CN211534786U

CN211534786U - Operating handle

Info

Publication number: CN211534786U
Application number: CN201922485104.7U
Authority: CN
Inventors: 徐凯; 其他发明人请求不公开姓名
Original assignee: Beijing Surgerii Technology Co Ltd
Current assignee: Beijing Surgerii Robot Co Ltd
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-09-22
Anticipated expiration: 2029-12-31

Abstract

The utility model relates to the technical field of control devices, in particular to an operating handle, which comprises a handle body, wherein the handle body is connected with a control system of an actuating mechanism; the handle pressing piece is connected to the handle body and provided with an initial position and a working position, and the control system can be activated when the handle pressing piece moves to the working position; the clamping assembly is hinged to the handle body and can rotate through the handle body relatively to control the actuating mechanism to open and close. The utility model discloses be provided with the mechanism that control actuator opened and shut on operating handle, improved the authenticity of operating handle maneuverability and gripping.

Description

Operating handle

Technical Field

The utility model relates to a controlling means technical field especially relates to an operating handle.

Background

Minimally invasive surgery has the advantages of small wound, less bleeding, quick recovery and the like, and is widely applied to clinical surgeries. Because the minimally invasive surgery operation needs high operation precision and action stability, but because the operation working time is long, a doctor feels tired easily, and the vibration, the fatigue and the muscle nerve feedback of the hand of the doctor can occur, so that the action is inaccurate, the pain of a patient is increased, and the success rate of the surgery is reduced.

Under the condition, the surgical operation robot is produced, can provide a visual guide or monitoring service function in the operation, assists a doctor to complete operation with high quality, improves the quality of the operation, can overcome the defects of the traditional minimally invasive operation, widens the range of the minimally invasive operation, and can perform operation simulation. The operating handle is a key device of the teleoperation robot system, and a user controls the operating handle to perform real-time motion control input, so that an actuating mechanism at the far end of the robot is controlled to complete corresponding operation. However, the existing operating handle is designed to be a rod shape, so that a user does not have a real feeling of grasping during operation, the operating habit of the user is not met, and the design of controlling the opening and closing of the distal end actuating mechanism is not provided, so that the operability is reduced.

Therefore, an operating handle is needed to solve the above technical problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide an operating handle is provided with the mechanism that the control execution mechanism opened and closed on operating handle, has improved operating handle maneuverability, improves the authenticity of gripping.

To achieve the purpose, the utility model adopts the following technical proposal:

an operating handle comprising:

the handle body is connected with a control system of the actuating mechanism;

a handle press connected to the handle body, the handle press having an initial position and a working position, the control system being activatable when the handle press is moved to the working position;

and the clamping assembly is hinged with the handle body so as to control the actuating mechanism to open and close through the rotation relative to the handle body.

Optionally, the handle body is L-shaped and comprises a holding part and an operating part which are connected with each other; the operating part is connected with the control system, the handle pressing piece is connected with the holding part, and the clamping assembly is hinged with the holding part.

Optionally, a circuit board is disposed in the holding portion, the circuit board is electrically connected to the control system through the operating portion, and when the handle pressing member moves to the working position, the control system can be activated through the circuit board.

Optionally, one end of the handle pressing piece is rotatably connected to the holding part, and a first elastic resetting piece is arranged between the handle pressing piece and the holding part;

preferably, the holding portion and the handle pressing piece are opposite to each other and form an inwardly concave arc surface, and the handle pressing piece is an arc surface matched with the arc surface of the holding portion, so that when the handle pressing piece is located at the working position, the handle pressing piece and the arc surface of the holding portion are abutted to each other.

Optionally, the clamp assembly comprises a first clamp mechanism and a second clamp mechanism; the first clamping mechanism and the second clamping mechanism are symmetrically arranged relative to the operating part and are hinged with the holding part; a potentiometer is fixedly arranged in the holding part, and a rotating shaft of the potentiometer is connected with the first clamping mechanism; the potentiometer can be connected with the control system through the operation part, so that when the first clamping mechanism rotates relative to the operation part, the rotation angle information of the first clamping mechanism is collected to control the actuating mechanism to open and close.

