CN215688402U

CN215688402U - Operating handle and operation console

Info

Publication number: CN215688402U
Application number: CN202121880054.3U
Authority: CN
Inventors: 孙培; 杨毅
Original assignee: Ronovo Shanghai Medical Science and Technology Ltd
Current assignee: Ronovo Shanghai Medical Science and Technology Ltd
Priority date: 2021-08-12
Filing date: 2021-08-12
Publication date: 2022-02-01
Anticipated expiration: 2031-08-12

Abstract

The utility model relates to the technical field of instrument equipment, and particularly discloses an operating handle and an operation console, wherein the operating handle comprises a handle body, and the handle body is provided with a rocker and/or two-section type buttons; the movement of the manipulator is controlled by the movement of the handle body and/or the poking of the rocker; the two-section type button is used for switching a control mode of the operating handle in which the manipulator can be controlled to move and a clutch mode of the operating handle and the manipulator which is released from a control relation; the handle body is also provided with a finger kneading button which is used for controlling the tail end action of the surgical instrument. The dependence of the user on foot operation is reduced, so that the user can adjust the standing posture and the sitting posture at any time, the fatigue is relieved, the safe operation is ensured, the implementation method of the action is visual, and the learning speed of the user is improved.

Description

Operating handle and operation console

Technical Field

The utility model relates to the technical field of instrument equipment, in particular to an operating handle and an operation console.

Background

The robot operation system is a comprehensive body integrating a plurality of modern high-tech means, has wide application and has a great amount of application in clinical surgery.

The current surgical robot needs more than five pedals to be operated by two feet, so that the operation can be performed only in a specific sitting posture. On one hand, the posture can not be adjusted after long-time operation, and the fatigue is easy to occur; on the other hand, the foot operation is complicated, the learning time is long, the operation precision is low, and the misoperation is easy to occur.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an operating handle and an operation console, which solve the problems that more than five pedals are easy to fatigue, the operating precision is low and misoperation is easy to occur when two feet operate in the prior art.

In order to achieve the purpose, the utility model adopts the following technical scheme:

in one aspect, the present invention provides an operating handle for controlling a manipulator, a surgical instrument being provided at a distal end of the manipulator, the operating handle including:

the handle body is provided with a rocker and/or a two-section type button; the manipulator is controlled to move by moving the handle body and/or toggling the rocker; the two-section type button is used for switching a control mode of the operating handle in which the operating handle can control the movement of the manipulator and a clutch mode of the operating handle and the manipulator which is released from a control relation;

the handle body is further provided with a finger kneading button, and the finger kneading button is used for controlling the tail end action of the surgical instrument.

Preferably, the two-part button comprises a first depressed position and a second depressed position; the first pressing position is used for controlling the clutch mode, the second pressing position is used for controlling the control mode, and the pressing depth of the first pressing position is smaller than that of the second pressing position.

Preferably, the handle body includes a holding portion and an installation portion, the holding portion is used for being held by a hand, the finger kneading button is arranged on the installation portion, the two-segment button is arranged on the holding portion, and the rocker is arranged on the installation portion and is located between the finger kneading button and the two-segment button.

Preferably, the finger kneading button is arranged on the mounting portion, and the finger kneading button is arranged opposite to the mounting portion.

Preferably, the method further comprises the following steps:

the operating part is arranged on the finger kneading button and comprises at least a part of annular structure, and the operating part is used for placing fingers;

the finger detection component is arranged on the operation part and used for detecting whether the finger is placed in the operation part or not.

Preferably, the operating portion includes a completely closed annular hole or an incompletely closed annular hole, the finger detection assembly includes a photoelectric sensor, the photoelectric sensor includes a photoelectric emitter and a photoelectric receiver, the photoelectric emitter and the photoelectric receiver are oppositely disposed on an inner wall of the annular hole, and the photoelectric receiver is configured to receive a signal emitted by the photoelectric emitter.

Preferably, the finger detecting assembly further comprises an auxiliary detecting member, and the auxiliary detecting member is arranged on the operating portion and used for being matched with the photoelectric sensor to jointly detect the finger.

Preferably, the hand-held device further comprises a position detection assembly, wherein the position detection assembly is arranged on the handle body and is configured to detect continuous positions of the finger kneading button kneading process.

Preferably, the finger pinch button is hinged with the handle body; the position detection assembly comprises an angle sensor which is arranged on the handle body and is used for detecting the rotating angle of the finger kneading button.

