WO2022227855A1 - 输入设备和手术机器人 - Google Patents

输入设备和手术机器人 Download PDF

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Publication number
WO2022227855A1
WO2022227855A1 PCT/CN2022/078979 CN2022078979W WO2022227855A1 WO 2022227855 A1 WO2022227855 A1 WO 2022227855A1 CN 2022078979 W CN2022078979 W CN 2022078979W WO 2022227855 A1 WO2022227855 A1 WO 2022227855A1
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WO
WIPO (PCT)
Prior art keywords
input device
opening
pin
magnetic element
detection device
Prior art date
Application number
PCT/CN2022/078979
Other languages
English (en)
French (fr)
Inventor
孙荣健
卢曰强
谢恬
Original Assignee
深圳康诺思腾科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳康诺思腾科技有限公司 filed Critical 深圳康诺思腾科技有限公司
Priority to EP22794334.7A priority Critical patent/EP4316408A1/en
Publication of WO2022227855A1 publication Critical patent/WO2022227855A1/zh
Priority to US18/495,672 priority patent/US20240050169A1/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/25—User interfaces for surgical systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00831—Material properties
    • A61B2017/00876—Material properties magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
    • A61B2560/02—Operational features

Definitions

  • the present application relates to the technical field of medical devices, in particular to an input device and a surgical robot.
  • Most medical surgical robots adopt a master-slave control structure. Doctors operate a master operator such as an input device, and control the movement of a slave hand such as an end effector through remote communication and a computer. For example, physicians control end effectors, such as pliers, scissors, clips, etc., by opening and closing the jaws of an input device.
  • a master operator such as an input device
  • a slave hand such as an end effector
  • physicians control end effectors, such as pliers, scissors, clips, etc., by opening and closing the jaws of an input device.
  • the rotation of the rotary unit is usually converted by a bevel gear, and then the angle of the bevel gear is measured by an encoder. Due to the gap between the bevel gears, there is a certain difference between the angle detected by the encoder and the actual rotation angle of the rotating unit, and the detection angle will also be inaccurate.
  • the opening and closing angle of the opening and closing device of the input device is an important input parameter for control, so the accuracy and stability of its measurement are extremely important.
  • the known method for detecting the angle of the opening and closing device is usually provided with a Hall sensor chip in a certain part and a magnetic element in another part (for example, the rotating bracket is provided with a Hall sensor chip, and the opening and closing device is provided with a magnetic element) , a part of which drives the magnetic element to move, thereby causing the magnetic field strength at the Hall sensor chip to change.
  • the distance between the magnetic element and the Hall sensor chip is not linear, the change of the magnetic field strength is not linear, so the rotation angle cannot be directly mapped, and other sensors need to be used for angle calibration.
  • an input device comprising:
  • a rotating bracket which is rotatable around the first central axis relative to the fixed base
  • the opening and closing device is arranged on the rotating support and can be elastically opened and closed relative to the rotating support;
  • the connecting piece is connected with the opening and closing device and can move along a direction parallel to the first central axis along with the opening and closing action of the opening and closing device;
  • the magnetic element is disposed on the rotating bracket or the connecting piece;
  • At least one first detection device the first detection device is disposed on the fixed base, and the first detection device can detect the magnetic field direction of the magnetic element.
  • the magnetic element is disposed on the rotating bracket or the connecting piece, and the connecting piece is indirectly connected to the rotating support through the opening and closing device, so the magnetic element can rotate with the rotation of the rotating support, so as to be able to change the first
  • the positional relationship between the detection device and the magnetic element makes the magnetic field of the magnetic element deflect relative to the first detection device, the first detection device can detect the change of the magnetic field direction, and the rotation angle of the rotating bracket can be obtained after data operation, Therefore, the detection of the rotation angle of the rotating bracket can be realized without using other sensors for angle calibration.
  • the opening and closing device includes a first clamping claw and a second clamping claw, and the first clamping claw and the second clamping claw are respectively pivotably arranged on the rotating bracket.
  • first clamping jaw and the second clamping jaw are arranged opposite to both sides of the rotating bracket, the first clamping jaw and the second clamping jaw are arranged in linkage, and/or
  • One end of the connecting piece is pivotally connected to the first clamping jaw and the second clamping jaw, respectively, and the magnetic element is disposed at a distance of the connecting piece away from the first clamping jaw and the second clamping jaw. one end of the jaws.
  • the input device further includes a first pin and a second pin parallel to the first pin, the first pin pivotably pivots one end of the first jaw. Connected to the swivel bracket, the second pin pivotally connects one end of the second jaw to the swivel bracket.
  • the rotating unit further includes a first link and a second link, two ends of the first link are pivotally connected to the first jaw and the connecting member, respectively, Both ends of the second link are pivotally connected to the second jaw and the connecting member, respectively.
  • the input device further includes a third pin, a fourth pin and a fifth pin that are parallel to each other, the third pin pivots the one end of the first link is connected to the first jaw, the fourth pin pivotally connects the one end of the second link to the second jaw, and the fifth pin connects the first The other end of a link and the other end of the second link are pivotably connected to the connecting member, respectively.
  • the third pin is parallel to the first pin, and/or
  • the central axis of the third pin is perpendicular to the first central axis.
  • the first detection device is spaced apart from the magnetic element in a direction parallel to the first central axis, and/or
  • the first detection device and the magnetic element are arranged on the same straight line parallel to the first central axis.
  • the input device further includes at least one second detection device, the second detection device is disposed on the fixed base, and the second detection device can detect the magnetic field strength of the magnetic element.
  • the input device includes two second detection devices,
  • two of the second detection devices are spaced apart from the magnetic element in a direction parallel to the first central axis, and/or
  • the input device includes one of the first detection devices, the first detection device and the second detection device are arranged on the same plane perpendicular to the first central axis, and two of the second detection devices are arranged on both sides of the first detection device.
  • the fixed base and/or the rotating bracket are provided with guide holes, the guide holes extend in a direction parallel to the first central axis, and the connecting piece can movably pass through the guide holes. guide hole.
