first connecting piece 132 forms a rocker arm member, and when the armrest seat 120 rotates around the first axis A1, the first connecting piece 132 can be driven to swing left and right along X, so as to drive the sensor body 131 to generate strain, and the sensor body 131 obtains a detection signal. It will be appreciated that the detection signal obtained by the sensor body 131 at this time reflects the amount of rotation of the handrail driving portion 12 relative to the base 11, and also reflects the amount of manipulation by which the operator intends to steer the target object left and right.

Alternatively, when the handrail driving portion 12 is not subjected to an external force in a predetermined direction, the handrail driving portion 12 is located at an initial position with respect to the base 11; the handrail driving part 12 is movable toward opposite sides of the initial position in a predetermined direction; the drive control means moves the driving target object in a direction matching the moving direction of the handrail driving portion 12 according to the moving direction of the handrail driving portion 12 with respect to the initial position. Taking the example shown in fig. 5 and 6, the handrail driving portion 12 is located at the initial position with respect to the base 11. Starting from this initial position, the handrail drive part 12 can rotate clockwise about the first axis A1, or can rotate counterclockwise about the first axis A1, i.e. towards opposite sides of the initial position. And the direction in which the drive control assembly drives the target object to move is adapted to the direction of rotation of the handrail drive portion 12. For example, when the handrail driving portion 12 rotates clockwise, the driving control means drives the target object to rotate left, and when the handrail driving portion 12 rotates counterclockwise, the driving control means drives the target object to rotate right. So configured, the problem that the deflection directions are difficult to distinguish due to the fact that the sensors are respectively arranged on two sides of the armrest body 30 is avoided, the operation is visual, the logic is clear, and the deflection directions of the target objects are not easy to be confused. And the detection in the left and right directions is realized by using one sensor 13, so that the assembly process is simplified, and the cost is reduced.

Optionally, the buffering damping part 14 includes at least two damping devices 140, and the at least two damping devices 140 are distributed on both sides of the sensor 13 along a predetermined direction; one end of the damping device 140 is connected to the sensor 13, and the other end of the damping device 140 is connected to the handrail drive part 12 and/or the base 11. Further, the damping device 140 is disposed on the base 11 or the handrail driving portion 12 along a direction perpendicular to the accommodating groove 111, and penetrates into the accommodating groove 111 to abut against the first connecting member 132.

Referring to fig. 4 and 5, in one example of the first detecting assembly 10a, the buffering damping portion 14 includes 6 damping devices 140, wherein 3 are located at one side of the sensor 13 and 3 are located at the other side of the sensor 13. One end of the damping device 140 is penetrated and fixed in the sensor fixing member 112, and the other end of the damping device 140 penetrates into the accommodating groove 111 and abuts against the first connecting member 132. The damping device 140 is, for example, a spring plunger or the like having a certain buffering property, and has a predetermined damping. Of course, in other embodiments, the damping device 140 is not limited to a spring plunger, but may be, for example, a magneto resistive device, which may be selected and configured by one skilled in the art in accordance with the present technology. It will be appreciated that fig. 4 and 5 illustrate examples in which the other end of the damping device 140 is connected to the base 11, and in other embodiments, the damping device 140 may be disposed on the handrail driving portion 12 (e.g., on the second connecting member 122), in which case the damping device 140 is connected to the sensor 13 and the handrail driving portion 12, respectively. Further, a part of the damping device 140 may be provided on the base 11, and a part of the damping device 140 may be provided on the handrail driving portion 12, which is not limited to this embodiment.

When the external force applied to the handrail driving portion 12 along the predetermined direction is not greater than the predetermined damping force, the external force is transmitted to the damping device 140 through the handrail driving portion 12 and the first connecting member 132 and balanced by the damping device 140, and the handrail driving portion 12 is kept stationary relative to the base 11. That is, the damping device 140 generates a certain resistance to the movement trend of the first connecting member 132, so that the first connecting member 132 cannot easily swing when the external force applied to the handrail driving portion 12 is not greater than the predetermined damping (e.g. when the external force is touched by mistake), and only after the external force exceeds the predetermined damping, the external force can overcome the resistance of the damping device 140 to push the first connecting member 132 to swing, thereby generating strain on the sensor body 131.

In addition, as shown in fig. 7, since the first connection member 132 is clearance-fitted with the receiving groove 111, the first connection member 132 is positioned in the receiving groove 111 by the damping device 140, which can eliminate errors caused by a certain degree of processing and assembly and also facilitate adjustment assembly during installation.

