CN209734148U - Portable control device of surgical robot - Google Patents

Abstract

The utility model provides a portable controlling means of surgical robot, include the base and install ball-and-socket joint on the base, ball-and-socket joint comprises spherical component and joint seat, has response subassembly and locating part in the joint seat, and there is the through-hole at the center of spherical component. The utility model discloses utilize ball joint's three-dimensional rotation ability to simplify operation robot and controlling means's structure. And a small-sized control device suitable for being used in an aseptic area of an operating table is provided, a main surgeon can directly control the mechanical arm which needs to be matched with an assistant originally, communication errors between two persons are avoided, operation efficiency can be improved, and operation is convenient.

Description

Portable control device of surgical robot

Technical Field

The utility model relates to a surgical robot system, concretely relates to portable controlling means of surgical robot.

Background

With advances in technology, more and more minimally invasive surgical procedures are beginning to become widespread. The minimally invasive surgery has the advantages of small wound, easy recovery of patients and the like, and is more and more widely applied along with the development of medical endoscope technology. However, the minimally invasive surgery has a narrow observation field and an inflexible operation area, so that the difficulty of the minimally invasive surgery is much higher than that of a common surgery. Perfect cooperation between a doctor and a mirror holder is required to achieve the desired effect of a single operation. The tacit between the two needs to be formed by long-term cooperation of the main doctor and the endoscope holding operator, and a plurality of unstable factors exist in the tacit between the two.

The advent of surgical robots changed the conventional surgical approach, with the primary surgeon being able to disengage the operating table and operate the robotic arm on a nearby controller for the patient's surgery.

Taking the most advanced da vinci surgical robot in the world as an example, the pedal is actually a switching power supply controller with a switching function, and works by switching a control circuit. When the pedal of the camera is stepped on, the control circuit of the main operating hand and the mechanical arm is disconnected, and the main operating hand can adjust the position of the camera to directly realize the up-down, left-right movement and rotation of the visual field. Releasing the camera pedal allows the main manipulator to regain connection with the robotic arm. The clutch pedal can realize the separation of the main operating hand and the control end, and the main operating hand can move to a position which accords with ergonomics under the condition that the mechanical arm system is completely motionless. The da vinci also has a foot pedal to control the electric heating system, and a backup foot pedal.

the existing surgical robot has the following defects: 1. the cost is expensive, and most hospitals are unable to bear the cost. 2. The size is large, and the human-machine cooperation on the operating table is inconvenient. 3. Lack of tactile feedback, the main surgeon remotely controls under the operating table, losing traditional hand feel. 4. The console is huge, is in a bacteria environment, and is difficult for a master knife doctor to disinfect and rescue the console in time in case of emergency, thereby wasting precious opportunities. Therefore, in order to be used in the sterile environment of the operating table, a small portable control device is developed, which is of great significance to the development of the robot field all over the world.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects existing in the prior art, the utility model provides a portable control device of a surgical robot.

the technical scheme is as follows: in order to solve the technical problem, the portable control device of the surgical robot provided by the utility model comprises a base and a ball and socket joint arranged on the base; the base is connectable to a surgical device; the ball-and-socket joint consists of a spherical part and a joint seat, wherein the joint seat is internally provided with a sensing assembly which is used for sensing the movement of the spherical part; the joint seat is also internally provided with a limiting piece.

Preferably, the sensing assembly comprises a sensing element and a sensor, and the sensing element and the sensor are directly connected or connected through a transmission device. The sensing piece is tightly connected with the spherical piece and is driven by friction or meshing.

Specifically, the sensing piece and the spherical piece are respectively provided with a sensing magnetic pole and a magnetic sensor, and the magnetic sensor senses the magnetic field change generated after the movement of the sensing magnetic pole and generates a pulse signal.

Specifically, the limiting part is a through hole in the joint seat shell, and the diameter of the through hole is smaller than that of the ball-shaped part. The ball-shaped part is limited to rotate only in the joint seat.