  • the guide hole includes a first guide hole disposed on the fixed base and a second guide hole disposed on the rotating bracket, and the first guide hole and the second guide hole are different from each other.
  • the central axes coincide.
  • an input device including:
  • a rotating bracket which is rotatable around the first central axis relative to the fixed base
  • the opening and closing device is arranged on the rotating support and can be elastically opened and closed relative to the rotating support;
  • the connecting piece is connected with the opening and closing device and can move in a direction parallel to the first central axis along with the opening and closing action of the opening and closing device;
  • the magnetic element is disposed on the connector
  • At least one second detection device the second detection device is disposed on the fixed base, and the second detection device can detect the magnetic field strength of the magnetic element.
  • the magnetic element is disposed on the connecting piece, and the connecting piece can move with the opening and closing action of the opening and closing device, so the position of the magnetic element can be changed with the opening and closing action of the opening and closing device.
  • the positional relationship between the second detection device and the magnetic element can be changed, so that the second detection device can detect the change of the magnetic field strength, and the opening and closing angle of the opening and closing device can be known after the data operation, so there is no need to use other sensors.
  • the measurement of the opening and closing angle of the opening and closing device can be realized by doing angle calibration.
  • the input device comprises two of the second detection devices, the two second detection devices being spaced apart from the magnetic element in a direction parallel to the first central axis.
  • a surgical robot comprising the input device according to any one of the above embodiments.
  • FIG. 1 is a schematic perspective view of an input device of a surgical robot according to an embodiment of an embodiment of the present application, wherein a first gripper and a second gripper are located at a maximum opening and closing angle;
  • Fig. 2 is the perspective exploded schematic diagram of the input device in Fig. 1;
  • Fig. 3 is another perspective exploded schematic diagram of the input device in Fig. 1;
  • FIG. 4 is a schematic cross-sectional view of the input device in FIG. 1 , wherein the first jaw and the second jaw are located at the maximum opening and closing angle;
  • FIG. 5 is another schematic cross-sectional view of the input device in FIG. 1 , wherein the first jaw and the second jaw are located at a minimum opening and closing angle;
  • FIG. 6 is a partial structural schematic diagram of the fixing unit of the input device in FIG. 2 , wherein a sensor board, a first detection device and a second detection device are shown.
  • the first detection device 115 The second detection device
  • Opening and closing device 122 The first gripper
  • Second jaw 124 Connector
  • the second guide hole 126 The first installation hole
  • the second installation hole 128 The first connection hole
  • connection hole 139 The fourth connection hole
  • Embodiments of the present application provide an input device 100 and a surgical robot.
  • the surgical robot includes an input device 100, and a doctor can operate the input device 100 to control an end effector through telecommunication and a computer, and the end effector can be forceps, scissors, clips, and the like.
  • Other structures of the surgical robot are in the art, and will not be described in detail here.
  • the input device 100 of the embodiment of the present application will be described in detail below with reference to FIGS. 1 to 6 .
  • the input device 100 mainly includes a fixed base 110 , a rotating bracket 120 , an opening and closing device 121 , a connector 124 , a magnetic element 140 , at least one first detection device 114 , and at least one second detection device 115.
  • the fixing base 110 is used for fixing the input device 100 on a desktop or other structures, and for installing a driving motor (not shown).
  • the rotating bracket 120 is disposed on the fixed base 110 and is rotatable around the first central axis relative to the fixed base 110 .
  • the first central axis may be the central axis of the rotating bracket 120 .
  • the opening and closing device 121 is disposed on the rotating bracket 120 and can be elastically opened and closed relative to the rotating bracket 120 .
  • the connecting piece 124 is connected with the opening and closing device 121 and can move in a direction parallel to the first central axis along with the opening and closing action of the opening and closing device 121 .
  • the induction board 112 and the signal processing board 113 are respectively installed on the fixing base 110 .
  • the first detection device 114 and the second detection device 115 are respectively installed on the induction board 112, and the signal processing board 113 is used to receive and process the signals transmitted by the induction board 112 (for example, the first detection device 114 and the second detection device 115). information data.
  • the first detection device 114 can detect the magnetic field direction of the magnetic element. For example, the first detection element 114 can detect the rotation angle of the rotating bracket 120 based on the deflection of the magnetic field of the magnetic element 140 .
  • the second detection device 115 can detect the magnetic field strength of the magnetic element 140 , for example, the second detection device 115 can detect the opening and closing angle of the opening and closing device 121 based on the change of the distance from the magnetic element 140 .
  • the magnetic element 140 may be a magnet.
  • the magnetic element may also be a magnetic alloy.
  • the first detection device 114 and the magnetic element 140 are located on the same line parallel to the first central axis.
  • the magnetic element 140 is disposed on the connecting member 124 , so it can follow the opening and closing action of the opening and closing device 121 along the direction parallel to the first central axis together with the connecting member 124 move to change the distance between the magnetic element 140 and the second detection device 115 to measure the opening and closing angle of the opening and closing device 121 , and further the magnetic element 140 can also rotate with the rotating bracket 120 to change the distance between the magnetic element 140 and the opening and closing device 121 .
  • the relative deflection angle of the first detection device 114 enables the first detection device 114 to measure the rotation angle of the opening and closing device 121 by measuring the deflection angle of the magnetic field of the magnetic element 140 .
  • the opening and closing angle and the rotation angle of the opening and closing device 121 can be detected, thereby reducing the number of detection devices (eg, sensing devices).
  • the first detection device 114 and the second detection device 115 are arranged on the same signal processing board 113, which reduces the number of line connections, and can be placed in the same encoding system for processing.
  • the opening and closing device 121 includes a first clamping claw 122 and a second clamping claw 123 , the first clamping claw 122 and the second clamping claw 123 are respectively pivotally connected to the rotating bracket 120 , and the first clamping claw 122 and the second clamping claw 123 A clamping jaw 122 and a second clamping jaw 123 may be interlockedly provided via a pair of spur gears, so that the first clamping jaw 122 and the second clamping jaw 123 pivot synchronously.
