CN217219084U - Handle and surgical robot applying same - Google Patents

Abstract

The utility model discloses a handle and a surgical robot applying the handle, the handle comprises a shell, a forefinger button assembly and a thumb button assembly which are connected on the shell, the index finger button assembly comprises a first button and a force sensor matched with the first button, the thumb button assembly comprises a second button and a first circuit board matched with the second button, the first button and the second button are movably connected with the shell and are respectively arranged at the left side and the right side of the shell, the position of the second button is more rearward in the front-rear direction with respect to the position of the first button, when using first button by the forefinger operation the second button is operated by the thumb, the utility model discloses the handle sets up first button and second button according to the structure of finger, more accords with human engineering, effectively reduces the tired sense of long-time use of user.

Description

Handle and surgical robot applying same

Technical Field

The utility model relates to the technical field of medical equipment, especially relate to a handle and use surgical robot of this handle.

Background

With the development of technology, robots are widely used in medical procedures, such as laparoscopic procedures. Most of the existing surgical robots are of master-slave type structures, doctors hold a master hand to operate in the surgical process, a control system enables actions of the doctors of the master hand to be accurately reproduced on a slave hand, and the slave hand operates the focus of a patient.

For making things convenient for the doctor to grip, current master hand is mostly handle formula structure, sets up the control clamp of operation effect on the handle, and the doctor grips the handle with the hand and presss from both sides the adjustment of the angle that opens and shuts through its finger to the pressing of control during the use, and then the action of control driven end apparatus, and this makes the doctor extremely easily tired at long-time operation in-process hand, remains to further improve.

Disclosure of Invention

In view of this, an ergonomic handle and a surgical robot using the same are provided to reduce fatigue of a user for a long time.

The utility model provides a handle, including the casing and connect in forefinger button assembly and thumb button assembly on the casing, forefinger button assembly include first button and with first button matched with force sensor, thumb button assembly include the second button and with the first circuit board of second button matched with, first button and second button movably with the casing is connected and set up respectively in the left and right sides of casing, in the front and back direction the position of second button for the position of first button more leans on the back, when using first button by the forefinger operation the second button is operated by the thumb.

Further, the thumb button assembly further comprises a third button and a fourth button slidably connected to the top of the housing, wherein the second button, the third button and the fourth button are located within the range of motion of the thumb when in use.

Furthermore, the third button and the fourth button are ship-shaped switches or self-reset button switches, and a second circuit board matched with the third button and the fourth button is arranged in the shell.

Further, the third button and the fourth button are arranged in front of and behind each other and are respectively sleeved with a bushing.

Furthermore, a fixed seat is arranged in the shell, the first circuit board is installed on the side face of the fixed seat, and the second circuit board is installed on the top of the fixed seat.

Furthermore, a fixed seat is arranged in the shell, and the force sensor is fixed on the fixed seat and arranged at an angle with the fixed seat.

Further, the index button assembly further comprises an elastic member interposed between the force sensor and the first button.

Furthermore, the fixing seat is provided with a guide rod towards the first button in a protruding mode, the guide rod extends upwards towards the first button in an inclined mode, the front end of the first button is rotatably connected with the shell, and the tail end of the first button forms a guide groove to be movably connected with the guide rod in an inserted mode.

Further, the force sensor is an ocean sensor.

The utility model also provides a surgical robot, including main hand, follow hand and connection the control system of main hand and follow hand, the main hand includes above-mentioned handle, the force transducer of handle with control system electric connection.

Compared with the prior art, the utility model discloses the handle sets up first button and second button according to the structure of finger, more accords with human engineering, effectively reduces the fatigue of the long-time use of user and feels.

Drawings

Fig. 1 is a schematic view of an embodiment of the handle of the present invention.

Fig. 2 is another angular view of the handle of fig. 1.

Fig. 3 is an exploded view of the handle of fig. 1.

FIG. 4 is a schematic view of the index finger button assembly of the handle of FIG. 3.

Fig. 5 is a schematic view of the thumb button assembly of the handle of fig. 3.

Fig. 6 is a first cross-sectional view of the handle of fig. 1.

Fig. 7 is a second cross-sectional view of the handle of fig. 1.

Fig. 8 is a third cross-sectional view of the handle of fig. 1.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. One or more embodiments of the present invention have been presented by way of example in the drawings, to enable a more accurate and thorough understanding of the disclosed technology. It should be understood, however, that the present invention may be embodied in many different forms and is not limited to the embodiments described below.

The phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. As used herein, the terms "comprising," "including," "having," and the like are intended to cover the items listed thereafter, equivalents thereof, and additional items. In particular, when "a certain element" is described, the present invention is not limited to the number of the element being one, and may include a plurality of the elements.

The same or similar reference numerals in the drawings of the utility model correspond to the same or similar parts; in the description of the present invention, it should be understood that if there are the terms "upper", "lower", "left", "right", etc. indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of the description, but it is not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore the terms describing the positional relationship in the drawings are only for illustrative purposes and are not to be construed as limitations of the present patent, and those skilled in the art can understand the specific meanings of the terms according to specific situations.