Specifically, the base is detachably connected with the surgical equipment. Preferably a threaded or socket connection or a binding.

Particularly, the sterile sleeve is connected with the base and used for wrapping the ball-and-socket joint.

Specifically, the sterile sleeve has at least one opening, and the opening can be matched with the base. Preferably, the sterile sleeve is made of a transparent and flexible polymer material. Preferably, one end of the transparent plastic sleeve is provided with an opening which is matched with the base.

Specifically, the base and/or the joint seat are provided with touch sensors or buttons. And the controller is used for receiving control actions and enabling an operator to control more equipment.

Specifically, a through hole is formed in the center of the spherical part, a penetrating object is arranged in the through hole, and the penetrating object is a passage pipe and/or a control rod. The penetrating object is provided with a rod head suitable for being operated by a single finger. Preferably, the head has an oblate ring.

Specifically, a penetrating object is arranged in the through hole of the spherical part, and a sensing assembly for sensing the movement of the penetrating object is mounted in the spherical part. The sensing assembly can sense the advance and retreat or the rotation movement of the passing object.

Specifically, a channel pipe penetrates through a through hole in the center of the spherical part, a penetrating object is arranged in the channel pipe, and a sensing assembly for sensing the movement of the penetrating object is mounted on the pipe wall of the channel pipe. The sensing assembly can sense the advance and retreat or the rotation movement of the passing object.

Specifically, the induction assembly comprises an induction piece and an inductor, wherein the induction piece and the inductor are directly connected or coupled through a transmission device.

In particular, the joint seat and/or the ball-shaped part further comprises a driving component which is in transmission connection with the ball-shaped part or a penetrating object in the through hole. Preferably, the driving assembly comprises a driving part and a driving motor, and the driving part and the driving motor are directly connected or connected through a transmission device.

The utility model discloses provide a surgical robot simultaneously, its characterized in that: the structure of the surgical robot is that a driving component is adopted to replace an induction component in the portable control device of the surgical robot on the basis of the structure of the portable control device of the surgical robot.

The operator wraps the ball and socket joint in a sterile sleeve made of transparent plastic film, which is secured to the surgical equipment, such as laparoscopic forceps, by a base. The operator can simultaneously use a single finger to remotely control the operation robot to clamp the laparoscope or other equipment to perform actions such as left and right, pitching, rotating or advancing while operating the conventional instrument. The following modes can be adopted: 1. the operation robot is controlled to move under the operation table through the foot remote control device. 2. The doctor is on the operating table and remotely controls the operating table by hands. 3. Is arranged on the mouth mask of the main doctor and is remotely controlled by the lips and the tongue.

Has the advantages that:

1. Reducing the configuration of the operating personnel. The system can enable a doctor to freely control other mechanical arms when operating with two hands, which is equivalent to two hands, reduces a doctor holding the glasses or an assistant doctor, and can avoid obstacles generated when two people communicate.

2. simple structure, installation, debugging are simple. The control method has the advantages of few components needing to be controlled, simple system, few faults and easy maintenance. Good economical efficiency and reduces the economic burden of patients.

The utility model discloses utilize ball socket joint's three-dimensional rotation ability to simplify surgical robot and controlling means's structure, can let the main sword doctor direct control need assistant complex arm originally, avoided the communication error between two people to with can improving operation efficiency, operate the facility moreover.