On the other hand, the utility model also provides a surgical console which comprises a manipulator and two operating handles in any technical scheme, wherein the two-section type button of at least one operating handle is operated, so that the motion of the manipulator can be switched from the mode controlled by the motion of the handle body to the mode controlled by toggling the rocker, or the motion of the manipulator can be switched from the mode controlled by toggling the rocker to the mode controlled by the motion of the handle body.

The utility model has the beneficial effects that:

the utility model provides an operating handle and an operation console, wherein the operating handle comprises a handle body, and the handle body is provided with a rocker and/or two-section type buttons; the movement of the manipulator is controlled by the movement of the handle body and/or the poking of the rocker; the two-section type button is used for switching a control mode of the operating handle in which the manipulator can be controlled to move and a clutch mode of the operating handle and the manipulator which is released from a control relation; the handle body is also provided with a finger kneading button which is used for controlling the tail end action of the surgical instrument. The dependence of the user on foot operation is reduced, so that the user can adjust the standing posture and the sitting posture at any time, the fatigue is relieved, the safe operation is ensured, the implementation method of the action is visual, and the learning speed of the user is improved.

Drawings

FIG. 1 is a schematic structural view of an operating handle according to an embodiment of the present invention;

FIG. 2 is a schematic right-view structural diagram of an operating handle in an embodiment of the present invention;

FIG. 3 is a bottom view of FIG. 2;

FIG. 4 is a logic control diagram according to an embodiment of the present invention.

In the figure:

100. an operating handle; 200. a controller; 300. a manipulator; 301. a first manipulator; 302. a second manipulator; 303. a third manipulator;

1. a handle body; 11. a grip portion; 12. an installation part;

2. a finger pinch button; 21. an operation section; 22. a mating button;

3. a rocker;

4. two-section button.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Where the terms "first position" and "second position" are two different positions, and where a first feature is "over", "above" and "on" a second feature, it is intended that the first feature is directly over and obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present invention, it should 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, 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 meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

Example one

As shown in fig. 1 to 4, the present embodiment provides an operation handle 100 for controlling a manipulator 300, wherein the manipulator 300 includes a first manipulator 301 and a second manipulator 302, wherein distal ends of the first manipulator 301 and the second manipulator 302 are respectively provided with a surgical instrument, the operation handle 100 includes a handle body 1, and the handle body is provided with a rocker 3 and/or a two-segment button 4; the movement of the manipulator 300 can be controlled by the movement of the handle body 1 and/or the toggling of the rocker 3. Specifically, when only one manipulation handle 100 is provided, the movement of the first manipulator 301 may be controlled by the movement of the handle body 1, and the second manipulator 302 may be controlled by toggling the rocker 3.

When there are two operation handles 100, the two operation handles 100 respectively control the first mechanical arm 301 and the second mechanical arm 302, wherein the two operation handles 100 can respectively control the first mechanical arm 301 and the second mechanical arm 302 to move through the movement of the two handle bodies 1, or the two rockers 3 of the two operation handles 100 are toggled to respectively control the first mechanical arm 301 and the second mechanical arm 302, or the two handles 100 can respectively control the first mechanical arm 301 to move through the movement of the handle body 1 of one operation handle 100, and the second mechanical arm 302 can respectively control the movement of the rocker 3 of the other operation handle 100.

The two-stage button 4 is used to switch between a control mode in which the operation handle can control the movement of the manipulator 300 and a clutch mode in which the operation handle and the manipulator 300 are released from the control relationship. The two-stage button 4 comprises a first pressing position and a second pressing position; the pressing depth of the first pressing position is smaller than that of the second pressing position. In the case of only one operating handle 100, the operating handle 100 can cooperate with the two-stage button 4 to switch the control of the movement of the first manipulator 301 and the second manipulator 302, specifically, when the two-stage button 4 is not pressed, the operating handle 100 can control the first manipulator 301, and when the two-stage button 4 is pressed to the first pressing position, the operating handle 100 is in the clutch mode with the first manipulator 301 released from the control relationship; when the two-stage button 4 is pressed to the second pressing position, the operating handle 100 can control the second manipulator 302.

In the case where there is only one operation handle 100 and the rocker 3 is not provided, the operation handle 100 controls the movement of the first manipulator 301 or the second manipulator 302 by the movement of the handle body 1.

The handle body is also provided with a finger kneading button 2, and the finger kneading button 2 is used for controlling the tail end action of the surgical instrument.