  • One end of the first clamping jaw 122 is pivotally disposed on one side of the rotating bracket 120 .
  • One end of the second clamping jaw 123 is pivotally disposed on the other side of the rotating bracket 120 opposite to the first clamping jaw 122 .
  • the first clamping jaw 122 and the second clamping jaw 123 can be switched between a minimum opening and closing angle close to the rotating bracket 120 and a maximum opening and closing angle away from the rotating bracket 120 .
  • the first clamping jaw 122 and the second clamping jaw 123 are arranged symmetrically with respect to the first central axis. Those skilled in the art can understand that the arrangement positions of the first clamping jaw 122 and the second clamping jaw 123 are not limited to this embodiment.
  • the magnetic element may be directly disposed on the rotating bracket or indirectly disposed on the rotating bracket (not shown) via an intermediate connecting piece, so as to be able to rotate with the rotation of the rotating bracket, so as to be able to change the rotation angle of the magnetic element,
  • the first detection device can detect the rotation angle of the rotating bracket.
  • one end of the connecting member 124 is used for pivotally connecting with the first clamping jaw 122 and the second clamping jaw 123 respectively, and the connecting member 124 can rotate around its central axis.
  • the magnetic element 140 is disposed at one end of the connecting member 124 away from the first clamping jaw 122 and the second clamping jaw 123 .
  • the magnetic element 140 is spaced apart from the first detection device 114 and the second detection device 115 by a distance in the direction parallel to the first central axis, so as to prevent the magnetic element 140 from being separated from each other when the connecting member 124 moves in the direction parallel to the first central axis.
  • the first detection device 114 and the second detection device 115 interfere, and the distance between the magnetic element 140 and the first detection device 114 and the second detection device 115 is prevented from being too close to affect the detection of the first detection device 114 and the second detection device 115 (for example, affecting detection accuracy).
  • the input device 100 includes one first detection device 114 and two second detection devices 115 .
  • the first detection device 114 corresponds to the position of the magnetic element 140 along the first central axis.
  • the first detection device 114 and the two second detection devices 115 are arranged on the same plane perpendicular to the first central axis, and the two second detection devices 115 are arranged on both sides of the first detection device 114 in the vertical direction.
  • the first detection device 114 and the second detection device 115 may be Hall sensor chips. It can be understood that the positional relationship between the first detection device 114 and the second detection device 115 is not limited to this embodiment.
  • the two second detection devices 115 may also be arranged on both sides of the first detection device 114 in the horizontal direction, or may be arranged at any other suitable positions.
  • the detected magnetic field strength does not change linearly with the change of the distance from the magnetic element, but within a certain range, it can approximately change linearly.
  • the detected magnetic field strength within the range is used as an effective basis to calculate or match the opening and closing angles of the first gripper 122 and the second gripper 123 when the magnetic field strength is within the range.
  • the detection scheme can be simplified, the structure of the input device 100 can be simplified, the difficulty of wiring can be reduced, and the reliability of the entire input device 100 can be increased. .
  • the fixed base 111 and/or the rotating bracket 120 are provided with guide holes, and the guide holes extend in a direction parallel to the first central axis.
  • the connecting piece 124 can movably pass through the guide hole, for example, the connecting piece 124 can move along the length direction of the guide hole.
  • the connector 124 may be configured as a shaft, rod, strip, or any suitable shape.
  • the guide holes include a first guide hole 116 provided on the fixed base 111 and a second guide hole 125 provided on the rotating bracket 120 . Both the first guide hole 116 and the second guide hole 125 are configured as circular through holes, and the central axes of the first guide hole 116 and the second guide hole 125 are coincident. In one embodiment, the center axes of the first guide hole 116 and the second guide hole 125 coincide with the first center axis.
  • the input device 100 further includes an elastic member (not shown), the opposite ends of which are respectively connected to the first and second jaws 122 and 123 to apply tension to the first and second jaws 122 and 123 , respectively.
  • the pushing force of the opening tendency enables the first clamping jaw 122 and the second clamping jaw 123 to be kept at the maximum opening position, ie, the maximum opening and closing angle, without being subjected to external force.
  • the elastic element may be a compression spring.
  • the elastic element may be an elastic sheet or other connecting piece with deformation function.
  • the input device 100 further includes a first pin 131 and a second pin 132 parallel to the first pin 131 , and the first pin 131 is perpendicular to the first central axis.
  • the first pin 131 pivotally connects one end of the first clamping jaw 122 to the rotating bracket 120
  • the second pin 132 rotatably connects one end of the second clamping jaw 123 to the rotating bracket 120 .
  • the rotating bracket 120 is provided with a first mounting hole 126 and a second mounting hole 127
  • the first clamping jaw 122 is correspondingly provided with a first connection hole 128
  • the second clamping jaw 123 is correspondingly provided with a second connection hole hole 129.
  • the first installation hole 126 , the second installation hole 127 , the first connection hole 128 and the second connection hole 129 may all be configured as circular through holes.
  • the first pin shaft 131 is inserted into the first mounting hole 126 and the first connecting hole 128 to pivotally connect the first clamping jaw 122 to the rotating bracket 120 .
  • the second pin shaft 132 is inserted into the second mounting hole 127 and the second connecting hole 129 to pivotally connect the second clamping jaw 123 to the rotating bracket 120 .
  • the input device 100 further includes a first link 150 , a second link 160 , a third pin 133 , a fourth pin 134 and a fifth pin 135 .
  • the third pin 133 , the fourth pin 134 and the fifth pin 135 are parallel to each other and perpendicular to the first central axis.
  • the third pin 133 pivotally connects one end of the first link 150 to the first jaw 122
  • the fourth pin 134 pivotally connects one end of the second link 160 to the second jaw 123
  • the fifth pin 135 pivotally connects the other end of the first link 150 and the other end of the second link 160 to the ends of the connecting member 124 close to the first jaw 122 and the second jaw 123 , respectively.
