WO2022228149A1 - 输入装置、主操作设备及手术机器人 - Google Patents

输入装置、主操作设备及手术机器人 Download PDF

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Publication number
WO2022228149A1
WO2022228149A1 PCT/CN2022/087023 CN2022087023W WO2022228149A1 WO 2022228149 A1 WO2022228149 A1 WO 2022228149A1 CN 2022087023 W CN2022087023 W CN 2022087023W WO 2022228149 A1 WO2022228149 A1 WO 2022228149A1
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WO
WIPO (PCT)
Prior art keywords
input device
sensor
circuit board
handle
clamping arm
Prior art date
Application number
PCT/CN2022/087023
Other languages
English (en)
French (fr)
Inventor
刘放
Original Assignee
深圳市精锋医疗科技股份有限公司
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 深圳市精锋医疗科技股份有限公司 filed Critical 深圳市精锋医疗科技股份有限公司
Priority to EP22794620.9A priority Critical patent/EP4331523A1/en
Publication of WO2022228149A1 publication Critical patent/WO2022228149A1/zh
Priority to US18/494,098 priority patent/US20240050180A1/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
    • A61B34/70—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
    • 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
    • A61B34/25—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
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B2034/742—Joysticks
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Definitions

  • the present application relates to the field of medical instruments, and in particular, to an input device, a main operating device having the input device, and a surgical robot having the main operating device.
  • Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.
  • the minimally invasive surgical robot usually includes a master console and a slave operation device.
  • the master console is used to send control commands to the slave operation device according to the operation of the doctor to control the slave operation device, and the slave operation device is used to respond to the control command sent by the master console. , and perform corresponding surgical operations.
  • the surgical instrument is connected with the driving device of the slave operating device for performing a surgical operation, and the end instrument of the surgical instrument includes an end effector for performing the surgical operation and a joint connected with the end effector that can move with multiple degrees of freedom.
  • the main operation device is connected with an input device, and the input device and the end effector establish a mapping relationship.
  • the operator controls the action of the end effector by operating the input device.
  • the rolling action of the input device is controlled by the rotation of the handle of the input device.
  • a first aspect of the present application provides an input device, the input device comprising:
  • the handle is configured to be rotatably connected with the support;
  • a cordless electrical connector the cordless electrical connector includes a first connecting part and a second connecting part, the first connecting part is mounted on the support part, the second connecting part is mounted on the handle, so The surface of the first connection part abuts against the surface of the second connection part, so that the first connection part and the second connection part are electrically connected.
  • the first connection part includes a first conductive ring
  • the second connection part includes a conductive terminal, and the surface of the first conductive ring abuts against the conductive terminal; or the first connection The second connection portion includes a first conductive ring, and the surface of the first conductive ring abuts the surface of the conductive terminal.
  • the first connection part includes a first conductive ring
  • the second connection part includes a second conductive ring
  • a surface of the first conductive ring abuts a surface of the second conductive ring
  • a plurality of the first conductive rings are located on a first plane, and the first plane is perpendicular to the rotation axis of the handle.
  • the input device further comprises a first circuit board, the first circuit board is mounted on the handle, the conductive terminal is mounted on the first circuit board and is connected with the first circuit board The circuit board is electrically connected.
  • a plurality of the conductive terminals are alternately distributed on the first circuit board.
  • the conductive terminal includes a base and an elastic connecting piece, the base is fixed on the first circuit board, and one end of the connecting piece is mounted on the base, The surface of the other end abuts the first conductive ring.
  • the distal end of the handle extends beyond a first edge, and the distal surface of the first edge is located between the first circuit board and the first connection portion.
  • the proximal end of the support portion extends beyond a second edge, and the proximal surface of the second edge is located between the distal surface of the first edge and the first circuit board, And/or the distal surface of the first edge is located between the first connection and the proximal surface of the second edge.
  • the input device further includes a second circuit board, the second circuit board is mounted in the support portion, and the plurality of first conductive rings are connected to the second circuit board.
  • the first connection portion includes a first surface close to the second connection portion and a second surface away from the second connection portion, the second connection portion abutting against the first connection portion surface, and the second circuit board is connected to the second surface.
  • the input device further includes a first electronic device located in the handle and a second electronic device located in the support portion, the first electronic device is connected to the cordless electrical connector through the cordless electrical connector The second electronic device is electrically connected.
  • the first electronic device is connected to a first circuit board in the handle, and/or the second electronic device is connected to a second circuit board in the support.
  • the input device further includes a clamp mounted on the handle, the first electronic device includes a first sensor, and the first sensor is used to detect the degree of freedom of opening and closing of the clamp sports.
  • the input device further includes a first magnet, the first magnet is connected with the clamp, and the clamp is used to move the first magnet relative to the first magnet relative to the handle.
  • a sensor moves so that the first sensor detects changes in magnetic field strength to detect the movement of the clamp's opening and closing degrees of freedom.
  • the first magnet is connected to the clamp through a connecting rod assembly
  • the connecting rod assembly includes a first connecting rod and a second connecting rod, and one end of the first connecting rod is connected to the clamp The other end is pivotally connected with the proximal end of the second link, the second link is located between the first link and the support part, and the first magnet is fixed on the second link distal end of the connecting rod.
  • the number of the first magnets is two, the two first magnets are mounted on the fixture, and the first sensor is located between the two first magnets.
  • the second electronic device includes a signal processor for processing signals from and/or sending signals to the first electronic device.
  • the second electronic device includes a second sensor for detecting rotational degrees of freedom movement of the gripper.
