CN211962182U

CN211962182U - Operating handle

Info

Publication number: CN211962182U
Application number: CN201922474678.4U
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: 2020-11-20
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 can be connected with a control system of an actuating mechanism; a handle press connected to the handle body, the handle press having an initial position and a working position to activate the control system when moved to the working position; and the push rod assembly is arranged on the handle body and can move along a first direction relative to the handle body so as to control the actuating mechanism to open and close through the movement of the push rod assembly. The utility model discloses operating handle maneuverability can be improved, the authenticity of gripping is improved.

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. High operation precision and action stability are needed for minimally invasive surgery operation, but because the operation working time is long, doctors are easy to feel tired, and the actions are inaccurate due to the vibration of hands, fatigue and the feedback of muscle nerves, so that the pain of patients is increased, and the success rate of the surgery is reduced.

In this case, surgical robots have come to be used which provide visual guidance or monitoring service functions during surgery to assist the surgeon in performing the surgical procedure with high quality. The minimally invasive surgery system improves the quality of the surgery, can overcome the defects of the traditional minimally invasive surgery, broadens the range of the minimally invasive surgery, and can also perform surgery simulation. The operating handle is a key device of the remote control 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 to improve operating handle maneuverability, improve the authenticity of gripping.

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

an operating handle, comprising:

the handle body can be 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 to activate the control system when moved to the working position;

and the push rod assembly is arranged on the handle body and can move along a first direction relative to the handle body so as to control the actuating mechanism to open and close through the movement of the push rod assembly.

Optionally, the handle body comprises a housing and a connector connected to the housing; the connecting piece is connected with the control system; a circuit board is arranged in the shell and can be electrically connected with the control system through the connecting piece, so that when the handle pressing piece moves to the working position, the control system is activated through the circuit board.

Optionally, the handle pressing piece is rotatably connected to the handle body, and a first elastic resetting piece is arranged between the handle pressing piece and the handle body;

preferably, the handle pressing piece is provided with a holding part, a pressing rod is arranged on one side of the holding part, which faces the handle body, and an opening corresponding to the pressing rod is arranged on the handle body so as to allow the pressing rod to extend into the handle body after moving through the opening.

Optionally, the handle further comprises a handheld portion, and the handheld portion is fixedly connected to the handle body.

Optionally, the tappet assembly comprises a rack, a gear and a first potentiometer, the gear is rotatably disposed in the housing, one end of the rack extends out of the housing, the rack is engaged with the gear, and the rack is movable in the first direction relative to the housing;

the first potentiometer is fixedly arranged in the shell, a rotating shaft of the first potentiometer is connected with the gear, the first potentiometer is connected with the control system through the connecting piece, and when the rack moves relative to the shell, the first potentiometer acquires the rotation angle information of the gear so as to control the actuating mechanism to open and close;

preferably, a first friction plate is arranged between the gear and the first potentiometer, and the first friction plate is abutted against an end face of the gear.

Optionally, the reset device further comprises a reset assembly, the reset assembly comprises a supporting rod and a second elastic reset piece, the supporting rod is parallel to the first direction and is fixedly connected in the shell, and the rack is sleeved on the supporting rod and can slide on the supporting rod; the second elastic reset piece is sleeved on the abutting rod.

Optionally, one end of the second elastic resetting piece abuts against the housing, and the other end abuts against the rack;

preferably, one side of the rack is provided with teeth, the other opposite side is fixedly provided with a boss with a through hole, the boss is sleeved on the support rod through the through hole,

the second elastic reset piece is a spring, one end of the spring is abutted against the boss, and the other end of the spring is abutted against the shell; further preferably, the spring is a compression spring.

Optionally, one end of the second elastic resetting piece is fixedly connected to the housing, and the other end of the second elastic resetting piece is fixedly connected to the rack;

preferably, one side of the rack is provided with teeth, the other opposite side is fixedly provided with a boss with a through hole, and the boss is sleeved on the abutting rod through the through hole;

preferably, the second elastic reset piece is a spring, one end of the spring is fixedly connected with the boss, and the other end of the spring is fixedly connected with the shell; further preferably, the spring is a tension spring.

Optionally, the device further comprises a rotating assembly, wherein the rotating assembly comprises a rotating wheel and a second potentiometer;

the rotating wheel is arranged on the shell, the rotating wheel can rotate, the second potentiometer is fixedly arranged in the shell, a rotating shaft of the second potentiometer is connected with the rotating wheel, the second potentiometer is connected with the control system through the connecting piece, and when the rotating wheel rotates relative to the shell, the second potentiometer acquires the rotating angle information of the rotating wheel so as to control the actuating mechanism to open and close;

preferably, the peripheral surface of the rotating wheel is provided with a bulge, and the extending direction of the bulge is parallel to the axis of the rotating wheel;

preferably, the operating handle further comprises a second friction plate which is abutted against the rotating wheel;

preferably, a card is fixedly arranged in the shell, and the card is abutted against the rotating wheel.