In addition to the technical problems addressed by the present invention, the technical features that constitute the technical solutions, and the advantages brought by the technical features of these technical solutions. To make the objects, technical solutions and advantages of the present invention clearer, the drawings in the embodiments of the present invention will be combined below to make clearer and more complete descriptions of other technical problems, technical solutions and advantages brought by these technical features that the present invention can solve, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

Drawings

FIG. 1 is a schematic view of a portable control device mounted on laparoscopic forceps according to one embodiment;

FIG. 2 is a schematic cross-sectional view of a portable control device of a surgical robot according to an embodiment;

FIG. 3 is a schematic view of a ball and socket joint configuration according to one embodiment;

FIG. 4 is a schematic view showing the internal structure of a ball and socket joint according to one embodiment;

FIG. 5 is a schematic structural diagram of a sensing element according to an embodiment;

FIG. 6 is a schematic diagram of a magnetic field variation sensing assembly according to an embodiment;

Fig. 7 is a schematic view of the control rod passing through the spherical part in the second embodiment.

FIG. 8 is a schematic view of the spherical part of the second embodiment with the in-sphere sensing assembly mounted therein.

FIG. 9 is a schematic view of a control device having a channel tube and an induction seat according to a third embodiment.

FIG. 10 is a schematic view of a control device with an anti-rotation cross member according to a third embodiment.

fig. 11 is a schematic view of a surgical robot controlled by the seventh embodiment.

Wherein: 1-spherical piece, 2-ball-and-socket joint, 3-base, 4-control piece, 6-induction component, 7-sterile sleeve, 8-ball-and-socket joint surgical robot, 9-execution instrument;

11-a spherical part shell, 12-a spherical part through hole and 13-an in-sphere induction component;

21-joint seat, 22-anti-rotation cross beam, 23-through hole,

31-base plate, 32-bayonet, 33-base;

40-channel tube gap, 41-channel tube, 46-induction seat, 47-control rod, 48-ball type rod head;

61-induction piece, 62-rotary encoder, 63-induction roller, 64-induction magnetic ring, 65-Hall sensor and circuit board, 66-shell; 67-transmission device, 68-induction piece fixing frame;

71-finger ring, 72-hemisphere cover, 73-control rod sleeve;

91-handle, 92-trigger, 93-jaw.

Detailed Description

Example one

as shown in fig. 1 to 5, the surgical robot portable control device includes a base 3 and a ball joint 2 mounted on the base 3. The joint seat 21 has a diameter of 3cm and a thickness of 1cm, and the spherical part 1 has a diameter of 2 cm. The base 3 is made of metal or hard plastic, has a diameter of 4cm and a thickness of 1.5cm, is internally provided with a base disc 31 which is matched with the joint seat 21 and can be embedded into the ball-and-socket joint 2. The plunger 32 is inserted into and fixedly attached to the rear end of the actuator 9 by means of a screw.

The sterile sleeve 72 is made of transparent silica gel, has a thickness of 0.5mm, has openings at both ends, and has one end connected with a control rod sleeve 73 made of silica gel and capable of being sleeved on the control rod 47. The other end of the opening has a 3.5cm diameter threaded ring which is threadably engaged with the base plate 31 to seal the ball and socket joint 2. The sterile sleeve 72 and the base 3 are disposable sterile materials.

The ball-and-socket joint 2 is composed of a spherical part 1 and a joint seat 21, wherein the joint seat 21 is internally provided with a sensing assembly 6, and the sensing assembly 6 is used for sensing the movement of the spherical part 1. The joint seat 21 also has a battery and radio transmission and reception means. In one non-limiting embodiment, a battery and radio transmission and reception device are mounted on the base 3 to power and transmit signals to the ball and socket joint 2 through a socket in the base plate 31, making the ball and socket joint 2 smaller.

The center of the joint seat 21 is provided with a hole, the diameter of the hole is smaller than the maximum diameter of the spherical part 1, and the hole can be used as a limit part to limit the spherical part 1 to only rotate in the joint seat 21. The joint seat 21 is formed by involution of two symmetrical parts, and after involution, the spherical piece 1 is clamped in the joint shell and is clamped by the induction components 6 which are fixed inside and are vertical to each other. The driving component 6 is fixed by a fixed clamping seat, and the contact points with the spherical part 1 are symmetrically distributed around the central point of the spherical part 1 and are all on the same plane. The position of the sensing component 6 is marked on the surface of the shell corresponding to the installation position.