  • the input device further includes a rotating shaft rotatably connected to the support portion, a second magnet is disposed on the rotating shaft, and the rotating shaft is used to rotate relative to the support portion to make the second magnet The magnet rotates relative to the second sensor so that the second sensor detects changes in magnetic field strength to detect rotational degrees of freedom movement of the clamp.
  • the input device further comprises an electric motor located in the support portion, the rotating shaft of the electric motor is connected with the rotating shaft through a gear, or the rotating shaft is fixedly connected with the rotor of the electric motor.
  • the input device further includes a third sensor and a controller, the third sensor is used to detect the rotational movement of the motor, and the controller is used to detect the rotational movement of the motor according to the second sensor and the controller. The information detected by the third sensor controls the electric motor.
  • the second electronic device further includes a power source for providing electrical power to the first electronic device through the cordless electrical connector.
  • the first electronic device includes a switch component, and the switch component is used to generate a signal for controlling the on-off of the power supply, and/or generate a trigger signal to be sent to a device connected to the input device. equipment.
  • the fixture includes a first clamping arm and a second clamping arm, the number of the first sensors is two, and the two first sensors are respectively installed on the first clamping arm and the second clamping arm. Two gripping arms.
  • the proximal end of the first clamping arm has an arc-shaped groove
  • the proximal end of the second clamping arm has a protruding post accommodated in the arc-shaped groove, and the arc-shaped groove is used for When the first clamping arm moves against the handle, it moves against the protruding post to drive the second clamping arm to move against the handle at the same angular velocity as the first clamping arm.
  • the input device further comprises a flexible circuit board, and the first sensor and/or the switch assembly are electrically connected with the cordless electrical connector through the flexible circuit board.
  • the flexible circuit board includes a first flexible circuit board body, a second flexible circuit board body and a third flexible circuit board body, the first flexible circuit board body and the second flexible circuit board body The free end of the circuit board body extends toward the proximal end of the handle, and the third flexible circuit board body extends along the distal end of the handle to be electrically connected to the cordless electrical connector.
  • the first sensor is mounted on the middle area of the flexible circuit board, and the two switch assemblies are respectively provided on the first flexible circuit board body and the second flexible circuit board body.
  • a second aspect of the embodiments of the present application further provides an input device, where the input device includes:
  • a support a handle, the handle is configured to be rotatably connected with the support; a clamp, the clamp is mounted on the handle; a first sensor, the first sensor is mounted in the handle, the first sensor A sensor is used to detect the opening and closing degrees of freedom movement of the clamp.
  • the input device further includes a first magnet, the first magnet is connected to the clamp, and the clamp movement causes the first magnet to move relative to the first sensor to cause all the The first sensor detects changes in the strength of the magnetic field to detect the movement of the clamp's opening and closing degrees of freedom.
  • the number of the first magnets is two, the two first magnets are mounted on the fixture, and the first sensor is located between the two first magnets.
  • the input assembly further includes a linkage assembly through which the first magnet is connected to the clamp.
  • the link assembly includes a first link and a second link, one end of the first link is pivotally connected to the clamp, and the other end is pivoted to the proximal end of the second link. connected, the second link is located between the first link and the support part, and the first magnet is fixed on the distal end of the second link.
  • the clamp includes a first clamping arm and a second clamping arm, and the two first magnets are respectively mounted on the first clamping arm and the second clamping arm , the proximal end of the first clamping arm has an arc-shaped groove, and the proximal end of the second clamping arm has a convex column accommodated in the arc-shaped groove, and the arc-shaped groove is used for the first clamping When the arm moves toward the handle, it moves against the protruding post to drive the second clamping arm to move toward the handle at the same angular velocity as the first clamping arm.
  • the input device includes a second sensor disposed within the support for detecting rotational degrees of freedom movement of the gripper.
  • the input device further includes a rotating shaft, one end of the rotating shaft is fixedly connected to the handle, the other end is rotatably connected to the support portion, and a second magnet is disposed on the distal end of the rotating shaft , the rotating shaft is used to rotate relative to the support part to make the second magnet rotate relative to the second sensor, so that the second sensor detects the change of the magnetic field strength to detect the rotation degree of freedom movement of the fixture.
  • the input device further comprises an electric motor located in the support portion, the rotating shaft of the electric motor is connected with the rotating shaft through gears, or the rotor of the electric motor is fixedly connected with the rotating shaft.
  • the input device further includes a second sensor disposed in the support portion, the second sensor disposed on the electric motor and used to detect the rotational movement of the electric motor.
  • the input device further includes a third sensor and a controller, the third sensor is used to detect the rotational movement of the motor, and the controller is used to detect the rotational movement of the motor according to the second sensor and the controller.
  • the detected information of the third sensor controls the electric motor.
  • the third sensor and the control are located within the support.
  • a third aspect of the embodiments of the present application further provides a main operating device, where the main operating device includes a main console and the input device, where the main console is used to process a signal input by the input device.
  • a fourth aspect of the embodiments of the present application further provides a surgical robot, where the surgical robot includes a slave operation device and the above-mentioned master operation device, and the slave operation device performs a corresponding operation according to an instruction of the master operation device.
  • the handle of the input device of the present application is rotatably installed on the support portion, the electronic device in the handle and the electronic device in the support portion are electrically connected through a cordless electrical connector, and there is no transmission cable between the handle and the support portion, so that how the handle rotates relative to the support portion , the electronic device in the handle and the electronic device in the support part can always be maintained in an electrical connection state, so that the handle can be infinitely rotated relative to the support part, which is more convenient for the operator to operate the input device.
  • the electrical signals of the electronic device in the handle and the electronic device in the support portion are directly transmitted through the cordless electrical connector, and no signal conversion is performed in the middle, which reduces the loss of the signal.