  • the first clamping jaw 122 is provided with a third mounting hole 136, one end of the first connecting rod 150 is correspondingly provided with a third connecting hole 138, and the third pin 133 is inserted into the third mounting hole 136 and the third connection A hole 138 to pivotally connect the first link 150 to the first jaw 122 .
  • the second clamping jaw 123 is provided with a fourth mounting hole 137, one end of the second connecting rod 160 is correspondingly provided with a fourth connecting hole 139, and the fourth pin 134 is inserted into the fourth mounting hole 137 and the fourth connecting hole 139, to pivotally connect the second link 160 to the second jaw 123 .
  • the third mounting hole 136 , the third connecting hole 138 , the fourth mounting hole 137 and the fourth connecting hole 139 may all be configured as through-holes centered on a circle.
  • One end of the connecting member 124 is provided with a fifth mounting hole 141
  • the other end of the first connecting rod 150 is correspondingly provided with a fifth connecting hole 142
  • the other end of the second connecting rod 160 is correspondingly provided with a sixth connecting hole 143 .
  • the five-pin shaft 135 is inserted into the fifth mounting hole 141 , the fifth connecting hole 142 and the sixth connecting hole 143 to connect the other end of the first link 150 (ie the end away from the first clamping jaw 122 ) and the second link
  • the other ends of the 160 are pivotally connected to the connecting pieces 124 , respectively.
  • the fifth installation hole 141 , the fifth connection hole 142 and the sixth connection hole 143 may all be configured as circular through holes.
  • the magnetic element 140 is the farthest from the first detection device 114 and the second detection device 115 .
  • FIG. 4 shows that the first clamping jaw 122 and the second clamping jaw 123 of the input device 100 are located at the maximum opening and closing angle.
  • the magnetic element 140 is closest to the first detection device 114 and the second detection device 115 at this time.
  • the second detection device 115 can detect the magnetic field strength of the magnetic element 140 at different positions, and the data information detected by the second detection device 115 is transmitted to the signal
  • the processing board 113 can obtain the opening and closing angle information of the first clamping jaw 122 and the second clamping jaw 123 after being processed by the signal processing board 113 .
  • the rotating bracket 120 rotates, the rotating bracket 120 rotates together with the first clamping jaw 122 , the second clamping jaw 123 , the connecting piece 124 and the magnetic element 140 .
  • the data information detected by the first detection device 114 is transmitted to the signal processing board 113, and the current angle of the magnetic element 140 relative to the induction board 112 can be calculated through the data operation through the signal processing board 113, and the mapping is the current rotation.
  • the rotation angle of the bracket 120 is