Optionally, the first clamping mechanism includes a first rotating member and a first rotating shaft, the first rotating shaft is disposed in the holding portion, and the first rotating member is sleeved on the first rotating shaft; the rotating shaft of the potentiometer is arranged on the first rotating shaft; the angle information of the first rotating part rotating relative to the first rotating shaft is collected so as to control the actuating mechanism to open and close.

Optionally, the second clamping mechanism comprises a second rotating member and a second rotating shaft; the second rotating shaft is arranged in the holding part, and the second rotating part is sleeved on the second rotating shaft; the first rotating piece and the second rotating piece are symmetrical relative to the operating part.

Optionally, a second elastic reset element is clamped between the first rotating element and the second rotating element.

Optionally, a first gear is sleeved on the first rotating shaft, the first gear is fixedly connected with the first rotating shaft, a second gear is sleeved on the second rotating shaft, the second gear is fixedly connected with the second rotating shaft, and the first gear is meshed with the second gear; preferably, the bottoms of the first gear and the second gear are provided with clamping pieces, and the upper surfaces of the clamping pieces are abutted against the bottoms of the first gear and the second gear;

preferably, a friction plate is sleeved on the second rotating shaft and abuts against the bottom of the second gear;

preferably, steps are arranged on the first rotating shaft and the second rotating shaft, and the tops of the first gear and the second gear abut against the steps.

Optionally, a first clamping member is arranged at one end of the first rotating member away from the first rotating shaft, and a second clamping member is arranged at one end of the second rotating member away from the second rotating shaft;

preferably, the first clamping member and the second clamping member are both C-shaped or annular.

The utility model has the advantages that:

the handle pressing piece of the operating handle provided by the utility model is connected with the handle body, and when the handle pressing piece moves from the initial position to the working position, the control system is activated, so that the real feeling of the user gripping is improved; articulated centre gripping subassembly on the handle body, rotate the control actuating mechanism through the relative handle body of centre gripping subassembly and open and shut to maneuverability has been improved, convenient clinical use.

Drawings

Fig. 1 is a partial structural schematic view of an operating handle of the present invention;

fig. 2 is a schematic view of a clamping assembly of an operating handle according to the present invention;

fig. 3 is a schematic view of a first clamping mechanism and a second clamping mechanism of an operating handle according to the present invention;

fig. 4 is a schematic view of the overall structure of an operating handle according to the present invention.

In the figure:

1-a handle body; 11-an operating part; 12-a grip portion; 2-handle pressing piece; 21-pressing rod; 22-a first elastic return member; 3-a clamp assembly; 31-a first clamping mechanism; 311-a first rotating member; 312 — a first shaft; 313-a first gear; 314-a first clamp; 315-a first Z-shaped portion; 32-a second clamping mechanism; 321-a second rotating member; 322-a second shaft; 323-a second gear; 324-a second clamp; 325-a second zigzag; 4-card; 5-friction plate; 6-a potentiometer; 7-a second elastic return member.

Detailed Description

The technical solution of the present invention will be further explained with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some but not all of the elements related to the present invention are shown in the drawings.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection or a removable 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.

In order to improve the operability of the operating handle and the authenticity of the grip of the operating handle, as shown in fig. 1 to 4, the present invention provides an operating handle comprising: a handle body 1, a handle pressing member 2, and a clip portion assembly 3. Wherein, the handle body 1 is connected with a control system of the actuating mechanism; the handle pressing piece 2 is connected with the handle body 1, the handle pressing piece 2 is provided with an initial position and a working position, and when the handle pressing piece 2 moves to the working position, the control system is activated; the clamping assembly 3 is hinged to the handle body 1, and the clamping assembly 3 can control the actuating mechanism to open and close through rotating relative to the handle body 1. In this embodiment, the operating handle is used for the surgical robot and located at the main control end of the surgical robot. The executing mechanism and the control system are all components of the surgical robot, the executing mechanism is positioned at the driven end of the surgical robot, and the control system receives the input information of the main control end and controls the executing mechanism to perform surgical operation according to the input information.

When the handle pressing piece 2 moves from the initial position to the working position, the control system is activated, and the real feeling of grasping by a user is increased in the using process, so that the operation handle is more suitable for the actual application scene; the handle is hinged with the clamping assembly 3, and the opening and closing of the actuating mechanism are controlled by the rotation of the clamping assembly 3, so that the operation of a user is facilitated.