  • FIG. 1 is a schematic diagram of a slave operating device of a surgical robot according to an embodiment of the application
  • FIG. 2 is a schematic diagram of a main operating device of a surgical robot according to an embodiment of the application
  • FIG. 3 is a schematic diagram of a surgical instrument according to an embodiment of the application.
  • FIG. 4 is a schematic structural diagram of an input device according to an embodiment of the present application.
  • FIG. 5 is a cross-sectional view of the input device of FIG. 4 along the vertical direction of the rotation axis Y;
  • FIG. 6 is a cross-sectional view of an input device according to another embodiment of the present application.
  • FIG. 7A is a cross-sectional view of an input device according to still another embodiment of the present application.
  • FIG. 7B is a schematic diagram of the action of an end effector according to an embodiment of the present application.
  • FIG. 8A is a cross-sectional view of an input device according to still another embodiment of the present application.
  • FIG. 8B is a schematic structural diagram of the synchronization mechanism in FIG. 8A;
  • FIGS. 9A-9B are exploded views of an input device according to an embodiment of the application.
  • FIG. 10 is a schematic structural diagram of one side of the handle of the input device in the embodiment shown in FIG. 9A;
  • FIG. 11 is a perspective view of the input device in the embodiment shown in FIG. 9A;
  • FIG. 12 is a partial cross-sectional view of the input device in FIG. 11 along the vertical direction of the rotation axis Y;
  • FIG. 13 is a block diagram of signal transmission of an input device in an embodiment of the present application.
  • distal end and proximal end are used herein as orientation words, which are commonly used in the field of interventional medical devices, wherein “distal end” means the end away from the operator during surgery, and “proximal end” means surgery The end closest to the operator during the process.
  • "Coupling” as used herein can be broadly understood as one in which two or more objects are connected to any event in a way that allows absolutely coupled objects to operate with each other such that at least one There is no relative movement in the direction, such as the coupling of the protrusion and the groove, the two can move relative to each other in the radial direction but not in the axial direction.
  • instrument is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument including an end effector, which may be a surgical procedure for performing a surgical procedure Surgical tools such as electrocautery, forceps, staplers, scissors, imaging devices (eg, endoscopes or ultrasound probes), and the like.
  • Some instruments used in embodiments of the present application further include articulating components (eg, joint assemblies) provided for the end effector such that the position and orientation of the end effector can be manipulated for movement with one or more mechanical degrees of freedom relative to the instrument axis .
  • the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing.
  • the instrument may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system elements.
  • FIGS. 1 and 2 A surgical robot according to an embodiment of the present application is shown in FIGS. 1 and 2 .
  • the surgical robot includes a slave operation device 10 and a master operation device 20.
  • the slave operation device 10 is located on the patient side for performing a surgical operation, wherein the slave operation device 10 includes A plurality of robotic arms 11 and instruments 12 mounted on the robotic arms 11, the instruments 12 may be electrocautery, forceps, staplers, scissors, etc. for performing surgical operations, or may be cameras for acquiring images or As with other surgical instruments, multiple instruments 12 are inserted into the patient's body from different incisions.
  • the robotic arm is configured to be supported by the struts through a plurality of large arms, and in some other embodiments, the robotic arm from the operating device may also be mounted on a wall or ceiling.
  • the robotic arm 11 further includes a parallelogram linkage, on the distal end of which the instrument 12 is removably mounted, the parallelogram linkage may allow movement of the instrument 12 or multiple mechanical degrees of freedom (eg, all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.).
  • the parallelogram linkage is used to constrain movement of the limiting instrument 12 about a remote center of motion (RCM) on the surgical instrument that remains stationary relative to the patient, typically where the instrument enters the patient's body.
  • RCM remote center of motion
  • another slave operating device is configured differently from a large arm, and multiple instruments of this type of slave operating device are removably mounted on the power mechanism at the distal end of the boom, and the multiple instruments enter through an incision.
  • the human body and a plurality of arms control and restrain the apparatus to move near the remote motion center.
  • Chinese patent application CN201810664598.2 for details, please refer to Chinese patent application CN201810664598.2.
  • Surgical robots typically also include a portion of an imaging system (not shown) that enables an operator to view the surgical site from outside the patient's body.
  • the imaging system typically includes a video image capture function (eg, a device 12 having an image capture function) and one or more video display devices for displaying the captured images.
  • the device 12 with image acquisition capabilities includes optics for one or more imaging sensors (eg, CCD or CMOS sensors) that will acquire images of the inside of the patient's body.
  • the one or more imaging sensors can be placed at the distal end of the instrument 12 with image acquisition capabilities, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on a video display device.
  • the master operation device 20 is located on the operator's side.
  • the master operation device 20 is used to send control commands to the slave operation device 10 and display the images obtained from the slave operation device 10 according to the operation of the operator.
  • the operator can observe the master and slave operation device 20
  • the imaging system provides three-dimensional images in the patient's body. By observing the three-dimensional images in the patient's body, the operator can control the operation device 10 to perform related operations (eg, perform surgery or obtain the patient's in-vivo image) with immersive sensory control.
  • the main operating device 20 includes a main console 21 and an input device 22.
  • the main console 21 includes a display device, an armrest, a control signal processing system and an observation device, wherein the display device is used to display the images obtained by the above-mentioned imaging system.
  • the armrest is used for placing the operator's arm and/or hand, so that the operator can operate the input device more comfortably, and the observation device is used to observe the image displayed by the display device. According to actual needs, the handrail can also be omitted; or the observation device can be omitted, and direct observation can be made at this time.
  • the operator controls the movement of the slave operating device 10 by operating the input device 22.