The utility model provides a handle, which is preferably applied to game machines and surgical robots. Fig. 1-3 illustrate an embodiment of the handle of the present invention, wherein the handle 100 includes a housing 10, and a forefinger button assembly 30 and a thumb button assembly 50 connected to the housing 10. As shown in fig. 3, the housing 10 is composed of an upper housing 12 and a lower housing 14 which are detachably connected, and the upper housing 12 and the lower housing 14 may be fixed by a snap, a screw, or the like, so as to facilitate assembly and maintenance of internal devices. The housing 10 includes a grip portion 16 and an operation portion 18, wherein the grip portion 16 is used for facilitating the grip of the palm of the user; the index button assembly 30 and the thumb button assembly 50 are connected to the operation portion 18, and the user can operate the index button assembly 30 and the thumb button assembly 50 by the index and thumb, respectively, while holding the holding portion 16 with the hand.

As shown in fig. 4, 7 and 8, index finger button assembly 30 includes a first button 32 and a force sensor 34 that interacts with first button 32. The first button 32 is movably disposed through the housing 10, and the end of the first button 32 is rotatably connected to the housing 10 through a rotating shaft 36. The force sensor 34 is preferably an ocean sensor and is in driving connection with the middle of the first button 32 via an elastic member 38, such as a spring or the like. Preferably, the first button 32 forms a boss 320, and one end of the elastic element 38 is sleeved with the boss 320. The other end of the elastic member 38 is connected to a cylinder 340, and the cylinder 340 abuts against the force sensor 34. When the first button 32 is pressed, it rotates toward the housing 10, pressing the elastic member 38 to make it compress and deform, and the pressure of the elastic member 38 acts on the force sensor 34 through the cylinder 340, so that the force sensor 34 outputs a corresponding electrical signal. When the first button 32 is released, the elastic member 38 is deformed again to push the first button 32 to rotate and reset outwards.

The first mounting seat 60 and the third mounting seat 66 are disposed in the operating portion 18 of the housing 10, and the sensor 34, the cylinder 340 and the elastic member 38 are disposed in a through hole of the third mounting seat 66 to ensure coaxial movement thereof. The third mounting block 66 is secured to the force sensor 34 by a grooved plate 68 on the side of the force sensor 34. Preferably, the third mount 66 is fixed to the first mount 60 by screws or the like and is disposed at an angle such that the sensor 34 is disposed at an angle to the first mount 60.

The third mounting seat 60 is protrudingly provided with a guide rod 62 at a position corresponding to the rear end of the first button 32, and the rear end of the first button 32 is provided with a guide groove 322 to be movably inserted with the end of the guide rod 62. The first button 32 rotates about the rotary shaft 36 when pressed, and its trailing end slides in its axial direction relative to the guide bar 62. Preferably, a limiting column 69 is disposed between the third mounting seat 66 and the first button 32, and the limiting column 69 may be a screw or the like, and has a limiting effect on the movement of the first button 32. The guide provides a limit to the rotation of the first button 32. Preferably, the guiding rod 62 extends obliquely upward toward the first button 32, and the guiding rod 62 forms a small included angle α with the horizontal plane, so that the first button 32 is rotated under pressure while the guiding rod 62 is extended downward in the vertical direction, and the moving direction of the guiding rod more conforms to the force application direction of the index finger, thereby increasing the comfort of the index finger operation.

As shown in fig. 5 and 6, the thumb button assembly 50 includes a second button 52 and a first circuit board 54 interacting with the second button 52, wherein the second button 52 is slidably connected to the housing 10, and when pressed, triggers a control circuit of the first circuit board 54 to generate a corresponding control signal. The first button 32 and the second button 52 are respectively arranged at the left side and the right side of the shell 10 and staggered in the front-back direction, so that the position of the first button 32 is more forward and opposite to the fingertip of the index finger, and the position of the second button 52 is more backward and opposite to the fingertip of the thumb, thereby being more ergonomic in the overall structure and facilitating the operation of a user. In the illustration, the first button 32 is located on the right side of the operating portion 18, and the second button 52 is located on the left side of the operating portion 18, and is suitable for a right-handed user. It should be appreciated that the first button 32 may be disposed on the left side of the operating portion 18 and the second button 52 may be disposed on the right side of the operating portion 18 to accommodate a left-handed user.

Thumb button assembly 50 also includes a third button 56 and a fourth button 58, with third button 56 and fourth button 58 being slidably connected to the top of housing 10 and arranged in a front-to-back relationship. Preferably, the third button 56 and the fourth button 58 are boat-type switches or self-resetting buttons, each fitted with a bushing 560, 580 to reduce friction when sliding relative to the housing 10. The third button 56 and the fourth button 58 are positioned further back relative to the first button 32, and are shown slightly offset relative to the second button 52, such that the third button 56 and the fourth button 58 are within the range of motion of the user's thumb, thereby allowing the user to operate either the second button 52 or the third button 56 or the fourth button 58 with the thumb. In addition, the third button 56 and the fourth button 58 are disposed on the top of the housing 10, so that the number of buttons can be increased by reasonably and effectively utilizing the space, and meanwhile, the palm of the user can be avoided, thereby avoiding misoperation.