  • the connecting piece 124 will move with the magnetic element 140, thereby causing the magnetic element 140 to move relative to the magnetic element 140.
  • a change in the position or distance of the first detection device 114 occurs.
  • the calculation results of the magnetic field components in the x and y directions in the plane of the first detection device 114 do not follow the first detection device 114 .
  • the distance from the magnetic element 140 changes, so no matter what the opening and closing angles of the first clamping jaw 122 and the second clamping jaw 123 are, the rotation angle of the rotating bracket 120 relative to the fixed base 110 can pass through the first detection device 114 and the signal processing board 113 for calculation and detection.

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Position Input By Displaying (AREA)
  • Manipulator (AREA)

Abstract

本申请公开了一种输入设备和手术机器人，输入设备包括固定基座、转动支架、开合装置、连接件、磁性元件、至少一个第一检测器件；转动支架相对于固定基座绕第一中心轴线可转动，开合装置设置于转动支架，并且相对于转动支架可弹性开合；连接件与开合装置连接，并且能够随着开合装置的开合动作沿平行于第一中心轴线的方向移动；磁性元件设置于转动支架或连接件，第一检测器件设置于固定基座，第一检测器件可检测磁性元件的磁场方向。根据本申请的输入设备，磁性元件能够随着转动支架的转动相对于第一检测器件发生偏转，第一检测器件能够检测到磁场方向的变化，通过数据运算后能够获知转动支架的转动角度。

Description

输入设备和手术机器人
说明书
交叉引用
本申请引用于2021年4月28日递交的名称为″输入设备和手术机器人″的第202110469703.9号中国专利申请，其通过引用被全部并入本申请。
技术领域
本申请涉及医疗器械技术领域，具体而言涉及一种输入设备和手术机器人。
背景技术
医疗手术机器人大多采用主从控制结构，医生操作诸如输入设备的主操作手，通过远程通信和计算机控制诸如末端执行机构的从手的运动。例如，医生通过输入设备的夹爪的开合来控制末端执行机构，比如钳子、剪刀、夹子等。
已知的输入设备的转动单元的旋转角度的测量，通常将转动单元的旋转通过锥齿轮进行转换，然后通过编码器测量该锥齿轮的角度。由于锥齿轮之间存在间隙，导致编码器检测的角度于实际的转动单元的旋转角度之间存在一定差异，也会出现检测角度不准确的情况。
此外，输入设备的开合装置的开合角度作为控制的重要输入参数，因此其测量的精度及稳定性极其重要。已知的开合装置的角度检测方法，通常是在某一部分设置有霍尔感应芯片，在另一部分设置有磁性元件(例如，转动支架设置有霍尔感应芯片，开合装置设置有磁性元件)，通过其中一部分带动磁性元件做运动，从而引起霍尔感应芯片处磁场强度发生变化。然而，由于磁性元件与霍尔感应芯片之间的距离并不是线性变化，导致磁场强度的变化也不是线性的，因此无法直接映射出转动角度，需要利用其它传感器做角度标定。
发明内容
在发明内容部分中引入了一系列简化形式的概念，这将在具体实施方式部分中进一步详细说明。本申请的发明内容部分并不意味着要试图限定出所要求保护的技术方案的关键特征和必要技术特征，更不意味着试图确定所要求保护的技术方案的保护范围。
根据本申请的各种实施例，提供了一种输入设备，其包括：
固定基座；
转动支架，所述转动支架相对于所述固定基座绕第一中心轴线可转动；
开合装置，所述开合装置设置于所述转动支架，并且相对于所述转动支架可弹性开合；
连接件，所述连接件与开合装置连接，并且能够随着所述开合装置的开合动作沿沿平行于所述第一中心轴线的方向移动；
磁性元件，所述磁性元件设置于所述转动支架或所述连接件；以及
至少一个第一检测器件，所述第一检测器件设置于所述固定基座，所述第一检测器件可检测所述磁性元件的磁场方向。
根据本申请的实施例的输入设备，磁性元件设置于转动支架或连接件，连接件经由开合装置间接地连接至转动支架，因此磁性元件能够随着转动支架的转动而转动，以能够改变第一检测器件和磁性元件之间的位置关系，使得磁性元件的磁场相对于第一检测器件发生偏转，第一检测器件能够检测到磁场方向的变化，通过数据运算后能够获知转动支架的转动角度，因此无需利用其它传感器做角度标定即可实现转动支架的旋转角度的检测。
在一实施例中，所述开合装置包括第一夹爪和第二夹爪，所述第一夹爪和所述第二夹爪分别可枢转地设置于所述转动支架。
在一实施例中，所述第一夹爪和所述第二夹爪相对地设置在所述转动支架的两侧，所述第一夹爪和所述第二夹爪联动设置，并且/或者
所述连接件的一端分别可枢转地连接至所述第一夹爪和所述第二夹爪，所述磁性元件设置在所述连接件的远离所述第一夹爪和所述第二夹爪的一端。
在一实施例中，所述输入设备还包括第一销轴和平行于所述第一销轴的第二销轴，所述第一销轴将所述第一夹爪的一端可枢转地连接至所述转 动支架，所述第二销轴将所述第二夹爪的一端可枢转地连接至所述转动支架。
在一实施例中，所述转动单元还包括第一连杆和第二连杆，所述第一连杆的两端分别可枢转地连接至所述第一夹爪和所述连接件，所述第二连杆的两端分别可枢转地连接至所述第二夹爪和所述连接件。
在一实施例中，所述输入设备还包括相互平行的第三销轴、第四销轴和第五销轴，所述第三销轴将所述第一连杆的所述一端可枢转地连接至所述第一夹爪，所述第四销轴将所述第二连杆的所述一端可枢转地连接至所述第二夹爪，所述第五销轴将所述第一连杆的另一端和所述第二连杆的另一端分别可枢转地连接至所述连接件。
在一实施例中，所述第三销轴平行于所述第一销轴，并且/或者
所述第三销轴的中心轴线垂直于所述第一中心轴线。
在一实施例中，所述第一检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开，并且/或者
所述第一检测器件和所述磁性元件设置在与所述第一中心轴线平行的同一直线上。
在一实施例中，所述输入设备还包括至少一个第二检测器件，所述第二检测器件设置于所述固定基座，所述第二检测器件可检测磁性元件的磁场强度。