  • the control signal processing system of the master console 21 processes the input signal of the input device 22 and issues a control command to the slave operating device.
  • the slave operating device 300 is used to respond to the master console. 21 sends the control command and performs the corresponding operation.
  • the instrument 12 includes an end effector 15, a long shaft 14 and a drive box 13.
  • the drive box 13 has a plurality of transmission units.
  • the transmission units are coupled to the drive units in the robotic arm 11 and can be driven by the drive units.
  • the drive unit drives the movement of the end effector 15 through the transmission unit according to the control command from the main console 21.
  • the transmission unit may be a plurality of flexible cables and a winch, the proximal ends of the multiple cables are wound on the winch, and the multiple cables are wound on the winch.
  • the distal end of the wire is connected to the end effector, and the drive box 13 retracts/pulls the flexible cable by driving the winch to rotate to control the end effector.
  • the end effector 1 has a joint assembly through which it can perform actions with multiple Cartesian degrees of freedom, such as pitch, yaw, and the like.
  • the end instrument 15 is used to perform a surgical operation. According to different requirements of the surgical operation, the end effector 15 may be an electric cauterizer, a clamp, a stapler, scissors, a camera, and the like.
  • the input device 22 includes a handle 111, a clamp 210, a plurality of L-shaped links 113, 115, 117 and a plurality of rotary joints 112, 114, 116, the clamp 210 is movably mounted on the handle 111, and the clamp 210 can move relative to the handle 111, and the handle 111 is rotatably connected to the first L-shaped link 113 through the first rotation joint 112, so that the handle 111 and the clamp 210 can rotate around the rotation axis Y of the rotation joint 112, and the first L-shaped link 113
  • the first L-shaped link 113 can rotate around the rotation axis Z1 of the second rotating joint 114
  • the second L-shaped link 115 is connected by the third rotating joint 116 is rotatably connected with the third L-shaped link 117, so that the second L-shaped link 115 can rotate around the rotation axis X of
  • the clamp 210 can perform movements with multiple degrees of freedom through the handle 111, a plurality of L-shaped links 113, 115, 117 and a plurality of rotary joints 112, 114, 116. In other embodiments, the clamp 210 can be based on actual needs. degrees of freedom of motion to set the number of L-shaped links and revolute joints.
  • a pose mapping control is established between the input device 22 and the end effector 15 through the main operating device 20 .
  • the motion relationship corresponds, which may be motion posture correspondence, motion trend correspondence, and the like.
  • the operator can control the instrument 12 to perform corresponding actions (such as pitch, yaw, roll, clamp, etc.) when operating the input device 22.
  • the input device 22 can be provided on the main console 21. In other embodiments, the input device 22 can also be provided separately from the main console 21.
  • the opening and closing actions (such as clamping or shearing, etc.) of the end effector 15 can be controlled, and the clamp 210 and/or the handle 111 rotate around the first After the rotational DOF motion of the rotational axis Y of the joint 112 is mapped to the device 12 , the roll motion of the end effector 15 can be controlled.
  • FIG. 5 is a schematic diagram of a cross-section taken along the rotation axis Y in FIG. 4 .
  • the first clamping arm 211 and the second clamping arm 212 of the clamp 210 are pivotally connected to the handle 111 respectively,
  • the gripping arm 211 and the second gripping arm 212 can rotate around the pivots 216a, 216b along the directions Ha, Hb, respectively, that is, the clamp 210 moves with the degree of freedom of opening and closing.
  • An elastic member 215 is provided between the first clamping arm 211 and the second clamping arm 212 , and the elastic member 215 is in a stretched state for maintaining the state of the clamp 210 and providing the operator with an operating feel.
  • the distal end of the handle 111 is fixedly connected to the rotating shaft 242 through the end cover 124 , the end cover 124 is fixedly installed on the handle 111 , and the rotating shaft 242 is rotatably connected to the support portion 121 of the first L-shaped link 113 through the bearing 122 , so that the handle 111
  • the rotating shaft 242 (the first rotating joint) is rotatably connected to the support portion 121 , so that the handle 210 and the clamp 210 can rotate along the rotation axis Y of the rotating shaft 242 , that is, the rotation degree of freedom of the clamp 210 and/or the handle 111 .
  • the input device 22 further includes a first sensor 221 and a second sensor 227.
  • the first sensor 211 is installed in the handle 111 and is used to detect the movement of the opening and closing degrees of freedom of the clamp 210.
  • the second sensor 227 is installed in the support portion 121 and used for The rotational degrees of freedom movement of the jig 210 is detected.
  • a first magnet 222 is provided in the handle 111, and the first magnet 222 is indirectly connected to the clamp 210 through a connecting rod assembly.
  • the connecting rod assembly includes a first connecting rod 213 and a second connecting rod 214, and the first connecting rod 213 passes through
  • the pivots 216c and 216d are rotatably connected with the first clamping arm 211 and the second clamping arm 212, and the proximal end of the second link 214 is rotatably connected with the first link 213 through the pivot 216e.
  • the clamping arm 211 and the second clamping arm 212 move together, and the co-movement means that when the operator only operates one clamping arm in the first clamping arm 211 and the second clamping arm 212 to perform the movement of the opening and closing degrees of freedom, the other A gripping arm is also driven by a synchronous motion mechanism (such as a linkage assembly) to perform an opening and closing DOF movement at the same angular velocity.
  • a synchronous motion mechanism such as a linkage assembly
  • the first magnet 222 is fixedly installed at the distal end of the first link 214.
  • the first link 214 will move along the axis of the rotation axis Y move to a straight line, thereby changing the relative distance between the first magnet 222 and the first sensor 221.