Optionally, wherein the handle body comprises a main housing and a cap; the cap is covered on the main shell; the connecting piece is arranged on the cover cap;

preferably, the handle pressing member is connected to the main housing, and the pusher block assembly is disposed on the main housing and movable in the first direction with respect to the main housing.

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; be provided with the push rod subassembly on the handle body, the push rod subassembly can move along first direction relative to the handle body, and the push rod subassembly can control actuating mechanism through removing and open and shut to maneuverability has been improved, convenient clinical use.

Drawings

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

fig. 2 is a schematic view of a push rod assembly and a reset assembly in an operating handle according to the present invention;

fig. 3 is a schematic view of a handle pressing member in an operating handle according to the present invention;

fig. 4 is a schematic view of a rotary assembly in an operating handle according to the present invention.

In the figure:

1-a handle body; 11-a main housing; 12-a cap; 13-a bottom shell; 14-a connector; 2-handle pressing piece; 21-a grip portion; 22-pressing rod; 23-a first elastic return member; 3-a pusher assembly; 31-a rack; 32-gear; 33-a first potentiometer; 34-a boss; 35-a button; 4-a circuit board; 5-a reset component; 51-a holding bar; 52-a second resilient return member; 6-a rotating assembly; 61-a rotating wheel; 62-a second potentiometer; 63-a damping member; 64-a second friction plate; 7-hand-held part.

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 improve the authenticity of the grip of the operating handle, as shown in fig. 1-4, the present invention provides an operating handle comprising: a handle body 1, a handle pressing piece 2 and a push rod assembly 3. Wherein, the handle body 1 can be connected with a control system of the actuating mechanism; the handle pressing piece 2 is connected to 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 can be activated; the push rod assembly 3 is arranged on the handle body 1, can move along a first direction relative to the handle body 1, and is opened and closed through the movement control executing mechanism of the push rod assembly 3.

When the handle pressing piece 2 moves from the initial position to the working position, the control system is activated, so that the real feeling of grasping of a user is improved; be provided with push rod subassembly 3 on handle body 1, push rod subassembly 3 can move along first direction relative to handle body 1, and through push rod subassembly 3's removal, can control actuating mechanism and open and shut to maneuverability has been improved, convenient clinical use.

Further, the handle body 1 includes a housing and a connecting member 14 connected to the housing, the housing includes a main housing 11 and a cap 12, the cap 12 covers the main housing 11, the connecting member 14 is provided on the cap 12, the connecting member 14 can be connected to the control system, the handle pressing member 2 is connected to the main housing 11, and the plunger assembly 3 is provided on the main housing 11 and can move in the first direction relative to the main housing 11. Specifically, in the present embodiment, the handle body 1 further includes a bottom housing 13, and the bottom housing 13 is fixedly disposed at the lower end of the main housing 11. Through designing handle body 1 into split type structure, conveniently install and maintain the part that is located main casing body 11, make things convenient for this operating handle's equipment.

Further, a circuit board 4 is fixedly disposed in the main housing 11, the circuit board 4 can be electrically connected to a control system through a connecting member 14, and the control system can be activated through the circuit board 4 when the handle pressing member 2 moves from the initial position to the working position. In order to increase the feeling of the holding force, optionally, one end of the handle pressing member 2 is rotatably connected to the main housing 11, and a first elastic reset member 23 is disposed between the handle pressing member 2 and the handle body 1, so that when the force applied to the handle pressing member 2 by the operator disappears, the handle pressing member 2 moves from the working position to the initial position and stops at the initial position. Specifically, the first elastic restoring member 23 is a spring, and in the process of gripping the handle pressing member 2, the first elastic restoring member 23 is compressed, and the handle pressing member 2 abuts against a switch of the circuit board 4, so that the circuit board 4 is activated, and the control system is activated. By providing the first elastic restoring member 23, the handle pressing member 2 can be restored to the original position after the external force is removed. The connection between the circuit board 4 and the control system is conventional in the art, and the control principle is common knowledge in the art, and will not be described herein.

Further, in order to facilitate taking and use of the operating handle and prevent misoperation of the actuating mechanism caused by the misoperation of the handle pressing piece 2, optionally, the operating handle further comprises a handheld part 7, and the handheld part 7 is fixedly connected to the main shell 11. Specifically, the hand-held portion 7 and the handle press 2 are located on opposite sides of the main housing 11.