在一实施例中，所述输入设备包括两个第二检测器件，
其中，两个所述第二检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开，并且/或者
所述输入设备包括一个所述第一检测器件，所述第一检测器件和所述第二检测器件设置在与所述第一中心轴线垂直的同一平面上，两个所述第二检测器件设置在所述第一检测器件的两侧。
在一实施例中，所述固定基座和/或所述转动支架设置有导向孔，所述导向孔沿平行于所述第一中心轴线的方向延伸，所述连接件可活动地穿过所述导向孔。
在一实施例中，所述导向孔包括设置于所述固定基座的第一导向孔和设置于所述转动支架的第二导向孔，所述第一导向孔和所述第二导向孔的中心轴线重合。
根据本申请的各种实施例，还提供了一种输入设备，包括：
固定基座；以及
转动支架，所述转动支架相对于所述固定基座绕第一中心轴线可转动；
开合装置，所述开合装置设置于所述转动支架，并且相对于所述转动支架可弹性开合；
连接件，所述连接件与开合装置连接，并且能够随着所述开合装置的开合动作沿平行于所述第一中心轴线的方向移动；
磁性元件，所述磁性元件设置于所述连接件；以及
至少一个第二检测器件，所述第二检测器件设置于所述固定基座，所述第二检测器件可检测所述磁性元件的磁场强度。
根据本申请的实施例的输入设备，磁性元件设置于连接件，连接件能够随着开合装置的开合动作而移动，因此磁性元件的位置能够随着开合装置的开合动作而发生改变，从而能够改变第二检测器件和磁性元件和之间的位置关系，使得第二检测器件能够检测到磁场强度的变化，通过数据运算后能够获知开合装置的开合角度，因此无需利用其它传感器做角度标定即可实现开合装置的开合角度的测量。
在一实施例中，所述输入设备包括两个所述第二检测器件，两个所述第二检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开。
根据本申请的各种实施例，还提供了一种手术机器人，其包括根据上述实施例中任一项所述的输入设备。
附图说明
本申请的下列附图在此作为本申请的一部分用于理解本申请。附图中示出了本申请的实施例及其描述，用来解释本申请的原理。
附图中：
图1为根据本申请的实施例的实施方式的手术机器人的输入设备的立体示意图，其中第一夹爪和第二夹爪位于最大开合角度；
图2为图1中的输入设备的立体分解示意图；
图3为图1中的输入设备的另一个立体分解示意图；
图4为图1中的输入设备的剖视示意图，其中第一夹爪和第二夹爪位于最大开合角度；
图5为图1中的输入设备的另一个剖视示意图，其中第一夹爪和第二夹爪位于最小开合角度；
图6为图2中的输入设备的固定单元的局部结构示意图，其中示出了感应板卡、第一检测器件和第二检测器件。
附图标记说明：
100：输入设备                  110：固定基座
112：感应板卡                  113：信号处理板卡
114：第一检测器件              115：第二检测器件
116：第一导向孔                120：转动支架
121：开合装置                  122：第一夹爪
123：第二夹爪                  124：连接件
125：第二导向孔                126：第一安装孔
127：第二安装孔                128：第一连接孔
129：第二连接孔                131：第一销轴
132：第二销轴                  133：第三销轴
134：第四销轴                  135：第五销轴
136：第三安装孔                137：第四安装孔
138：第三连接孔                139：第四连接孔
140：磁性元件                  141：第五安装孔
142：第五连接孔                143：第六连接孔
150：第一连杆                  160：第二连杆
具体实施方式
在下文的描述中，给出了大量具体的细节以便提供对本申请更为彻底的理解。然而，对于本领域技术人员来说显而易见的是，本申请实施方式可以无需一个或多个这些细节而得以实施。在其他的例子中，为了避免与本申请实施方式发生混淆，对于本领域公知的一些技术特征未进行描述。
为了彻底了解本申请实施方式，将在下列的描述中提出详细的结构。显然，本申请实施方式的施行并不限定于本领域的技术人员所熟习的特殊细节。需要说明的是，本申请中所引用的诸如“第一”和“第二”的序数词仅仅是标识，而不具有任何其他含义，例如特定的顺序等。而且，例如，术 语“第一部件”其本身不暗示“第二部件”的存在，术语“第二部件”本身不暗示“第一部件”的存在。本申请中所使用的术语“上”、“下”、“前”、“后”、“左”、“右”以及类似的表述只是为了说明的目的，并非限制。
本申请的实施例提供了一种输入设备100和手术机器人。手术机器人包括输入设备100，可以通过医生操作输入设备100经由远程通信和计算机来控制末端执行机构，末端执行机构可以为钳子、剪刀、夹子等。对于手术机器人的其他结构为本领域技术，在此不再进行详细的说明。
下面将结合图1至图6对本申请的实施例的输入设备100进行详细的说明。
如图1至图6所示，输入设备100主要包括固定基座110、转动支架120、开合装置121、连接件124、磁性元件140、至少一个第一检测器件114、至少一个第二检测器件115、感应板卡112和信号处理板卡113。
固定基座110用于将输入设备100固定在桌面上或者其他结构上，并且用于安装驱动电机(未示出)。转动支架120设置于固定基座110，并且相对于固定基座110绕第一中心轴线可转动。例如，第一中心轴线可以为转动支架的120的中心轴线。
开合装置121设置于转动支架120，并且相对于转动支架120可弹性开合。连接件124与开合装置121连接，并且能够随着开合装置121的开合动作沿平行于第一中心轴线的方向移动。图6所示，感应板卡112和信号处理板卡113分别安装至固定基座110。第一检测器件114和第二检测器件115分别安装至感应板卡112，信号处理板卡113用于接收和处理感应板卡112(例如，第一检测器件114和第二检测器件115)传递的信息数据。
第一检测器件114可检测磁性元件的磁场方向，例如第一检测元件114能够基于与磁性元件140磁场的偏转的变化而检测转动支架120的转动角度。第二检测器件115可检测磁性元件140的磁场强度，例如第二检测器件115能够基于与磁性元件140距离远近的变化而检测开合装置121的开合角度。具体地，磁性元件140可以为磁铁。在一些实施例中，磁性元件也可以是具有磁性的合金。在一些实施例中，第一检测器件114与磁性元件140位于与第一中心轴线平行的同一直线上。