  • the first sensor 221 detects the first clamping arm 221 and the second clamping arm 221 by detecting the change of the magnetic field strength of the first magnet 222 thereon.
  • the opening and closing freedom movement of the clamping arm 212 such as the opening and closing angle
  • the main console 21 issues a command to control the opening and closing movement of the end effector 15 according to the result detected by the first sensor 221 .
  • a second magnet 226 is disposed in the support portion 121 , and the second magnet 226 is fixedly mounted on the rotating shaft 242 .
  • the second magnet 226 rotates relative to the second sensor 227 to induce the magnetic field of the second magnet 226
  • the intensity varies on the second sensor 227, which detects the rotational degrees of freedom movement of the clamp 210 by detecting the change in the magnetic field strength of the second magnet 226 thereon.
  • the first sensor 221 and the second sensor 227 are both magnetic sensors (for example, Hall sensors) in this embodiment, the first magnet 221 and the second magnet 226 are provided separately, that is, the first magnet 221 is provided in the handle 111, The second magnet 226 is disposed in the support portion 121 , so that the magnetic fields of the first magnet 221 and the second magnet 226 can be prevented from interfering with each other, and the detection accuracy can be improved.
  • the input device 22 further includes an electric motor 240, the electric motor 240 is arranged in the first L-shaped link 113, the rotating shaft of the electric motor 240 is connected with the rotating shaft 242 through the gear set 241, and the first helical gear 241a of the gear set 240 is fixedly installed on the On the rotating shaft 242, the second helical gear 241b is fixedly connected with the rotating shaft of the motor 240.
  • the motor 240 applies torque to the rotating shaft 242 through the gear set 241, and then applies the torque to the handle 111, so that the motor 240 can apply force to the clamp 210.
  • the motor 240 can also provide gravity compensation to the handle 111 and the clamp 210 to prevent the handle 111 and the clamp 210 from rotating around the rotation axis Y due to gravity after the operator leaves the handle 111 .
  • the input device 22 further includes a controller 252 and a third sensor 243, the information of the rotational degree of freedom movement of the handle 111 detected by the second sensor 227 is used to feed back to the controller 252, and the third sensor 243 is used to detect the motor
  • the rotational motion of 240 is input to the controller 252, the controller 252 compares the rotational motion information of the handle 111 with the rotational motion information of the motor 240 detected by the third sensor 243, and then controls the motor 240 to control the motor 240.
  • the controller 252 forms a feedback closed-loop control for the motor 240 to avoid inaccurate control of the output of the motor 240 due to the gap of the gear set 241 or other transmissions, so that the controller 252 can control the output of the motor 240 more accurately.
  • the third sensor 243 is an encoder.
  • the rotating shaft 242 Since the first sensor 221 and the first magnet 222 are disposed in the handle 111 , the rotating shaft 242 has more space for installing the gear set 241 , and also reduces the volume of the support portion 121 .
  • the input device of an embodiment of the present application is shown in FIG. 6 , the handle 111 is connected to the support portion 121 through a rotating shaft 342, and the rotating shaft 342 is also the rotating shaft of the electric motor 340.
  • the electric motor 340 includes a stator 341a and a rotor 341b, and the rotating shaft 342 and the rotor 341b Fixed connection.
  • the rotating shaft 342 is hollow, the distal end of the first connecting rod 217 of the connecting rod assembly passes through the rotating shaft 342 , the first magnet 345 is fixed on the distal end of the first connecting rod 217 , and the first sensor 344 is installed on the support portion 121 In the position opposite to the first magnet 345, when the clamp 210 performs the movement of the opening and closing degrees of freedom, the first link 217 moves linearly along the rotation axis Y, and the first sensor 344 detects the magnetic field strength of the first magnet 345 on it. changes to detect the opening and closing DOF movement of the clamp 210 .
  • the second sensor 343 is directly arranged on the motor 340, and the second sensor 343 is used to directly detect the rotational movement of the motor 340. Since the rotating shaft 342 is the rotating shaft of the motor 340, there is no intermediate transmission component such as a gear set, so there is no return clearance , so the rotational motion of the motor 340 detected by the second sensor 343 is the output rotational motion of the motor 340, and also the rotational motion of the handle 111. Therefore, there is no need to set up a third sensor to detect the output of the motor 340, reducing the The number of sensors also simplifies the control of the motor 340 .
  • the second sensor 343 is an encoder.
  • the input device of an embodiment of the present application is shown in FIG. 7A .
  • the input device has no link assembly, and the first clamping arm 411 and the second clamping arm 412 pass through the first elastic member 215 a and the second clamping arm 412 separately.
  • the elastic member 215b is connected with the handle 111, and both the first clamping arm 411 and the second clamping arm 412 move independently of each other.
  • the first magnet 247a is mounted on the first clamp arm 411
  • the first magnet 247b is mounted on the second clamp arm 412
  • the first sensors 246a, 246b are located in the handle 111 between the first magnet 247a and the first magnet 247b .
  • the first magnets 247a, 247b will approach or move away from the first sensor along with the movement of the first clamping arm 411 and the second clamping arm 412 246a, 246b, the first sensor 246a detects the opening and closing motion of the first clamping arm 411 by detecting the magnetic field strength of the first magnet 247a, and the first sensor 246b detects the second clamping arm by detecting the magnetic field strength of the first magnet 247b The opening and closing movement of the 412.
  • the opening and closing degrees of freedom of the first clamping arm 411 and the second clamping arm 412 are independent of each other, and the first clamping arm 411 and the second clamping arm 411 Movement of one of the arms 412 does not affect the movement of the other. Therefore, it can be applied to application scenarios where the operator needs to individually control the movement of each gripping part of the end effector 15 through the first gripping arm 411 and the second gripping arm 412 (for example, when the end effector is a retractor) ).