The operator holds the handle 91 with one hand, the forefinger operates the trigger 92 to control the movement of the jaw 93, and the thumb is put on the finger ring 71. One end of the control rod sleeve 73 is fixedly connected with the finger ring 71, and the other end of the control rod sleeve passes through the sterile sleeve 72 and is tightly sleeved on the rod head of the control rod 47. The thumb action of the operator is transmitted to the control lever 47. The center of the spherical element 1 is connected with a control rod 47, and can be driven by the control rod 47 to rotate. The sensing piece 61 is in close contact with the spherical piece 1 and is driven to rotate through friction transmission. The power is transmitted to the rotary encoder 62 through the transmission device 67, so that the rotary encoder can rotate to send out an electric signal, and the electric signal is transmitted to the surgical robot after being processed by the console.

in one non-limiting embodiment, the sensing assembly 6 has the structure shown in fig. 6, and the sensing member 61 is of a ball type and contacts the ball-shaped member 1. The rotation of the sensing member 61 can drive the sensing roller 63 to rotate, and the sensing magnetic ring 64 installed on the sensing roller 63 can rotate along with the rotation. The hall sensor 65 mounted on the circuit board senses the change of the magnetic pole on the induction magnetic ring 64, generates a pulse signal, and transmits the pulse signal to the surgical robot through the signal transmission system.

In one non-limiting embodiment, the sensing assembly 6 is equipped with a magnetic sensor and the spherical element 1 is equipped with a sensing pole. When the spherical part 1 rotates, the distance between the induction magnetic pole and the magnetic sensor and the magnetism change, so that signals are generated and processed by a computer to form effective signals for controlling the robot to move.

In one non-limiting embodiment, the ball and socket joint 2 housing is made of a transparent material, allowing direct visualization of the location of the various components inside.

Example two

As shown in fig. 7 and 8, the present embodiment is similar to the first embodiment, except that the spherical component 1 of the present embodiment has a through hole 23 at the center, and an in-sphere sensing element 13 inside, which has the same structure as the sensing element 6, and the sensing element is in close contact with the control rod 47 and is also driven to rotate through friction transmission. When the control rod 47 moves back and forth in the through hole of the ball-shaped member 1, the in-ball sensing component 13 is driven to move, so as to send out an electric signal.

in one non-limiting embodiment, the ball inside sensor assembly 13 has a gear, and the control rod 47 has a rack engaged therewith, which are driven by the gear.

In another non-limiting embodiment, magnetic sensors are mounted on the in-ball sensing assemblies 13, respectively, and sensing poles are mounted on the control rod 47. When the control rod 47 moves up and down or rotates, the distance between the induction magnetic pole and the magnetic sensor and the magnetism change, so that signals are generated and processed by a computer to form effective signals for controlling the movement of the robot.

the operator holds the handle 91 with his hand as in fig. 1 and the index finger operates the trigger 92. When it is desired to operate the robot, the thumb can be inserted into the finger ring 71 to operate the lever 47. The motion of the thumb is decomposed into upper, lower, front, back, left and right motions, and the displacement and the direction of the motion are respectively collected by the sensing assembly 6 and the in-ball sensing assembly 13 and are transmitted to the surgical robot through signal processing.

EXAMPLE III

as shown in fig. 9 and 10, the present embodiment is similar to the present embodiment, except that a passage tube 41 is inserted into the through hole 23 of the spherical component 1, and a control rod 47 is inserted into the passage tube 41. The channel tube 41 has an elongated sensing seat 46, and the sensing assembly 6 is disposed in the sensing seat 46. The sensing member 6 is in close contact with the control rod 47 through the passage tube notch 40 of the passage tube 41, and senses the back and forth movement of the control rod 47 in the passage tube 41.