Further, the handle is L-shaped and comprises a holding portion 12 and an operating portion 11 which are connected with each other, one end, away from the holding portion 12, of the operating portion 11 is connected with the control system, the handle pressing piece 2 is connected with the holding portion 12, and the clamping assembly 3 is hinged to the holding portion 12. In this embodiment, the relative cambered surface of personally submitting towards the indent of portion 12 and handle pressing piece 2 grips, and handle pressing piece 2 is the cambered surface with this cambered surface adaptation, and when the cambered surface of handle pressing piece 2 and the cambered surface of portion 12 of gripping supported, both laminated each other, and comfortable sense when so both pleasing to the eye and can guarantee to grip.

Further, a circuit board is provided in the grip portion 12, and the circuit board is electrically connected to the control system through the operation portion 11, and the control system is activated by the circuit board when the handle press 2 is moved from the initial position to the working position. In order to increase the feeling of the holding force, the handle pressing piece 2 is rotatably connected with the holding part 12, and a first elastic resetting piece 22 is arranged between the handle pressing piece 2 and the holding part 12, so that the handle pressing piece 2 moves from the working position to the initial position and stops at the initial position. Specifically, the first elastic restoring member 22 is a spring, and in the process of holding the handle pressing member 2, the first elastic restoring member 22 is compressed, and the handle pressing member 2 abuts against a switch of the circuit board, so that the circuit board is activated, and the control system is activated.

Specifically, one side of the handle pressing piece 2 facing the holding portion 12 is provided with a pressing rod 21, the holding portion 12 is provided with an opening corresponding to the pressing rod 21, the pressing rod 21 can extend into the holding portion 12 through the opening on the holding portion 12, the pressing rod 21 is provided with a protrusion, and the first elastic resetting piece 22 is sleeved on the protrusion. In the present embodiment, the handle pressing member 2 rotates toward the holding portion 12, the circuit board is fixedly disposed in the holding portion 12, and the switch of the circuit board is located in the holding portion 12 at a position close to the inner wall of the holding portion 12 and opposite to the pressing rod 21 on the handle pressing member 2. When a user holds the holding part 12, the handle pressing piece 2 is pressed to drive the handle pressing piece 2 to rotate towards the holding part 12 until the pressing rod 21 on the handle pressing piece 2 abuts against a switch of the circuit board, and the circuit board is activated; then, the circuit board collects the position information of the holding part 12 and sends the position information to the control system, the control system controls the actuating mechanism to act according to the received position information, so that the position of the actuating mechanism is adjusted, the actuating mechanism is located at an optimal operation position, after the position of the actuating mechanism is adjusted, a user releases the hand, and the handle pressing piece 2 is reset through the first elastic resetting piece 22.

Further, the clip assembly 3 includes a first clip mechanism 31 and a second clip mechanism 32. The first clamping mechanism 31 and the second clamping mechanism 32 are symmetrically arranged relative to the operation portion 11 and are hinged to the holding portion 12. The potentiometer 6 is fixedly arranged in the holding part 12, a rotating shaft of the potentiometer 6 is connected with the first clamping mechanism 31, the potentiometer 6 is connected with the control system through the operating part 11, and the potentiometer is used for collecting the rotating angle information of the first clamping mechanism 31 when the first clamping mechanism 31 rotates relative to the operating part 11, so that the actuating mechanism is controlled to be opened and closed. Of course, since the first clamping mechanism 31 and the second clamping mechanism 32 are engaged for transmission, the potentiometer 6 is used for indirectly acquiring the rotation angle information of the second clamping mechanism 32 when the second clamping mechanism 32 rotates relative to the operating part 11, and controlling the actuating mechanism to open and close. The first clamping mechanism 31 and the second clamping mechanism 32 are symmetrically arranged, so that the clamping assembly 3 is stressed in a balanced manner during operation, and clinical application is facilitated.