  • the first gripping arm 411 and the second gripping arm 412 establish a mapping with the end effector 15 , and the surrounding of the first gripping member 151 and the second gripping member 152 of the end effector 15 can be individually controlled
  • the rotation axis BB' rotates, for example, the moving first gripping arm 411 can control the first gripping member 151 to move alone, while the stationary second gripping arm 412 controls the second gripping member 152 to maintain its original state.
  • the input device of an embodiment of the present application is provided with a synchronous motion mechanism 218 near the pivots 216a and 216b of the first clamping arm 411 and the second clamping arm 412.
  • the synchronous motion mechanism 218 is used for Make the first gripping arm 411 and the second gripping arm 412 move at the same angular velocity to ensure that when the operator only operates one gripping arm of the first gripping arm 411 and the second gripping arm 412 to perform the movement of the degree of freedom of opening and closing , the synchronous motion mechanism 218 can enable the other gripper arm not operated by the operator to perform the opening and closing degrees of freedom movement at the same angular velocity, so that the end effector 15 can also perform gripping when the operator only operates one gripper arm action.
  • first gripping arm 411 and the second gripping arm 412 move synchronously, the movement of any one gripping arm will cause the other gripping arm to move at the same angular velocity, so the first gripping arm can be detected by a first sensor 246 411 and the second clamping arm 412 have the freedom of opening and closing movement.
  • the synchronous motion mechanism 218 includes a first bracket 218a and a second bracket 218b, the first bracket 218a is fixedly connected to the first clamping arm 411, the second bracket 218b is fixedly connected to the second clamping arm 412, and the first bracket 218a is fixedly connected to the first clamping arm 411.
  • the free end of one bracket 218a is provided with an arc-shaped groove 219a
  • the free end of the second bracket 218b is provided with a convex column 219b
  • the convex column 219b is accommodated in the arc-shaped groove 219a
  • the inner wall 219c of the arc-shaped groove 219a is close to the convex column 219b .
  • the arc-shaped groove 219a is roughly C-shaped, and the convex direction B of the arc-shaped groove 219a points to the distal end of the input device.
  • the other gripping arm moves at the same angular velocity, so that when the first gripping arm 411 moves against the handle 111 , the arc-shaped groove 219a moves against the protruding post 219b and drives the second gripping arm 411 .
  • the clamping arm 412 and the first clamping arm 411 move toward the handle 111 at the same angular velocity.
  • the input device 22 further includes a cordless electrical connector 230 .
  • the cordless electrical connector refers to an electrical connector that is not electrically connected directly through a cable, such as an electrical slip ring.
  • the cordless electrical connector 230 electrically connects the first electronic device located in the handle 111 with the second electronic device located in the support portion 121, so that the first electronic device and the second electronic device communicate or transmit power through the cordless electrical connector.
  • the first electronic device and the second electronic device may include one or more electronic components.
  • the first electronic device includes the first sensor 221 and/or the switch assembly 223, and the second electronic device includes The signal processor 253 , the controller 252 and the power source 254 located in the support portion 121 are all mounted on the second circuit board 251 .
  • the information of the opening and closing degrees of freedom movement of the clamp 210 detected by the first sensor 221 is transmitted to the signal processor 253 through the cordless electrical connector 230, and the signal processor 253 processes the opening and closing degrees of freedom movement information of the clamp 210 and transmits it to the main
  • the control signal processing system of the console 21 for example, the signal processor 253 converts the analog signal input from the first sensor 221 into a digital signal and transmits it to the control signal processing system of the main console 21 .
  • the power supply 254 is used to provide power to the first electronic device through the cordless electrical connector 230. Since the power supply 254 directly supplies power to the electronic device on the side of the handle 111 through the cordless electrical connector 230, there is no power conversion in the middle, which reduces power conversion. components, so that the volume of the entire input device is more compact and the power utilization rate is higher.
  • the first electronic device includes a switch component 223
  • the second electronic device includes a switch signal processor (not shown in the figure), and the switch signal processor is used for receiving the control signal sent by the switch component 223 .
  • the cordless electrical connector 230 includes a first connecting portion 231 and a second connecting portion 232.
  • the first connecting portion 231 is fixedly mounted on the support portion 121, and the second connecting portion 232 and the handle 111 are fixedly mounted on the handle 111.
  • the surface of the conductive part of the first connection part 231 abuts against the surface of the conductive part of the second connection part 232, so that the first connection part 231 and the second connection part 232 are electrically connected, so that no matter how the handle 111 rotates, the first connection part 231 and the second connection part 231 are electrically connected.
  • the two connecting parts 232 can always maintain the electrical connection device, thereby allowing the handle 111 to rotate infinitely in the rotational freedom. It is very necessary that the handle 111 can rotate infinitely, for example, during the operation, the infinite rotation of the handle 111 can make the operator control the rolling motion of the instrument 12 more conveniently.
  • the second connection part 232 is electrically connected to the first electronic device through the first circuit board 225, and the first connection part 232 is connected to the second electronic device through the second circuit board 251. Since the electrical signal of the first electronic device in the handle 111 passes through the cordless The electrical connector 230 communicates with the second electronic device in the support, so no matter how the handle 111 is rotated, it will not affect the electrical signal transmission in the handle 111, and the electrical signal in the first electronic device passes through the cordless electrical connector In the process of transmitting the 230 to the second electronic device, the electrical signal does not need to be converted in any way, which avoids the situation of signal loss occurring during the transmission process by converting the transmission mode of the signal.