Specifically, the grip portion 21 of the handle pressing member 2 is provided with a pressing lever 22 toward one side of the main housing 11, and the main housing 11 is provided with an opening corresponding to the pressing lever 22 to allow the pressing lever 22 to move therethrough and then to protrude into the main housing 11. In the present embodiment, the handle pressing member 2 is rotated toward the main housing 11, the circuit board 4 is fixedly disposed in the main housing 11, and the switch of the circuit board 4 is located at a position of the main housing 11 close to the inner wall of the handle pressing member 2 and opposite to the pressing rod 22 on the handle pressing member 2. When a user holds the main shell 11, the handle pressing piece 2 is pressed to drive the handle pressing piece 2 to rotate towards the main shell 11 until the pressing rod 22 on the handle pressing piece 2 abuts against a switch of the circuit board 4, so that the circuit board 4 is activated; then, the position information of the main shell 11 is acquired through the sensor, and is sent 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 enabled to be in an optimal operation posture, after the position of the actuating mechanism is adjusted, a user releases hands, and the handle pressing piece 2 is reset through the first elastic resetting piece 23.

Further, the pusher assembly 3 includes a rack 31, a gear 32 and a first potentiometer 33, the gear 32 is rotatably disposed in the main housing 11, one end of the rack 31 extends out of the main housing 11, the rack 31 is engaged with the gear 32, the rack 31 can move along a first direction relative to the main housing 11, the first potentiometer 33 is fixedly disposed in the main housing 11, a rotating shaft of the first potentiometer 33 is connected with the gear 32, the first potentiometer 33 can be connected with the control system through the connecting member 14, and when the rack 31 moves relative to the main housing 11, the first potentiometer 33 collects rotation angle information of the gear 32 to control the actuator to open and close. Specifically, in the present embodiment, a button 35 is disposed at an end of the rack 31 protruding from the main housing 11, and the button 35 is pressed by a finger to push the rack 31 so as to rotate the gear 32.

Further, a first friction plate is provided between the gear 32 and the first potentiometer 33, and the first friction plate abuts against an end surface of the gear 32. Specifically, the first friction plate is inserted into the rotating shaft of the first potentiometer 33, and abuts against the end face of the gear 32. The resistance to the rotation of the rotary gear 32 is increased by providing the first friction plate, thereby facilitating the control of the rotational speed of the gear 32 and achieving a fine operation.

In order to enable the push rod assembly 3 to move along the first direction relative to the main housing 11 and then automatically reset, optionally, the operating handle further includes a reset assembly 5, the reset assembly 5 includes a supporting rod 51 and a second elastic reset piece 52, the supporting rod 51 is fixedly connected to the inside of the main housing 11 in parallel with the first direction, the rack 31 is sleeved on the supporting rod 51 and can slide on the supporting rod 51, the second elastic reset piece 52 is sleeved on the supporting rod 51, one end of the second elastic reset piece 52 abuts on the main housing 11, and the other end abuts on the rack 31. Specifically, one side of the rack 31 is provided with teeth, the other opposite side is fixedly provided with a boss 34 with a through hole, and the boss 34 is sleeved on the abutting rod 51 through the through hole; the second elastic restoring member 52 is a spring, one end of which abuts against the boss 34 and the other end of which abuts against the main casing 11. Specifically, the second elastic restoring element 52 may be a compression spring, one end of which abuts against the boss 34, and the other end of which abuts against the inner wall of the main housing 11. When a user pulls the rack 31 to move through the button 35, the rack 31 presses the second elastic resetting piece 52 through the boss 34, and the second elastic resetting piece 52 is compressed under force; when the user no longer applies force to the button 35, the second elastic restoring member 52 drives the rack 31 to restore. Similarly, the second elastic reset element 52 may be a tension spring, one end of the tension spring is fixedly connected to the boss 34, the other end of the tension spring is fixedly connected to the inner wall of the main housing 11, when the user pushes the rack 31 to move along the first direction through the button 35, the second elastic reset element 52 is stressed and extended under the stretching action of the rack 31, and when the external force disappears, the second elastic reset element 52 returns to drive the rack 31 to reset.

Further, in order to prevent the pusher assembly 3 from malfunctioning during operation and affecting the normal operation of the operation, the operating handle further comprises a rotating assembly 6. The rotating assembly 6 and the push rod assembly 3 have the same function and are used for controlling the opening and closing of the actuating mechanism. As a redundant arrangement, the rotating assembly 6 may function in the event of a failure of the pusher assembly 3.