The long axis of the sensing element 61 of the in-ball sensing assembly 13 in this embodiment is parallel to the long axis of the channel tube 41. The user uses the index finger or the other hand of the same hand to stir the sensing seat 46, which can drive the channel tube 41 to rotate in the ball-shaped member 1, and drive the sensing member 61 of the in-ball sensing assembly 13 to rotate, thereby generating an electrical signal.

The openings of the channel tube 41 at the two ends of the through hole 23 of the spherical part 1 are respectively provided with a limiting piece, the limiting pieces are wider than the diameter of the through hole 23, and the channel tube 41 is limited to rotate only in the spherical part 1 and cannot move back and forth.

The spherical part 1 is provided with symmetrically distributed rotating beams 14 which are clamped in grooves in an anti-rotation fixing frame 15. The grooves in the anti-rotation fixing frame 15 are perpendicular to the bottom surface of the joint seat 21, so as to prevent the ball-shaped member 1 from rotating along the long axis direction of the passage tube 41 during movement.

Only two groups of mutually vertical sensing assemblies 6 are arranged in the joint seat, so that the weight can be reduced. In one non-limiting embodiment, the vacant space houses a battery and wireless transmission device for power and wireless communication.

the operator holds the handle 91 with his hand as in fig. 1 and the index finger operates the trigger 92. When it is desired to operate the robot, the thumb can be inserted into the finger ring 71 to operate the lever 47. The motion of the thumb is transferred to the lever 47 and then is divided into up, down, front, rear, left and right motions. The index finger or the other hand of the same hand pulls the sensing socket 46 to generate a rotating motion in the ball-shaped member 1. The displacement and direction of movement of the control rod 47 are sensed by the sensing assemblies respectively. Wherein the sensing component 6 in the joint seat senses the front-back left-right movement, the sensing component 13 in the ball senses the rotation movement, and the sensing component in the sensing seat 46 senses the up-down movement.

example four

This embodiment is similar to the first embodiment except that the base 3 is mounted on a sterile beam that is positioned within the sterile field of the operator's hand.

EXAMPLE five

This embodiment is similar to the first embodiment except that in this embodiment there is no sterile sleeve and the base 3 is mounted on a foot rest which is positioned alongside the operator's foot.

EXAMPLE six

This embodiment is similar to the first embodiment except that the base 3 is mounted on a mask which is placed on the face of the operator.

EXAMPLE seven

As shown in fig. 11, the present invention also provides a surgical robot controlled by the above embodiment, which is a ball joint robot 8 having a similar structure to the portable control device of the first embodiment. The difference is that the ball joint robot 8 is 3-10 times the size of the control device. Inside which is mounted a drive assembly in addition to the induction assembly 6. The driving component is driven by a driving motor, and drives the spherical piece and an executing instrument 9 connected to the spherical piece to move through a transmission device. Each sensing assembly 6 in the control device is a driving assembly at the corresponding position of the ball joint robot 8. The control lever 47 in the control device is the implement 9 in the corresponding position of the ball joint robot 8.

In this embodiment, the portable control device is provided with a driving component in addition to the sensing component 6. The motion of the execution instrument 9 is collected by the induction component of the ball-and-socket joint robot 8, and is transmitted to the portable control device through signal processing, so that the motion of the internal driving component is controlled, and the control rod is driven to move. Since the control lever is now controlled by the operator's thumb, force feedback is given to the operator, producing a tactile sensation of actual contact with the tissue and sensing the magnitude of the reaction force.

Example eight

The portable control device of the surgical robot is arranged on the operation table, when the portable control device of the surgical robot is used, the ball-and-socket joint surgical robot 8 is controlled by the operation table, the instruction of the operation table is given by the foot control device, the instruction reaches the slave end robot control device through RTC instant communication, and the slave end robot control device receives the instruction and then transmits the instruction to the ball-and-socket joint surgical robot 8 to perform corresponding action. The state of the ball joint surgical robot 8 is collected to the slave robot control device, and the slave robot control device arrives at the console through RTC communication, and meanwhile, the state information of the console and the state information of the ball joint surgical robot 8 are collected and processed and then fed back to the staff through the liquid crystal panel.