  • FIGS. 9A-12 is to show the internal structure of the input device 33 .
  • the handle and the casing of the first L-shaped link are not shown, and the first sensor of the input device 33 is not shown.
  • 321 and the first magnet 322 are located in the handle, the first magnet 322 is located at the distal end of the second link 314, the second link 314 is pivotally connected to the first link 313, and the first link 313 is pivoted to the first clamp
  • the first sensor 321 detects the free movement of opening and closing of the clamp 210 by detecting the change of the magnetic field strength of the first magnet 322 thereon.
  • first clamping arm 311 and the second clamping arm 312 are connected to the synchronous motion mechanism 318 through the link assembly at the same time, and the elastic member 315 is located between the link assembly and the synchronous motion mechanism 318 to ensure the first The clamping arm 311 and the second clamping arm 312 can move at the same angular velocity.
  • the handle 111 is also provided with a toggle button 323a, the toggle button 323a is coupled with the switch assembly 323, and the operator can make the switch assembly 323 send a control signal by operating the toggle button 323a.
  • the first sensor 321 and/or the switch assembly 323 are connected to the first circuit board 325 through the flexible circuit board 361, the first circuit board 325 is electrically connected with the cordless electrical connector 330, and the electrical power of the first sensor 321 and/or the switch assembly 323 is The signal is transmitted to the supporting part through the cordless electrical connector 330 , and the flexible circuit board 361 can make the first sensor 321 and the switch assembly 323 more conveniently connected with the first circuit board 325 .
  • the first connecting portion 331 of the cordless electrical connector 330 is disc-shaped, and includes a plurality of conductive rings 331 a and a base 335 , the plurality of conductive rings 331 a are fixedly installed on the base 335 , and the second connecting portion 332 includes A plurality of conductive terminals 333, the conductive terminals 333 include conductive and elastic connecting pieces 333a and a base 334, and the surfaces of the free ends 333b of the plurality of connecting pieces 333a abut the first surfaces of the distal ends of the plurality of conductive rings 331a, thereby realizing the first The two connecting portions 332 are electrically connected to the first connecting portion 331 .
  • the plurality of conductive rings 331a are arranged concentrically with the rotation axis Y as the axis, and the conductive rings 331a are insulated from each other and are located on the same first plane.
  • the plurality of conductive terminals 333 are also distributed on the plurality of conductive terminals 333 with the rotation axis Y as the axis.
  • the other end 333c of the connecting piece 333a is fixedly connected to the first circuit board 325 through the base 334 , and the plurality of conductive terminals 333 are electrically connected to the flexible circuit board 361 through the first circuit board 325 .
  • the plurality of conductive terminals 333 are alternately distributed on the first circuit board 325 having a substantially C-shaped structure, and the free ends 333a of the plurality of conductive terminals 333 are substantially distributed on a first straight line perpendicular to the rotation axis Y, the The layout can make the plurality of conductive terminals 333 occupy less space, thereby making the first circuit board 325 more compact.
  • the flexible circuit board 361 is trident-shaped, and the flexible circuit board 361 includes an integrated first flexible circuit board body 361a, a second flexible circuit board body 361b and a third flexible circuit board body 361c.
  • the flexible circuit board body forms a trident shape, that is, the free ends of the first flexible circuit board body 361 a and the second flexible circuit board body 361 b extend toward the proximal end of the handle 111 , and the third flexible circuit board body 361 c extends along the distal end of the handle 111
  • the first flexible circuit board body 361a, the second flexible circuit board body 361b and the third flexible circuit board body 361c are jointly connected to the fourth flexible circuit board body 361d in the middle area of the flexible circuit board 361, the first flexible circuit board body 361d
  • the sensor 321 is provided on the fourth flexible circuit board body 361d.
  • the first flexible circuit board body 361a and the second flexible circuit board body 361b are disposed opposite to each other, and a space for accommodating the distal end of the second link 314 is formed therebetween. The distal end of the link 314 moves linearly within this space.
  • the two switch assemblies 323 are respectively disposed on the opposite side of the first flexible circuit board body 361a and the second flexible circuit board body 361b, and the signals of the switch assembly 323 and the first sensor 321 are transmitted to the cordless through the third flexible circuit board body 361c.
  • the second connection part 332 of the electrical connector 330 is then transmitted to the signal processor 353 on the second circuit board 351 through the first connection part 331 .
  • the controller 352 and the power supply 354 of the motor 360 are also installed on the second circuit board 351 superior.
  • the first flexible electrical board 361 electrically connects the first sensor 321 and the switch assembly 323 to the first circuit board 325 through the flexible circuit board 361, and also plays a role of fixedly supporting the first sensor 321 and the switch assembly 323.
  • the rotating shaft 342 of the motor 360 is fixedly connected to the handle 111 through the first connecting portion 331 , and the proximal end of the rotating shaft 342 is fixedly connected to the handle 111 through the end cover 324 , and the end cover 324 is fixed in the handle 111 .
  • the rotating shaft 342 is rotatably connected to the support portion through the bearing 122 , and the motor 360 directly applies torque to the handle through the rotating shaft 342 .
  • the second magnet 326 is installed at the distal end of the rotating shaft 342 , and the second sensor 327 detects the rotation of the rotating shaft 342 by detecting the change of the magnetic field strength of the second magnet 326 thereon to detect the rotation degree of freedom movement of the clamp 210 .
  • the first circuit board 325 is fixed on the inner side of the distal end of the handle 111 through the fixing portion 123
  • the fixing portion 123 may be a snap and/or bolt fixing structure
  • the distal end of the handle 111 extends beyond the first edge 1110
  • the distal surface 1111 of the first edge 1110 is located between the distal surface 3251 of the first circuit board 325 and the first connecting portion 331 .