Further, the side wall of the accommodating groove 111 is used to abut against the first connecting piece 132 in a predetermined direction to limit the travel of the first connecting piece 132 in the predetermined direction. With continued reference to fig. 7, in the X-direction, the width of the accommodating groove 111 is slightly greater than the width of the first connecting member 132, so that the first connecting member 132 abuts against the sidewall of the accommodating groove 111 after being driven by the second connecting member 122 of the handrail driving portion 12 to swing to a certain position, and is limited by the accommodating groove 111, and cannot swing continuously. I.e. the receiving groove 111 defines the swing stroke of the first connector 132, thereby defining the maximum strain amount of the sensor body 131. So configured, even if the external force applied by the operator to the handrail driving portion 12 is large, it is not transmitted to the sensor body 131 without limitation, and damage caused by excessive strain of the sensor body 131 is avoided.

The second sensing assembly 10b will be described in detail below with an understanding of the specific structure and principles of the first sensing assembly 10 a. Referring to fig. 10 to 15, for ease of recognition, the reference numerals of the components of the second detection assembly 10b are distinguished from the reference numerals of the components of the first detection assembly 10 a. The second detection assembly 10b includes a base 21, a handrail driving portion 22, a sensor 23, and a buffer damping portion 24.

Alternatively, the base 21 of the second detecting element 10b is disposed on the handrail driving portion 12 of the first detecting element 10a, and the predetermined directions of the two detecting elements (i.e. the first detecting element 10a and the second detecting element 10 b) are different, so that the handrail driving device 05 can correspondingly detect the forces in two different directions, and further drive the target object to correspondingly generate the motions in two directions.

In one example, the base 21 of the second detecting element 10b is configured to be fixed to the armrest seat 120 of the first detecting element 10a, and the armrest driving part 22 of the second detecting element 10b is connected to the armrest body 30 and is configured to receive an external force applied by an operator. In the second detection assembly 10b, the predetermined direction is the axial movement direction along the second axis A2, and the second axis A2 preferably extends in the Y direction, i.e., in the horizontal direction and perpendicular to the armrest body 30.

Further, in the second detection unit 10b, one end of the buffer damper portion 24 is connected to the sensor 23, and the other end of the buffer damper portion 24 is connected to the handrail driving portion 22. When the external force applied by the operator exceeds the preset damping, the handrail driving portion 22 will move along the second axis A2, so that the sensor 23 generates strain, the sensor 23 obtains a detection signal and feeds back the detection signal to the driving control assembly, and it can be understood that the detection signal actually reflects the activity of the handrail driving portion 22, that is, the movement along the second axis A2. The drive control unit then drives the movement of the target object in the movement direction adapted to the handrail driving portion 12 based on the detection signal of the sensor 23. For example, forward or backward, which can be achieved by forward and backward movement of a driving wheel provided on the target object.

Alternatively, the sensor 23 includes a sensor body 231 and a first connector 232, and the handrail drive portion 22 includes a handrail handle 221 and a second connector 222; the second connector 222 is connected to the armrest body 30 by the armrest handle 221. One end of the sensor body 231 is connected with the base 21, and the other end of the sensor body 231 is connected with the second connecting piece 222 through the first connecting piece 232; the handrail driving part 22 includes a receiving groove 211, and the first connection member 232 is received in the receiving groove 211 and is clearance-fitted with the receiving groove 211 in a direction along the second axis A2.

In one example of the second sensing assembly 10b, the base 21 includes a sensor mount 212, the sensor mount 212 being mounted to the second connector 122 of the first sensing assembly 10a, such as by a dowel pin. Referring to fig. 11 and 12, the sensor fixture 212 has a sensor mounting cavity 213 extending in the Z direction, a sensor body 231 is received in the sensor mounting cavity 213, and one end of the sensor body 231 is connected to the sensor fixture 212. The accommodating groove 211 is formed on the second connecting piece 222, extends along the X direction, and the first connecting piece 232 is movably accommodated in the accommodating groove 211 along the Y direction and is connected with the other end of the sensor body 231.

Further, referring to fig. 11 and 12, the second connecting member 222 is movably connected to the armrest seat 120 of the first detection assembly 10a via the sliding rail 25, and the sliding direction of the sliding rail 25 extends along the second axis A2 (i.e. along the Y direction). So configured, when the second connecting member 222 moves along the Y direction, the first connecting member 232 can be driven to move forward and backward along the Y direction, so as to drive the sensor body 231 to generate strain, and the sensor body 231 can obtain the detection signal. It can be understood that the detection signal obtained by the sensor body 231 at this time reflects the amount of movement of the armrest driving unit 22 relative to the base 21, and also reflects the amount of manipulation by which the operator intends to manipulate the forward and backward movement of the target object. Since the sliding rail 25 has no degree of freedom in the X direction, the second connecting member 222 rotates around the first axis A1, and thus the entire armrest seat 120 is driven to rotate around the first axis A1.