Specifically, the first clamping mechanism 31 includes a first rotating member 311 and a first rotating shaft 312, the first rotating shaft 312 is rotatably disposed in the holding portion 12, the first rotating member 311 is fixedly sleeved on the first rotating shaft 312, and a rotating shaft of the potentiometer 6 is disposed in a hole of the first rotating shaft 312, so that information of an angle that the first rotating member 311 rotates relative to the first rotating shaft 312 can be collected, and the actuating mechanism is controlled by the control system to open and close. In this embodiment, the potentiometer 6 can transmit the angle information to the control system according to the collected angle information of the first rotating member 311 rotating relative to the first rotating shaft 312, and the control system controls the opening angle of the actuating mechanism, thereby completing the surgical operation.

Further, the second clamping mechanism 32 includes a second rotating member 321 and a second rotating shaft 322, the second rotating shaft 322 is disposed in the holding portion 12, the second rotating member 321 is fixedly sleeved on the second rotating shaft 322, and the first rotating member 311 and the second rotating member 321 are symmetrical with respect to the operating portion 11. The second rotating member 321 is arranged to make the force applied when the first rotating member 311 is operated symmetrical, so as to avoid the inconvenience caused by the unidirectional force applied to the first rotating member 311. In order to facilitate the operation of the user and the gripping by fingers, optionally, a first clamping member 314 is disposed at an end of the first rotating member 311 away from the first rotating shaft 312, a second clamping member 324 is disposed at an end of the second rotating member 321 away from the second rotating shaft 322, the first clamping member 314 and the second clamping member 324 are C-shaped, a concave portion of the C-shape is convenient for the finger of the user to grip, or the first clamping member 314 and the second clamping member 324 are ring-shaped.

Further, in order to facilitate the first rotating member 311 and the second rotating member 321 to return after rotating, optionally, a second elastic returning member 7 is interposed between the first rotating member 311 and the second rotating member 321. Specifically, in this embodiment, a first Z-shaped portion 315 is disposed at one end of the first rotating member 311 sleeved with the first rotating shaft 312, a second Z-shaped portion 325 is disposed at one end of the second rotating member 321 sleeved with the second rotating shaft 322, the second elastic reset member 7 is a spring, one end of the spring is sleeved with the first Z-shaped portion 315, and the other end of the spring is sleeved with the second Z-shaped portion 325, and when the first rotating member 311 and the second rotating member 321 move toward a direction close to the operating portion 11, the spring is stretched; when the first rotating member 311 and the second rotating member 321 are reset, the spring provides a restoring force. By providing a spring, the holder assembly 3 can be easily returned to the initial position after the external force disappears.

Further, in order to enable the first rotating member 311 and the second rotating member 321 to be synchronously linked, that is, the first rotating member 311 and the second rotating member 321 rotate in the same direction or in a separated direction, the first rotating shaft 312 is sleeved with the first gear 313, the first gear 313 is fixedly connected with the first rotating shaft 312, the second rotating shaft 322 is sleeved with the second gear 323, the second gear 323 is fixedly connected with the second rotating shaft 322, the first gear 313 is engaged with the second gear 323, the card 4 is arranged below the first gear 313 and the second gear 323, the card 4 is fixedly connected with bearings of the first rotating shaft 312 and the second rotating shaft 322, and the upper surface of the card 4 is abutted against the bottoms of the first gear 313 and the second gear 323, so as to prevent the first gear 313 and the second gear 323 from moving downwards. In order to provide a certain resistance during the transmission between the first gear 313 and the second gear 323, optionally, a friction plate 5 is disposed on the second rotating shaft 322, and the friction plate 5 abuts against the bottom end surface of the second gear 323, so as to provide a resistance during the rotation of the second gear 323, thereby effectively preventing the first rotating member 311 and the second rotating member 321 from rapidly approaching or separating. The first gear 313 and the second gear 323 are in meshing transmission, so that the first rotating part 311 and the second rotating part 321 are synchronously linked. In order to prevent the first gear 313 and the second gear 323 from moving upwards, steps are provided on the first rotating shaft 312 and the second rotating shaft 322, and tops of the first gear 313 and the second gear 323 abut against the steps.

The first rotating member 311 of the first clamping mechanism 31 rotates to drive the first rotating shaft 312 to rotate, the first rotating shaft 312 is fixedly connected with the first gear 313 to drive the first gear 313 to rotate, and the rotating shaft of the potentiometer 6 and the first gear 313 are coaxially and fixedly arranged, so that the collected rotating information of the first gear 313 is transmitted to a control system, and the opening and closing of the actuating mechanism are further controlled.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An operating handle, comprising:

the handle body (1) is connected with a control system of the actuating mechanism;

a handle press (2) connected to the handle body (1), the handle press (2) having an initial position and a working position, the control system being activatable when the handle press (2) is moved to the working position;

the clamping assembly (3) is hinged to the handle body (1) so as to control the actuating mechanism to open and close through rotation relative to the handle body (1).