在本实施方式中，如图4和图5所示，磁性元件140设置于连接件 124，因此能够随着开合装置121的开合动作与连接件124一起沿平行于第一中心轴线的方向移动，以改变磁性元件140与第二检测器件115之间的距离，测得开合装置121的开合角度，而进一步磁性元件140还能够随着转动支架120的转动，以改变磁性元件140与第一检测器件114的相对偏转角度，使得第一检测器件114以测得磁性元件140的磁场偏转角度而测得开合装置121的转动角度。在本实施例中，仅使用一个磁性元件140，可以检测得开合装置121的开合角度和转动角度，减少了检测器件(例如，传感器件)的设置数量。同时，第一检测器件114和第二检测器件115设置于同一信号处理板卡113上，减少了线路连接的数量，且可放在同一套编码系统进行处理。
如图1至图5所示，开合装置121包括第一夹爪122和第二夹爪123，第一夹爪122和第二夹爪123分别可枢转地连接至转动支架120，并且第一夹爪122和第二夹爪123可以经由一对直齿轮联动地设置，使得第一夹爪122和第二夹爪123同步枢转。第一夹爪122的一端可枢转地设置在转动支架120的一侧。第二夹爪123的一端可枢转地设置在转动支架120的与第一夹爪122相对的另一侧。第一夹爪122和第二夹爪123能够在靠近转动支架120的最小开合角度和远离转动支架120的最大开合角度之间切换。在本实施方式中，第一夹爪122和第二夹爪123相对于第一中心轴线对称地设置。本领域技术人员可以理解，第一夹爪122和第二夹爪123的设置位置不限于本实施方式。
在一些实施方式中，磁性元件可以直接设置于转动支架或者经由中间连接件间接地设置于转动支架(未示出)，以能够随着转动支架的转动而转动，从而能够改变磁性元件转动角度，使得第一检测器件能够检测转动支架的转动角度。
在本实施方式中，连接件124的一端用于分别与第一夹爪122和第二夹爪123枢转连接，并且连接件124能够绕其中心轴线转动。如图2至图4所示，磁性元件140设置在连接件124的远离第一夹爪122和第二夹爪123的一端。磁性元件140沿平行于第一中心轴线的方向分别与第一检测器件114和第二检测器件115间隔开一段距离，以避免连接件124沿平行于第一中心轴线的方向移动时磁性元件140与第一检测器件114和第二检测器件115发生干涉，并且避免磁性元件140与第一检测器件114和第二 检测器件115的距离过近而影响第一检测器件114和第二检测器件115的检测(例如，影响检测精度)。
如图3和图6所示，在本实施方式中，输入设备100包括一个第一检测器件114和两个第二检测器件115。在一实施例中，第一检测器件114沿着第一中心轴线与磁性元件140的位置相对应。第一检测器件114和该两个第二检测器件115设置在与第一中心轴线垂直的同一平面上，该两个第二检测器件115沿竖直方向设置在第一检测器件114的两侧。第一检测器件114和第二检测器件115可以为霍尔感应芯片。可以理解，第一检测器件114和第二检测器件115的位置关系不限于本实施方式。根据需要，该两个第二检测器件115还可以沿水平方向设置在第一检测器件114的两侧，或者可以设置在任何其他合适的位置处。
第二检测器件115在检测时，其检测的磁场强度并不随着与磁性元件的距离的变化呈线性变化，但是在一定的范围区间内，可以近似为线性变化。在本实施例中，均以检测到位于该范围区间内的磁场强度作为有效依据，以运算或匹配处于该磁场强度时第一夹爪122和第二夹爪123的开合角度。此外，由于第一检测器件114和第二检测器件115合并在一套编码器系统中，可以简化检测方案，并且简化输入设备100的结构，降低走线的难度，增加整个输入设备100的可靠性。
固定基座111和/或转动支架120设置有导向孔，导向孔沿平行于第一中心轴线的方向延伸。连接件124可活动地穿过导向孔，例如，连接件124能够沿着导向孔的长度方向移动。连接件124可以构造为轴状、杆状、长条状或者任何合适的形状。如图2至图5所示，导向孔包括设置于固定基座111的第一导向孔116和设置于转动支架120的第二导向孔125。第一导向孔116和第二导向孔125均构造为圆形通孔，并且第一导向孔116和第二导向孔125的中心轴线重合。在一实施例中，第一导向孔116和第二导向孔125的中心轴线与第一中心轴线重合。
输入设备100还包括弹性元件(未示出)，弹性元件的相对的两端分别连接至第一夹爪122和第二夹爪123，以向第一夹爪122和第二夹爪123施加张开趋势的推力，使得第一夹爪122和第二夹爪123在没有受到外力的情况下能够保持在最大打开位置，即最大开合角度。弹性元件可以为压缩弹簧。在一些实施例中，弹性元件可以为弹片或其他具有形变功能的连 接件。
如图1至图5所示，输入设备100还包括第一销轴131和平行于第一销轴131的第二销轴132，第一销轴131垂直于第一中心轴线。第一销轴131将第一夹爪122的一端可枢转地连接至转动支架120，第二销轴132将第二夹爪123的一端可转动地连接至转动支架120。
具体地，转动支架120上设置有第一安装孔126和第二安装孔127，第一夹爪122上对应地设置有第一连接孔128，第二夹爪123上对应地设置有第二连接孔129。第一安装孔126、第二安装孔127、第一连接孔128和第二连接孔129均可以构造为圆形通孔。第一销轴131插入到第一安装孔126和第一连接孔128，以将第一夹爪122可枢转地连接至转动支架120。第二销轴132插入到第二安装孔127和第二连接孔129中，以将第二夹爪123可枢转地连接至转动支架120。
如图3至图5所示，输入设备100还包括第一连杆150、第二连杆160、第三销轴133、第四销轴134和第五销轴135。第三销轴133、第四销轴134和第五销轴135之间相互平行，并且垂直于第一中心轴线。第三销轴133将第一连杆150的一端可枢转地连接至第一夹爪122，第四销轴134将第二连杆160的一端可枢转地连接至第二夹爪123，第五销轴135将第一连杆150的另一端和第二连杆160的另一端分别可枢转地连接至连接件124的靠近第一夹爪122和第二夹爪123的一端。
具体地，第一夹爪122上设置有第三安装孔136，第一连杆150的一端对应地设置有第三连接孔138，第三销轴133插入到第三安装孔136和第三连接孔138，以将第一连杆150可枢转地连接至第一夹爪122。第二夹爪123上设置有第四安装孔137，第二连杆160的一端对应地设置有第四连接孔139，第四销轴134插入到第四安装孔137和第四连接孔139，以将第二连杆160可枢转地连接至第二夹爪123。第三安装孔136、第三连接孔138、第四安装孔137和第四连接孔139均可以构造为圆心通孔。
连接件124的一端设置有第五安装孔141，第一连杆150的另一端对应地设置有第五连接孔142，第二连杆160的另一端对应地设置有第六连接孔143，第五销轴135插入到第五安装孔141、第五连接孔142和第六连接孔143，以将第一连杆150的另一端(即远离第一夹爪122的一端)和第二连杆160的另一端(即远离第二夹爪123的一端)分别可枢转地连接 至连接件124。第五安装孔141、第五连接孔142和第六连接孔143均可以构造为圆形通孔。
下面对本申请的实施例的输入设备100的工作原理进行具体地说明。