Alternatively, when the handrail driving portion 22 is not subjected to an external force in a predetermined direction, the handrail driving portion 22 is located at an initial position with respect to the base 21; the handrail driving part 22 is movable toward opposite sides of the initial position in a predetermined direction; the drive control means moves the driving target object in a direction matching the moving direction of the handrail driving portion 22 according to the moving direction of the handrail driving portion 22 with respect to the initial position. As shown in fig. 12, the handrail driving portion 22 is positioned at the initial position with respect to the base 21. Starting from this initial position, the handrail drive portion 22 can move forward (leftward in fig. 12) along the second axis A2, or can move rearward (rightward in fig. 12) along the second axis A2, i.e., rotate toward opposite sides of the initial position. And the direction in which the drive control assembly drives the target object to move is adapted to the moving direction of the handrail driving portion 22. For example, when the handrail driving portion 22 moves forward, the driving control means drives the target object to move forward, and when the handrail driving portion 22 moves backward, the driving control means drives the target object to move backward.

Referring to fig. 12 and 13, in one example of the second detecting assembly 10b, the buffering damping portion 24 includes 4 damping devices 240, 2 of which are located at one side of the sensor 23 and 2 of which are located at the other side of the sensor 23. One end of the damping device 240 is penetrated and fixed in the second connecting piece 222, and the other end of the damping device 240 penetrates into the accommodating groove 211 and abuts against the first connecting piece 232.

When the external force applied to the handrail driving portion 22 is not greater than the preset damping force, the external force is transmitted to the damping device 240 through the handrail driving portion 22 and the first connecting member 232 and balanced by the damping device 240, and at this time, the handrail driving portion 22 remains stationary relative to the base 21. That is, the damping device 240 generates a certain resistance to the movement trend of the first connecting member 232, so that the first connecting member 232 cannot easily swing when the external force applied to the handrail driving portion 22 is not greater than the preset damping (e.g. when the external force is touched by mistake), and only after the external force exceeds the preset damping, the external force can overcome the resistance of the damping device 240 to push the first connecting member 232 to swing, thereby generating strain on the sensor body 231.

The structure and principle of the other components of the second detection assembly 10b may be referred to the previous description of the first detection assembly 10a and will not be repeated here.

Referring to fig. 14 and 15, optionally, the handrail driving device 05 further includes a handrail body 30 and two switches 31, wherein the handrail body 30 is connected with the handrail handle 221, and the two switches 31 are respectively disposed on the handrail body 30; the driving control component is also used for acquiring the opening and closing signals of the two switches 31 and driving the target object to move according to the detection signal when the opening and closing signals of the two switches 31 are simultaneously opened; otherwise, the drive control component stops driving the target object to move.

In one exemplary embodiment, the switch 31 includes a pressing portion 311, a micro switch 312, and an elastic member 313, and when the pressing portion 311 is pressed, the micro switch 312 is triggered to be turned on, and at this time, an on/off signal of the switch 31 is turned on. After the pressing of the pressing portion 311 is removed, the pressing portion 311 returns to the initial position under the elastic force of the elastic member 313, and the micro switch 312 is turned off, and the switch 31 is turned off.

Preferably, the two switches 31 are disposed at intervals on both sides of the armrest body 30 on the armrest handle 221 in the X-direction, so that the operator must hold the armrest body 30 with both hands, so that the movement of the driving target object can be achieved after the two switches 31 mounted on the armrest body 30 are simultaneously pressed down. If any switch 31 is accidentally triggered, the target object cannot be moved, so that the safety during the operation is further ensured.

Optionally, referring to fig. 2, the handrail drive device 05 further comprises a display screen 40, which may be provided on the handrail handle 221. The display 40 may be used to display information such as a detection signal, an opening/closing signal of the switch 31, or movement information of the target object.

Embodiments of the present invention also provide a surgical robotic system including the armrest driving apparatus 05 as described above. The construction and principles of other components of the surgical robotic system, such as the surgical robotic cart, may be referenced to the prior art and the present invention will not be described in detail.

In summary, in the handrail driving device and the surgical robot system provided by the invention, the handrail driving device comprises a driving control component and at least one detection component; the detection assembly comprises a base, an armrest driving part, a sensor and a buffering damping part; the handrail driving part is movably connected with the base along a preset direction; the sensor is arranged between the handrail driving part and the base and is used for detecting the activity of the handrail driving part relative to the base and obtaining a detection signal; one end of the buffer damping part is connected with the sensor, the other end of the buffer damping part is connected with the handrail driving part and/or the base, and the buffer damping part has preset damping; when the external force born by the handrail driving part along the preset direction is not more than the preset damping, the buffer damping part is used for balancing the external force born by the handrail driving part so as to keep the handrail driving part stationary relative to the base; when the external force applied to the handrail driving part along the preset direction is greater than the preset damping, the handrail driving part overcomes the preset damping and moves relative to the base; the driving control component acquires the detection signal and is used for driving the target object to move according to the moving direction of the handrail driving part and the detection signal. Thus, on the one hand, based on the arrangement of the buffer damping part, when the external force applied to the handrail driving part is not more than the preset damping, the handrail driving part is kept static relative to the base, and the movement of a target object caused by misoperation in the operation process can be reduced or avoided. And the arrangement of the buffer damping part reduces the requirement on the mounting precision of the sensor, and is beneficial to improving the assembly efficiency and the assembly success rate. On the other hand, the driving control component drives the target object to move according to the moving direction of the handrail driving part detected by the sensor and the detection signal of the sensor, so that the operation is visual, and the deflection direction of the target object is not easy to be confused. On the other hand, the problems of false touch and the like are avoided without arranging an additional sensor, the number of the sensors is reduced, the assembly process is simplified, and the reliability is improved.