The operating platform control device is provided with a monitoring device for monitoring whether the working personnel are in place or not and a display for displaying the state information of the operating platform and the robot. When the monitoring device monitors abnormal states, the monitoring device can brake or cut off the power according to monitoring results so as to ensure safe operation of the operation. Preferably, the monitoring device comprises a 3D motion sensing camera (Kinect) and a foot switch, when the 3D motion sensing camera monitors that a worker is in place, part of the functional operations of the ball-and-socket joint surgical robot 8 can be performed, and when the worker turns on the switch, the ball-and-socket joint surgical robot 8 can start to operate; when the worker is not in place and the switch is not turned on, the ball-and-socket joint surgical robot 8 is braked to avoid movement of the ball-and-socket joint surgical robot 8 caused by operation of an operation interface due to abnormal factors.

The robot control device is also provided with a motor driving device for acquiring motor state information and a motor braking device for reflecting the state of the robot, and when a danger signal is monitored, the motor braking device automatically brakes. The motor driving device can be matched with the encoder, when the encoder monitors that the motion path of the ball joint surgical robot 8 is abnormal, the encoder can feed back information to the motor driving device, and the motor driving device drives the motor to start a new working path.

The robot control device is characterized by further comprising a motor communication device, the feedback state between the motor and the motor driving device is monitored in real time, the feedback state between the motor driving device and the ball-and-socket joint surgical robot 8 is monitored, monitoring information is fed back to a worker, and under the condition of failure, the motor communication device can perform brake lamp operation according to the monitoring information, so that the normal operation of the surgical robot is guaranteed, or the failure information is fed back to the worker, and the worker can rapidly process the failure.

In addition, the console control device is a data recording module for recording the parameter information of the ball joint surgical robot 8 and/or the console parameter information, so as to search the fault information. Specifically, the data recording module includes an operation log and control hand data, for example, in the control hand data, a worker operates a handle, the operation handle is transmitted to a ball joint surgical robot end through an operation console controller, so that the ball joint surgical robot 8 moves, information during the action of the ball joint surgical robot 8 is fed back to the operation console controller through an encoder and a motor driving device to form a feedback mechanism, if the operation data is inconsistent with the encoder or the motor data, the system automatically adjusts, and if the operation data is not adjusted, a fault occurs, and data needs to be checked in the control hand data and a fault location needs to be found.

Preferably, the console control device is provided with an emergency stop switch for emergency braking to emergency brake the robot when a failure occurs, thereby reducing loss due to the failure.

In one embodiment of the present application, the robot control device and the console control device are further provided with a first UPS power supply (uninterruptible power supply) and a second UPS power supply, respectively, which monitor voltage and protect circuits. The UPS power supply is used for monitoring the voltage and the stability of a power grid, and the UPS power supply is started under the condition of power failure, so that smooth operation is ensured, and information obtained by monitoring is fed back to workers through the console controller.

The robot control device and the console control device are respectively provided with a first power supply power monitor and a second power supply power monitor for monitoring the circuit state of each part of the control device, the circuit normally works when the voltage and current values of the circuit are within a preset parameter range, and when the voltage and current values exceed the preset parameter, a fault exists, and the robot control device and the console control device immediately brake or cut off the power.

The robot control device and the console control device are respectively provided with a first status indicator light for displaying the working status of the ball joint surgical robot 8 and a second status indicator light for displaying the working status of the console. Above-mentioned pilot lamp can present the operating condition of robot end and operation panel most audio-visual for the staff, and the staff is according to the demonstration condition of pilot lamp, through the check error code, and the trouble place can be found out fast. Specifically, the indicator light may be specifically configured with indication conditions such as normal, standby, warning, danger, and the like, so that a worker can monitor the use state of the robot.