2. The operating handle according to claim 1, wherein the handle body (1) is L-shaped, comprising a grip portion (12) and an operating portion (11) connected to each other; the operating part (11) is connected with the control system, the handle pressing piece (2) is connected with the holding part (12), and the clamping assembly (3) is hinged with the holding part (12).

3. Operating handle according to claim 2, characterized in that a circuit board is arranged in the grip part (12), which circuit board is electrically connected to the control system via the operating part (11), by means of which circuit board the control system can be activated when the handle press (2) is moved into the operating position.

4. The operating handle according to claim 2, wherein one end of the handle pressing piece (2) is rotatably connected to the holding portion (12), and a first elastic resetting piece (22) is arranged between the handle pressing piece (2) and the holding portion (12);

preferably, the surface of the holding portion (12) opposite to the handle pressing piece (2) is an inward-concave arc surface, and the handle pressing piece (2) is an arc surface matched with the arc surface of the holding portion (12), so that when the handle pressing piece (2) is located at the working position, the arc surfaces of the holding portion (12) and the handle pressing piece (2) are abutted against each other.

5. The operating handle according to claim 2, wherein the clamping assembly (3) comprises a first clamping mechanism (31) and a second clamping mechanism (32); the first clamping mechanism (31) and the second clamping mechanism (32) are symmetrically arranged relative to the operating part (11) and are hinged with the holding part (12); a potentiometer (6) is fixedly arranged in the holding part (12), and a rotating shaft of the potentiometer (6) is connected with the first clamping mechanism (31); the potentiometer (6) can be connected with the control system through the operation part (11) so that when the first clamping mechanism (31) rotates relative to the operation part (11), the rotation angle information of the first clamping mechanism (31) is collected to control the actuating mechanism to open and close.

6. The operating handle according to claim 5, wherein the first clamping mechanism (31) comprises a first rotating member (311) and a first rotating shaft (312); the first rotating shaft (312) is arranged in the holding part (12), and the first rotating piece (311) is sleeved on the first rotating shaft (312); the rotating shaft of the potentiometer (6) is arranged on the first rotating shaft (312) so as to collect the angle information of the first rotating member (311) rotating relative to the first rotating shaft (312) and be used for controlling the actuating mechanism to open and close.

7. The operating handle according to claim 6, wherein the second clamping mechanism (32) comprises a second rotating member (321) and a second rotating shaft (322); the second rotating shaft (322) is arranged in the holding part (12), and the second rotating part (321) is sleeved on the second rotating shaft (322); the first rotating member (311) and the second rotating member (321) are symmetrical with respect to the operating portion (11).

8. The operating handle according to claim 7, wherein a second elastic return member (7) is interposed between the first rotating member (311) and the second rotating member (321).

9. The operating handle according to claim 7, wherein the first rotating shaft (312) is sleeved with a first gear (313), the first gear (313) is fixedly connected with the first rotating shaft (312), the second rotating shaft (322) is sleeved with a second gear (323), the second gear (323) is fixedly connected with the second rotating shaft (322), and the first gear (313) is meshed with the second gear (323); preferably, the bottoms of the first gear (313) and the second gear (323) are provided with a card (4), and the upper surface of the card (4) is abutted against the bottoms of the first gear (313) and the second gear (323);

preferably, a friction plate (5) is sleeved on the second rotating shaft (322), and the friction plate (5) is abutted against the bottom of the second gear (323);

preferably, steps are arranged on the first rotating shaft (312) and the second rotating shaft (322), and the tops of the first gear (313) and the second gear (323) are abutted against the steps.

10. The operating handle according to claim 7, wherein the first rotating member (311) is provided with a first clamping member (314) at an end thereof remote from the first rotating shaft (312), and the second rotating member (321) is provided with a second clamping member (324) at an end thereof remote from the second rotating shaft (322);

preferably, the first and second clamping members (314, 324) are each C-shaped or annular.