It should be noted that the manipulator 300 controlled by the handle 100 also needs the controller 200, the controller 200 is connected to the handle 100 and the manipulator 300, and the controller 200, the manipulator 300 and the end effector are conventional in the art, and therefore, the detailed structure and control system thereof are not described herein again.

According to the embodiment, the dependence of the user on foot operation can be reduced, the user can adjust the standing posture and the sitting posture at any time, fatigue is relieved, safe operation is guaranteed, the implementation method of the action is visual, and the learning speed of the user is improved.

In addition, with respect to the two-stage button 4, there is no operation to shallow press, and there is significant pressure change and switching force feedback during shallow to deep press. Possible malfunctions are: a. an intent to enter clutch mode but an accidental entry to control mode; b. an intention to enter a control mode but an accidental entry into a clutch mode; c. unintended but accidental entry into clutch mode; d. an unintended but accidental entry into the control mode. By the method, the probability of b and c in all misoperation is high, and the misoperation of b and c is harmless to patients, so that the safety risk caused by the increase of the complexity of hand operation is reduced.

Regarding the structure of the handle body 1, in the present embodiment, preferably, the handle body 1 includes a holding portion 11 and a mounting portion 12 arranged at an included angle, the holding portion 11 is used for being held by hand, the finger pinch button 2 is arranged on the mounting portion 12, the two-stage button 4 is arranged on the holding portion 11, and the rocker 3 is arranged on the mounting portion 12 and located between the finger pinch button 2 and the two-stage button 4. The above arrangement makes the finger pinch button 2 easy to press by the index finger and the thumb. The rocker 3 is provided on top of the mounting portion 12, preferably the rocker 3 is located on the upper side of the finger pinch button 2 so that the thumb is easy to toggle. The two-section button 4 is arranged at the intersection of the mounting part 12 and the holding part 11 and is positioned in an included angle. With the help of the above arrangement, the structure is compact, the operation is convenient, the human-machine engineering is met, the arrangement and the combination among all the components are reasonable, the finger kneading button 2 can be directly operated by the forefinger, the rocker 3 is operated by the thumb, and the two-segment type button 4 is controlled by the middle finger and/or the ring finger, so that the precise operation is favorably carried out. In addition, the button integration of three different functions is on a handle, can accomplish the operation to a plurality of actions of manipulator 300, satisfies the operation demand of operation, and above-mentioned structure can avoid appearing the maloperation that probably endangers patient's safety. The three operations use structures with completely different touch senses and action modes, and the possibility of accidental misoperation is reduced. The first pressing position of the two-stage button 4 is a safe clutch action.

The included angle between the grip portion 11 and the mounting portion 12 may be 100 degrees and 150 degrees, preferably 130 degrees. Of course, in other embodiments, the included angle between the holding portion 11 and the mounting portion 12, and the shape and size of the holding portion 11 and the mounting portion 12 can also be customized according to the structure and size of the user's hand.

Preferably, the operation handle 100 further includes an engaging button 22 disposed on the mounting portion 12 and disposed opposite to the finger pinching button 2, the engaging button 22 and the finger pinching button 2 are disposed opposite to each other and can be close to or away from each other, when the engaging button 22 and the finger pinching button 2 are close to each other, the end effector is closed, and when the engaging button 22 and the finger pinching button 2 are away from each other, the end effector is opened. In the above arrangement, the control of opening and closing the end effector is realized by the mutual approaching and departing of the cooperation button 22 and the finger pinch button 2, so that the actions in the hand of the user and the actions of the manipulator 300 are kept consistent, the actual surgical operation of the user is highly simulated, the operation mode is not changed due to the use of the robot surgery, and the user can adapt to the equipment conveniently.

During operation, when the user does not hold or does not correctly hold the handle body 1, the wrong touch action on the finger kneading button 2 may occur, so that the manipulator 300 is caused to malfunction, and the patient is injured. In the present embodiment, the operation handle 100 preferably further includes an operation portion 21 and a finger detection unit, and the operation portion 21 is provided on the finger pinch button 2. The operation portion 21 includes an at least partially annular structure, and the operation portion 21 is used for placing a finger. The finger detection component is arranged on the operation part 21 and used for detecting whether a finger is placed in the operation part 21; when a finger is positioned on the operation section 21, the operation handle 100 is actuated. After the operation handle 100 is started, communication can be performed between the operation handle 100 and the manipulator 300, it should be noted that communication between the operation handle 100 and the manipulator 300 is conventional in the art, and a specific communication manner and a required controller 200 are not described herein again. With the above arrangement, the fingers can be detected, and when the fingers of the user are located in the operation portion 21, it can be ensured that the user has correctly gripped the operation handle 100 body 1, and at this time, the operation handle 100 is started, and the manipulator 300 can be controlled by pinching the button 2, the rocker 3, and the two-stage button 4 with the fingers. Accordingly, when the finger cannot be detected, the operation handle 100 is in the on-off state, and communication with the manipulator 300 is not possible. The manipulator 300 can be prevented from being operated by the mistaken touch operation of the operating handle 100 when the user does not hold or does not correctly hold the handle body 1, and the safety of the operation is improved.