A second circuit board 59 is disposed in the housing 10 and interacts with the third button 56 and the fourth button 58, and when the third button 56 or the fourth button 58 is pressed, a corresponding control circuit on the second circuit board 59 is triggered to generate a corresponding signal. In the illustrated embodiment, the first circuit board 54 and the second circuit board 59 are fixed to the second mounting base 64, wherein the first circuit board 54 is fixed to the side of the second mounting base 64 and faces the second button 52, and the second circuit board 59 is fixed to the top of the second mounting base 64 and faces the third button 56 and the fourth button 58. It should be understood that in some embodiments, a single flexible circuit board may be provided, such as a flexible circuit board or the like to simultaneously mate the second button 52, the third button 56, and the fourth button 58, with a separate control circuit for each button 52, 56, 58. The first and second mounting seats 60 and 64 are provided to facilitate the assembly of the device, and may be of an integral structure.

The utility model discloses handle 100 when being applied to surgical robot, its first button 32 can be used for controlling the opening and shutting of the apparatus clamp from the hand, often need frequently press, therefore its position design is for cooperateing with the forefinger and its moving direction is slightly downward through the effect of guide bar 62, the inclination of the relative horizontal plane of guide bar 62 is about 20 degrees in a specific embodiment for the direction of motion of first button 32 accords with the atress direction of forefinger when pressing first button 32 completely, accords with ergonomic. The second button 52, third button 56 and fourth button 58 may be quick function buttons for quickly controlling the motion of the slave hand, and are only pressed occasionally during the procedure, and therefore are positioned rearward relative to the first button 32 and all within the thumb's range of motion for separate manipulation by the motion of the thumb.

The handle 100 of the present invention is in the initial state, the elastic member 38 of the forefinger button assembly 30 is in the natural extension state, and the first button 32, the second button 52, the third button 56 and the fourth button 58 are in the normal state, i.e. the state without triggering. When the device is used, a user puts a forefinger on the outer side surface of the first button 32 and applies force to press the forefinger, so that the force sensor 34 can output different electrical signals according to the magnitude of the applied force, and the opening and closing of the driven device are controlled; during use, the user can also activate the second button 52, the third button 56 or the fourth button 58 as required to realize quick operation. The utility model discloses handle 100 sets up a plurality of buttons 32, 52, 56, 58, and the position distribution of a plurality of buttons 32, 52, 56, 58, atress angle etc. accord with the hand and grip the characteristics, accord with ergonomic, therefore the user operates each button 32, 52, 56, 58 more laborsavingly, effectively reduces the tired sense of long-time operation, when especially being applied to surgical robot, can reduce the tired sense of doctor at long-time operation in-process, ensures going on smoothly of operation.

It should be noted that the present invention is not limited to the above embodiments, and other changes can be made by those skilled in the art according to the inventive spirit of the present invention, and all changes made according to the inventive spirit of the present invention should be included in the scope of the claimed invention.

Claims (10)

1. The handle is characterized by comprising a shell, an index finger button assembly and a thumb button assembly, wherein the index finger button assembly and the thumb button assembly are connected onto the shell, the index finger button assembly comprises a first button and a force sensor matched with the first button, the thumb button assembly comprises a second button and a first circuit board matched with the second button, the first button and the second button are movably connected with the shell and are respectively arranged on the left side and the right side of the shell, the position of the second button is relative to the position of the first button and is further backwards, and when the handle is used, the first button is operated by the index finger, and the second button is operated by the thumb.

2. The handle of claim 1, wherein the thumb button assembly further comprises a third button and a fourth button slidably connected to the top of the housing, the second button, third button and fourth button all being located within a range of motion of the thumb when in use.

3. The handle of claim 2, wherein the third button and the fourth button are a boat-type switch or a self-resetting button switch, and a second circuit board is disposed in the housing and is matched with the third button and the fourth button.

4. The handle of claim 2, wherein the third button and the fourth button are arranged in a front-back manner and are respectively sleeved with bushings.

5. The handle of claim 3, wherein a mounting block is disposed within the housing, the first circuit board being mounted to a side of the mounting block and the second circuit board being mounted to a top of the mounting block.

6. The handle of claim 1, wherein a mounting is disposed within the housing, the force sensor being mounted on the mounting and angled relative to the mounting.

7. The handle of claim 5, wherein the index finger button assembly further comprises a resilient member interposed between the force sensor and the first button.

8. The handle according to claim 5, wherein the fixing base is provided with a guide rod protruding towards the first button, the guide rod extends obliquely upwards towards the first button, the front end of the first button is rotatably connected with the shell, and the tail end of the first button forms a guide groove to be movably inserted into the guide rod.

9. The handle of any of claims 1-8, wherein the force sensor is an ocean sensor.

10. A surgical robot comprising a master hand, a slave hand and a control system connecting the master and slave hands, characterized in that the master hand comprises a handpiece according to any of claims 1-9, the force sensor of the handpiece being electrically connected to the control system.

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