The rotating assembly 6 comprises a rotating wheel 61 and a second potentiometer 62, the rotating wheel 61 is arranged on the main casing body 11, the rotating wheel 61 can rotate, the second potentiometer 62 is fixedly arranged in the main casing body 11, a rotating shaft of the second potentiometer 62 is connected with the rotating wheel 61, the second potentiometer 62 can be connected with a control system through a connecting piece 14, and when the rotating wheel 61 rotates relative to the main casing body 11, the second potentiometer 62 collects rotating angle information of the rotating wheel 61 to control the actuating mechanism to open and close. Specifically, an opening is opened at the lower end of the main housing 11, the rotary wheel 61 is partially positioned in the main housing 11, and partially extends out of the main housing 11, and a user rotates the rotary wheel 61 relative to the portion extending out of the main housing 11 by rotation; the outer peripheral face of runner 61 is equipped with the arch, protruding equidistant distribution, and bellied extending direction is parallel with the axis of runner 61, prevents to rotate runner 61 in-process through setting up the arch, the phenomenon of skidding appears.

Further, a second friction plate 64 is provided in the main casing 11 to abut against the rotor 61. Specifically, in the present embodiment, a damping member 63 is provided in the main housing 11, the runner 61 is fixedly disposed on the damping member 63, and the second friction plate 64 is disposed on the rotating shaft of the second potentiometer 62 and abuts against an end surface of the runner 61; of course, the second friction plate 64 may be disposed through the damper 63 and abut against the bottom of the runner 61. The resistance to the rotation of the rotary wheel 61 is increased by the damping member 63 and the second friction plate 64, thereby facilitating the control of the rotational speed of the rotary wheel 61 and achieving a fine operation. In order to prevent the jog dial 61 from moving up and down in the main housing 11, optionally, a card is fixedly provided in the main housing 11, and the card abuts against the jog dial 61 so that the jog dial 61 cannot move up and down.

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 comprises a handle body (1), wherein the handle body (1) can be connected with a control system of an actuating mechanism;

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

the push rod assembly (3) is arranged on the handle body (1) and can move along a first direction relative to the handle body (1) so as to control the actuating mechanism to open and close through the movement of the push rod assembly (3).

2. Operating handle according to claim 1, characterized in that the handle body (1) comprises a housing and a connecting piece (14) connected to the housing; the connecting piece (14) is connected with the control system; a circuit board (4) is arranged in the shell, and the circuit board (4) can be electrically connected with the control system through the connecting piece (14), so that when the handle pressing piece (2) moves to the working position, the control system is activated through the circuit board (4).

3. The operating handle according to claim 1, wherein the handle pressing member (2) is rotatably connected to the handle body (1), and a first elastic restoring member (23) is provided between the handle pressing member (2) and the handle body (1).

4. Operating handle according to claim 1, characterized in that it further comprises a hand-held portion (7), said hand-held portion (7) being fixedly connected to said handle body (1).

5. The operating handle according to claim 2, wherein the pusher assembly (3) comprises a rack (31), a gear (32) and a first potentiometer (33), the gear (32) being rotatably arranged in the housing, one end of the rack (31) extending out of the housing, the rack (31) being in engagement with the gear (32), the rack (31) being movable in the first direction relative to the housing;

first potentiometer (33) is fixed to be set up in the casing, the pivot of first potentiometer (33) with gear (32) are connected, first potentiometer (33) pass through connecting piece (14) with control system connects, rack (31) is relative when the casing moves, first potentiometer (33) gather the turned angle information of gear (32) for be used for control actuating mechanism opens and shuts.

6. The operating handle according to claim 5, further comprising a reset assembly (5), wherein the reset assembly (5) comprises a support rod (51) and a second elastic reset piece (52), the support rod (51) is fixedly connected in the housing in parallel with the first direction, and the rack (31) is sleeved on the support rod (51) and can slide on the support rod (51); the second elastic reset piece (52) is sleeved on the abutting rod (51).

7. The operating handle according to claim 6, wherein one end of the second elastic return member (52) abuts against the housing and the other end abuts against the rack (31).

8. Operating handle according to claim 6, characterized in that the second elastic return member (52) is fixedly connected at one end to the housing and at the other end to the toothed rack (31).

9. Operating handle according to claim 2, characterized in that it further comprises a rotating assembly (6), said rotating assembly (6) comprising a wheel (61) and a second potentiometer (62);

runner (61) sets up on the casing, runner (61) can rotate, second potentiometer (62) are fixed to be set up in the casing, the pivot of second potentiometer (62) with runner (61) are connected, second potentiometer (62) pass through connecting piece (14) with control system connects, runner (61) are relative when the casing rotates, second potentiometer (62) gather the turned angle information of runner (61), be used for control actuating mechanism opens and shuts.

10. The operating handle according to claim 2, wherein the housing comprises a main housing (11) and a cap (12); the cover cap (12) is covered on the main shell (11); the connecting piece (14) is arranged on the cover cap (12).