The embodiment of the utility model provides a portable controlling means of surgical robot specifically includes operation panel controlling means and robot controlling means to control operation panel and ball socket joint surgical robot's state respectively, and operation panel controlling means is connected with robot controlling means, thereby realizes information connection and feedback between the two, makes the staff can operate in order to carry out the operation to ball socket joint surgical robot at the operation panel end. In the operation process, the monitoring device can monitor whether the worker is in place in real time, so that whether braking is performed or not is judged, and the operation of the ball-and-socket joint operation robot under partial misoperation is effectively avoided; the display can display all state information of the operating table and the robot and directly present the state information to workers, so that the workers can quickly and accurately find problems existing in the system, the problems are quickly solved, and the safety of the operation is ensured; in addition, the encoder on the robot control device can record the number of turns of the motor, so that the motion track of the mechanical arm is recorded, whether a problem exists in a motion path can be automatically judged through an information system fed back by the encoder, whether interference occurs when a plurality of ball-and-socket joint surgical robots move is judged, more accurate safe work of each ball-and-socket joint surgical robot can be ensured according to feedback information of the robot, and the safety of the operation is improved.

Based on the control device provided by the embodiment, the embodiment of the utility model also provides a surgical robot, which comprises an operation table, a ball-and-socket joint surgical robot and a control device respectively connected with the operation table and the ball-and-socket joint surgical robot; and the control device is any one of the control devices described above. For the structure of the rest of the surgical robot, please refer to the prior art, and the description is omitted here.

Since the surgical robot has the control device, the surgical robot also has high safety in use to some extent.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various changes and modifications may be made by those skilled in the art, and various changes, modifications, equivalents and improvements may be made to the embodiments within the scope of the principles and technical ideas of the present invention, and all shall be included in the protection scope of the present invention.

Claims (10)

1. A portable control device of surgical robot, characterized in that: comprises a base and a ball-and-socket joint arranged on the base; the base is connectable to a surgical device; the ball-and-socket joint consists of a spherical part and a joint seat, wherein the joint seat is internally provided with a sensing assembly which is used for sensing the movement of the spherical part; the joint seat is also internally provided with a limiting piece.

2. A surgical robotic portable control device as claimed in claim 1, wherein: the limiting piece is a through hole in the joint seat shell, and the diameter of the through hole is smaller than that of the spherical piece.

3. A surgical robotic portable control device as claimed in claim 1, wherein: the base is detachably connected with the surgical equipment.

4. A surgical robotic portable control device as claimed in claim 1, wherein: still include aseptic cover, aseptic cover and base are connected, aseptic cover is used for wrapping up ball and socket joint.

5. A surgical robotic portable control device as claimed in claim 4, wherein: the sterile sleeve is made of a high polymer film, and the opening of the sterile sleeve can be matched with the base to wrap the ball-and-socket joint.

6. A surgical robotic portable control device as claimed in claim 1, wherein: and touch sensors or buttons are arranged on the base and/or the joint seat.

7. A surgical robotic portable control device as claimed in claim 1, wherein: the spherical piece is characterized in that a through hole is formed in the center of the spherical piece, a penetrating object is arranged in the through hole, and a sensing assembly for sensing the movement of the penetrating object is installed in the spherical piece.

8. A surgical robotic portable control device as claimed in claim 7, wherein: a channel pipe penetrates through the through hole, a control rod is arranged in the channel pipe, and an induction assembly for inducing the control rod to move is arranged on the pipe wall of the channel pipe.

9. A surgical robotic portable control device as claimed in claim 1, wherein: the joint seat and/or the ball-type part also comprises a driving assembly, the driving assembly comprises a driving piece and a driving motor, and the driving piece and the driving motor are directly connected or connected through a transmission device.

10. a surgical robot, characterized by: based on the structure of the portable control device of the surgical robot as claimed in any one of claims 1-8, a driving component is used to replace a sensing component in the robot control device.