如图4所示，当输入设备100的第一夹爪122和第二夹爪123位于最大开合角度时，此时磁性元件140距离第一检测器件114和第二检测器件115最远。用手指对第一夹爪122和第二夹爪123施加朝向最小开合角度的作用力，则第一夹爪122和第二夹爪123分别对第一连杆150和第二连杆160施加作用力，从而将作用力传递到连接件124，带动连接件124沿其轴向做直线运动。如图5所示，当第一夹爪122和第二夹爪123位于最小开合角度时，此时磁性元件140距离第一检测器件114和第二检测器件115最近。在第一夹爪122和第二夹爪123枢转的过程中，第二检测器件115能够检测磁性元件140在不同位置时的磁场强度，第二检测器件115检测到的数据信息被传输到信号处理板卡113，经由信号处理板卡113处理后即可得到第一夹爪122和第二夹爪123的开合角度信息。
当转动支架120转动时，转动支架120带着第一夹爪122、第二夹爪123、连接件124和磁性元件140一起转动，此时在第一检测器件114处，在第一检测器件114所处的平面内会有x和y两个方向的磁场分量。第一检测器件114检测到的数据信息被传输到信号处理板卡113，经由信号处理板卡113通过数据运算可计算出当前的磁性元件140相对于感应板卡112的角度，映射出来就是当前转动支架120的转动角度。在转动支架120转动的过程中，虽然可能会产生第一夹爪122和第二夹爪123的开合角度发生变化，使得连接件124会带着磁性元件140移动，从而引起磁性元件140相对于第一检测器件114的位置或距离的发生变化。但是在转动支架120的每个确定的旋转角度，位于第一检测器件114平面内的x和y两个方向的磁场分量的运算结果(例如，磁场分量的方向)并不随着第一检测器件114与磁性元件140的距离远近变化而变化，所以不管第一夹爪122和第二夹爪123的开合角度为多少，转动支架120相对于固定基座110的旋转角度可以通过第一检测器件114和信号处理板卡113进行计算和检测。
除非另有定义，本文中所使用的技术和科学术语与本申请的技术领域的技术人员通常理解的含义相同。本文中使用的术语只是为了描述具体的实施目的，不是旨在限制本申请。本文中出现的诸如“设置”等术语既可以 表示一个部件直接附接至另一个部件，也可以表示一个部件通过中间件附接至另一个部件。本文中在一个实施方式中描述的特征可以单独地或与其它特征结合地应用于另一个实施方式，除非该特征在该另一个实施方式中不适用或是另有说明。
本申请已经通过上述实施方式进行了说明，但应当理解的是，上述实施方式只是用于举例和说明的目的，而非意在将本申请限制于所描述的实施方式范围内。本领域技术人员可以理解的是，根据本申请的教导还可以做出更多种的变型和修改，这些变型和修改均落在本申请所要求保护的范围以内。

Claims (15)

  1. 一种输入设备，包括：
    固定基座；
    转动支架，所述转动支架相对于所述固定基座绕第一中心轴线可转动；
    开合装置，所述开合装置设置于所述转动支架，并且相对于所述转动支架可弹性开合；
    连接件，所述连接件与开合装置连接，并且能够随着所述开合装置的开合动作沿平行于所述第一中心轴线的方向移动；
    磁性元件，所述磁性元件设置于所述转动支架或所述连接件；以及
    至少一个第一检测器件，所述第一检测器件设置于所述固定基座，所述第一检测器件可检测所述磁性元件的磁场方向。
  2. 根据权利要求1所述的输入设备，其中，所述开合装置包括第一夹爪和第二夹爪，所述第一夹爪和所述第二夹爪分别可枢转地设置于所述转动支架。
  3. 根据权利要求2所述的输入设备，其中，
    所述第一夹爪和所述第二夹爪相对地设置在所述转动支架的两侧，所述第一夹爪和所述第二夹爪联动设置，并且/或者
    所述连接件的一端分别可枢转地连接至所述第一夹爪和所述第二夹爪，所述磁性元件设置在所述连接件的远离所述第一夹爪和所述第二夹爪的一端。
  4. 根据权利要求2或3所述的输入设备，其中，所述输入设备还包括第一销轴和平行于所述第一销轴的第二销轴，所述第一销轴将所述第一夹爪的一端可枢转地连接至所述转动支架，所述第二销轴将所述第二夹爪的一端可枢转地连接至所述转动支架。
  5. 根据权利要求4所述的输入设备，其中，所述输入设备还包括第一连杆和第二连杆，所述第一连杆的两端分别可枢转地连接至所述第一夹爪和所述连接件，所述第二连杆的两端分别可枢转地连接至所述第二夹爪和所述连接件。
  6. 根据权利要求5所述的输入设备，其中，所述输入设备还包括相互平行的第三销轴、第四销轴和第五销轴，所述第三销轴将所述第一连杆的 一端可枢转地连接至所述第一夹爪，所述第四销轴将所述第二连杆的一端可枢转地连接至所述第二夹爪，所述第五销轴将所述第一连杆的另一端和所述第二连杆的另一端分别可枢转地连接至所述连接件。
  7. 根据权利要求6所述的输入设备，其中，
    所述第三销轴平行于所述第一销轴，并且/或者
    所述第三销轴的中心轴线垂直于所述第一中心轴线。
  8. 根据权利要求1至7中任一项所述的输入设备，其中，
    所述第一检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开，并且/或者
    所述第一检测器件和所述磁性元件设置在与所述第一中心轴线平行的同一直线上。
  9. 根据权利要求1至8中任一项所述的输入设备，其中，所述输入设备还包括至少一个第二检测器件，所述第二检测器件设置于所述固定基座，所述第二检测器件可检测磁性元件的磁场强度。
  10. 根据权利要求9所述的输入设备，其中，
    所述输入设备包括两个所述第二检测器件，
    其中，两个所述第二检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开，并且/或者
    所述输入设备包括一个所述第一检测器件，所述第一检测器件和所述第二检测器件设置在与所述第一中心轴线垂直的同一平面上，两个所述第二检测器件设置在所述第一检测器件的两侧。
  11. 根据权利要求1至10中任一项所述的输入设备，其中，所述固定基座和/或所述转动支架设置有导向孔，所述导向孔沿平行于所述第一中心轴线的方向延伸，所述连接件可活动地穿过所述导向孔。
  12. 根据权利要求11所述的输入设备，其中，所述导向孔包括设置于所述固定基座的第一导向孔和设置于所述转动支架的第二导向孔，所述第一导向孔和所述第二导向孔的中心轴线重合。
  13. 一种输入设备，包括：
    固定基座；以及
    转动支架，所述转动支架相对于所述固定基座绕第一中心轴线可转动；
    开合装置，所述开合装置设置于所述转动支架，并且相对于所述转动 支架可弹性开合；
    连接件，所述连接件与开合装置连接，并且能够随着所述开合装置的开合动作沿平行于所述第一中心轴线的方向移动；
    磁性元件，所述磁性元件设置于所述连接件；以及
    至少一个第二检测器件，所述第二检测器件设置于所述固定基座，所述第二检测器件可检测磁性元件的磁场强度。
  14. 根据权利要求13所述的输入设备，其中，所述输入设备包括两个所述第二检测器件，两个所述第二检测器件沿平行于所述第一中心轴线的方向与所述磁性元件间隔开。
  15. 一种手术机器人，包括根据权利要求1至14中任一项所述的输入设备。
PCT/CN2022/078979 2021-04-28 2022-03-03 输入设备和手术机器人 WO2022227855A1 (zh)

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