Alternatively, the detection activities may be spaced 0.5 seconds, 1 second, 2 seconds, or 3 seconds apart.

Regarding the structure of the operation portion 21, specifically, the operation portion 21 includes a completely closed annular hole or an incompletely closed annular hole, the annular hole is used for placing the index finger, and the finger detection assembly is provided on the side wall of the annular hole. For the convenience of understanding, the operation part 21 is arranged on the finger pinch button 2 for example, and the index finger is used as the control finger for opening and closing the end effector in the operation, and the finger is placed in the annular hole to accord with the intuitive operation habit and the ergonomics of the user; meanwhile, compared with the contact surface, the operation of entering the annular hole with the size matched with the index finger is an operation which needs subjective initiative execution and is not easy to trigger by mistake. Of course, in another embodiment, when the operation portion 21 is provided to the rocker 3, the size of the annular hole needs to be adjusted to fit the size of the thumb. Regarding the size of the annular hole, it is sufficient to ensure that the index finger or thumb can be inserted.

In the present embodiment, regarding the arrangement of the finger detecting unit, specifically, the finger detecting unit includes a photoelectric sensor provided in the operation unit 21 for detecting a finger. Specifically, the photoelectric sensor comprises a photoelectric emitter and a photoelectric receiver, wherein the photoelectric emitter and the photoelectric receiver are oppositely arranged on the inner wall of the annular hole, and the photoelectric receiver is used for receiving signals sent by the photoelectric emitter. The photoelectric emitter continuously sends out signals, when the signals are blocked, fingers are considered to be in the annular hole, otherwise, no fingers exist in the annular hole. The setting does not need to calibrate the threshold value and can be suitable for all people. Meanwhile, the scheme of strict fitting or pressing is not required, fingers can be flexibly placed in the annular holes, and the requirement on operation is further reduced. And the photoelectric sensor has reliable performance and anti-interference capability, and is favorable for ensuring the detection precision.

Further, the finger detecting assembly further comprises an auxiliary detecting member, and the auxiliary detecting member is arranged on the operating portion 21 and used for being matched with the photoelectric sensor to jointly detect the finger. Specifically, the auxiliary detecting member may be an infrared sensor, a capacitance sensor, or the like that can sense a human body. For example, an infrared sensor can distinguish an object from a human body by a difference in temperature, and a capacitance sensor can detect a current of the human body, thereby distinguishing the object from the human body. Therefore, when an object enters the annular hole in an unexpected situation, the result detected by the photoelectric sensor is normal, and the result detected by the infrared sensor is compared to determine that a finger is not placed in the annular hole, and at this time, the operating handle 100 cannot control the manipulator 300, so that the operating handle 100 can be prevented from being started after an object other than a finger enters the annular hole. When the photoelectric sensors detect an object and the infrared sensor detects that the object in the annular hole has a temperature, the operating handle 100 may control the manipulator 300.

Optionally, the operating handle 100 further comprises a position detecting component, which is provided on the handle body 1, and is configured to detect a continuous position of the finger pinch button 2 during the pinching process, in other words, a position detecting component for detecting a constantly changing relative position between the finger pinch button 2 and the handle body 1 during the pinching process. With the help of the arrangement, the clamping degree of the end effector can be controlled through the pressing degree of the finger kneading button 2, so that the clamping force of the end effector can be controlled conveniently.

The end effector resembles a clamp structure. In the embodiment, optionally, the finger pinch button 2 is hinged with the handle body 1, and when the finger pinch button 2 rotates, the end effector is clamped; the position detection assembly comprises an angle sensor and is arranged on the handle body 1, and the angle sensor is used for detecting the rotating angle of the finger kneading button 2. This arrangement allows the action of the finger pinching button 2 to be coordinated with the action of the end effector. Further, the position detecting assembly may further include both a contact angle sensor and a non-contact sensor, preferably, the non-contact sensor may be a hall effect sensor, and the contact angle sensor may be a photoelectric encoder. The action of the finger pinch button 2 is detected by two sensors with different principles, the detection results of the two are compared by the controller 200, and when the difference value exceeds the preset range, the end effector stops responding to the pinch action. The two sensors with different principles reduce the possibility of being influenced by a single interference factor at the same time. It should be noted that the hall effect sensor and the photoelectric encoder are conventional in the art, and therefore, the specific structure and operation principle thereof are not described herein again.