It should be noted that the above embodiments may be combined with each other. The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.

Claims (11)

1. A handrail drive apparatus comprising a drive control assembly and at least one detection assembly; the detection assembly comprises a base, a handrail driving part, a sensor and a buffering damping part;

the handrail driving part is movably connected with the base along a preset direction; the sensor is arranged between the handrail driving part and the base and is used for detecting the activity of the handrail driving part relative to the base and obtaining a detection signal; one end of the buffer damping part is connected with the sensor, the other end of the buffer damping part is connected with the handrail driving part and/or the base, and the buffer damping part has preset damping;

when the external force applied to the handrail driving part along the preset direction is not more than the preset damping, the buffer damping part is used for balancing the external force applied to the handrail driving part so as to keep the handrail driving part stationary relative to the base;

when the external force applied to the handrail driving part along the preset direction is greater than the preset damping, the handrail driving part overcomes the preset damping and moves relative to the base;

the driving control component acquires the detection signal and is used for driving the target object to move according to the moving direction of the handrail driving part and the detection signal.

2. The handrail drive of claim 1, wherein the cushioning damping portion includes at least two damping devices distributed on both sides of the sensor along the predetermined direction; one end of the damping device is connected with the sensor, and the other end of the damping device is connected with the handrail driving part and/or the base.

3. The handrail drive of claim 1, wherein the sensor comprises a sensor body and a first connector, and the handrail drive portion comprises a second connector;

one end of the sensor body is connected with the base, and the other end of the sensor body is connected with the second connecting piece through the first connecting piece;

the base or the handrail driving part comprises a containing groove, and the first connecting piece is contained in the containing groove and is in clearance fit with the containing groove in the preset direction.

4. A handrail drive apparatus according to claim 3, wherein the buffer damping portion comprises at least two damping means arranged on the base or the handrail drive portion in a direction perpendicular to the receiving slot and penetrating into the receiving slot against the first connecting member.

5. A handrail drive device according to claim 3, wherein the handrail drive portion is rotatably connected to the base portion about a first axis, the receiving groove being perpendicular to the first axis; or,

the handrail driving part is rotatably connected with the base along a second axis, and the accommodating groove is perpendicular to the second axis.

6. A handrail drive device according to claim 3, wherein a side wall of the receiving groove is adapted to abut the first connection member in the predetermined direction to limit travel of the first connection member in the predetermined direction.

7. The handrail drive device of claim 1, wherein the handrail drive portion is in an initial position relative to the base when the handrail drive portion is not subject to an external force in the predetermined direction; the handrail driving part can move towards two opposite sides of the initial position along the preset direction;

the drive control assembly drives the target object to move along the direction matched with the moving direction of the handrail driving part according to the moving direction of the handrail driving part relative to the initial position.

8. The handrail drive of claim 1, wherein the handrail drive comprises two of the detection assemblies; wherein the base of a second of the detection assemblies is disposed on the handrail drive portion of a first of the detection assemblies, and the predetermined directions of the two detection assemblies are different, the predetermined direction of the first of the detection assemblies being a circumferential rotational direction about a first axis, the predetermined direction of the second of the detection assemblies being an axial movement direction along a second axis; wherein the first axis is arranged at an angle to the second axis.

9. The handrail drive device according to claim 8, wherein the drive control assembly is configured to drive a turning motion of a target object in a direction adapted to a rotational direction of the handrail drive portion in accordance with a detection signal of the sensor of a first one of the detection assemblies; and driving the target object to advance and retreat along the moving direction adapted to the handrail driving part according to the detection signal of the sensor of the second detection assembly.

10. The handrail drive of claim 1, further comprising a handrail body and two switches, the two switches being disposed on the handrail body, respectively;

the driving control component is also used for acquiring the opening and closing signals of the two switches and driving the target object to move according to the detection signals when the opening and closing signals of the two switches are simultaneously opened; otherwise, the drive control component stops driving the target object to move.

11. A surgical robotic system comprising the handrail drive device of any one of claims 1-10.