The manipulation handle 100 further includes an alarm unit through which an alarm is issued when a difference between the detection results of the two types of sensors exceeds a preset range. Optionally, the alarm assembly may be a horn and/or a warning light.

Example two

The utility model also provides a surgical console, which comprises a manipulator and two operating handles 100 in the scheme, namely the operating handle 100 operated by the left hand and the operating handle 100 operated by the right hand. The two-stage button 4 of at least one operation handle is operated to switch the movement of the manipulator 300 from a mode controlled by the movement of the handle body 1 to a mode controlled by the toggle rocker 3, or to switch the movement of the manipulator 300 from a mode controlled by the toggle rocker 3 to a mode controlled by the movement of the handle body 1.

In this embodiment, specifically, the robot 300 includes a first robot 301, a second robot 302, and a third robot 303. When the two-stage button 4 is not pressed, the first manipulator 301 and the second manipulator 302 are respectively controlled by the movement of the handle bodies 1 of the two manipulation handles 100. The rockers 3 on the two operating handles 100 control the third robot 303. When the two-stage buttons 4 of the operating handles 100 are in the control mode, the control mode can be realized by pressing the two-stage button 4 of one of the operating handles 100 to the second pressing position, or pressing the two-stage buttons 4 of two operating handles 100 to the second pressing position. The movement of the third manipulator 303 is controlled by the movement of the handle body 1 of one or both of the operation handles 100. The third manipulator 303 is controlled by the rocker 3 or the operating handle 100 to adapt to different operating habits of different users.

It should be noted that the connection and control system of the controller 200 and the operation handle 100 and the manipulator 300 are conventional in the art, and therefore, the detailed structure and control system thereof are not described herein.

It should be understood that the above-described embodiments of the present invention are merely 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 for controlling a manipulator, the manipulator being provided at a distal end thereof with a surgical instrument, the operating handle comprising:

2. The operating handle according to claim 1, wherein the two-stage push button comprises a first push position and a second push position; the first pressing position is used for controlling the clutch mode, the second pressing position is used for controlling the control mode, and the pressing depth of the first pressing position is smaller than that of the second pressing position.

3. The manipulating handle according to claim 1, wherein the handle body includes a grip portion for being gripped by a hand and a mounting portion, the finger pinching button is provided on the mounting portion, the two-stage button is provided on the grip portion, and the rocker is provided on the mounting portion between the finger pinching button and the two-stage button.

4. The operating handle according to claim 3, further comprising an engaging button provided on the mounting portion and disposed opposite to the finger pinching button, the engaging button and the finger pinching button being disposed opposite to each other and being capable of approaching or separating from each other.

5. The operating handle according to any one of claims 1 to 4, further comprising:

6. The operating handle according to claim 5, wherein the operating portion includes a completely closed annular hole or an incompletely closed annular hole, and the finger detecting unit includes a photoelectric sensor including a photoelectric emitter and a photoelectric receiver, the photoelectric emitter and the photoelectric receiver being disposed opposite to each other on an inner wall of the annular hole, and the photoelectric receiver being configured to receive a signal from the photoelectric emitter.

7. The operating handle according to claim 6, wherein the finger detecting assembly further comprises an auxiliary detecting member provided in the operating portion for cooperating with the photoelectric sensor to detect the finger together.

8. The operating handle according to any one of claims 1 to 4, further comprising a position detecting member provided to the handle body, the position detecting member being configured to detect a continuous position of the finger pinch button pinching process.

9. The operating handle according to claim 8, wherein the finger pinch button is hinged to the handle body; the position detection assembly comprises an angle sensor which is arranged on the handle body and is used for detecting the rotating angle of the finger kneading button.

10. A surgical console comprising a manipulator, characterized in that it further comprises two operating handles according to any one of claims 1 to 9, the two-stage button of at least one of said operating handles being operable to switch the movement of the manipulator from a mode controlled by the movement of the handle body to a mode controlled by toggling the rocker, or from a mode controlled by toggling the rocker to a mode controlled by the movement of the handle body.