  • the first connection part 331 of the cordless electrical connector 330 is fixedly mounted on the support part 131 through the base 312 , the first connection part 331 is electrically connected with the second circuit board 351 through the cable 371 , and the support part
  • the top of the 131 has a notch 131a for accommodating the cable 371, and the base 312 has a through hole 312a.
  • the notch 131a passes through the support portion 131, extends along the distal end of the input device 33 and is connected to the second circuit board 351, so that the electrical signal from the handle 111 is first transmitted to the support portion 131 through the cordless electrical connector 330 and then through the cable 371 There is no direct cable 371 connection between the electronic device in the handle 111 and the electronic device in the support portion 131 .
  • the proximal end of the support portion 131 extends out of the second edge 1310 , and the proximal surface 1311 of the second edge 1310 is located between the distal surface 1111 of the first edge 1110 and the first circuit board 325 .
  • the distal surface 1111 of the first edge 1110 of the handle 111 is closer to the first connecting portion 331 than the proximal surface 1311 of the second edge 1310, so that the first edge 1110 and the second edge 1310 are partially overlapped, thereby preventing foreign matter from entering the input device 33 from the gap between the first connecting portion 331 and the second connecting portion 332 .
  • Figure 13 is a schematic diagram of the internal electrical signal transmission of the input device, the signal processor 452 and the power supply 453 are located in the support part, the first sensor 421 and the switch assembly 423 are located in the handle, and the power supply 4531 passes through the power cords 4531, 4532 and cordless electrical connectors 430 establishes an electrical connection with the first sensor 421 and the switch assembly 423 , so as to provide power to the first sensor 421 and the switch assembly 423 through the cordless electrical connector 430 .
  • the signal sent by the first sensor 421 is transmitted to the first input signal line 4521 through the first signal output line 4211 and the cordless electrical connector 430, and is input to the signal processing 452, which is performing the processing on the information sent by the first sensor 421. After processing, it is output to the control signal processing system in the main console 21 through the second signal output line 4522 .
  • the switch assembly 423 sends a control signal to the control signal processing system in the main console 21 through the third signal output line 4231, the cordless electrical connector 430 and the second signal output line 4522, and the switch assembly 432 sends out the control signal for controlling the main operation
  • the master-slave mapping between the device 20 and the slave operation device 10 is turned on and off, thereby cutting off the master operation device 20 from controlling the slave operation device 10 .
  • the control signal sent by the switch assembly 432 is used to control the power supply 453 on and off, so as to cut off the power supply of the power supply 453 to the electronic device in the support part and/or the handle, so as to make the electronic device stop working.
  • the switch assembly 432 is made to issue a signal for cutting off the power supply of the power supply 453 to the first sensor 421, so that the first sensor 432 suspends work due to the loss of power, and the free movement of the clamp cannot be detected and cannot be mapped to the slave operating device superior.
  • the first connection part of the cordless electrical connector may be a plurality of conductive terminals and the second connection part includes a plurality of conductive rings, or the first connection part and the second connection part Both are multiple conductive rings.

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Abstract

一种输入装置（22）、主操作设备（20）及手术机器人，其中输入装置（22）包括支撑部（121）、手柄（111）及无绳电连接器（230），手柄（111）与支撑部（121）旋转连接，无绳电连接器（230）包括第一连接部（231）和第二连接部（232），第一连接部（231）固定安装在支撑部（121）上，第二连接部（232）固定安装在手柄（111）上，第一连接部（231）的表面抵触第二连接部（232）的表面使两者电连接，从而在手柄（111）无限旋转时，手柄（111）内电子器件和支撑部（121）内的电子器件通过无绳电连接器（230）始终保持电连接。

Description

输入装置、主操作设备及手术机器人
本申请要求于2021年4月27日提交中国专利局，申请号为202110462541.6，发明名称为“输入装置、主操作设备及手术机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及医疗器械领域，特别是涉及一种输入装置、具有该输入装置的主操作设备，及具有该主操作设备的手术机器人。
背景技术
微创手术是指利用腹腔镜、胸腔镜等现代医疗器械及相关设备在人体腔体内部施行手术的一种手术方式。相比传统手术方式微创手术具有创伤小、疼痛轻、恢复快等优势。
随着科技的进步，微创手术机器人技术逐渐成熟，并被广泛应用。微创手术机器人通常包括主操作台及从操作设备，主操作台用于根据医生的操作向从操作设备发送控制命令，以控制从操作设备，从操作设备用于响应主操作台发送的控制命令，并进行相应的手术操作。手术器械与从操作设备的驱动装置连接，用于执行外科手术，手术器械的末端器械包括用于执行手术操作的末端执行器和与末端执行器连接的可以多个自由度动作的关节。
主操作设备连接有输入装置，输入装置与末端执行器建立起映射关系，操作者通过操作输入装置控制末端执行器的动作，在输入装置对末端执行器的诸多动作的控制中，对于末端执行器的滚转动作是通过输入装置的手柄的旋转控制的，目前输入装置的手柄内存在较多信号传输线缆，导致手柄无法实现无限旋转，使对末端执行器的滚动控制不够便捷。
发明内容
基于此，为解决上述问题，本申请第一方面提供一种输入装置，该输入装置 包括：
支撑部；
手柄，所述手柄配置为与所述支撑部旋转连接；
无绳电连接器，所述无绳电连接器包括第一连接部和第二连接部，所述第一连接部安装在所述支撑部上，所述第二连接部安装在所述手柄上，所述第一连接部的表面抵触所述第二连接部的表面，以使所述第一连接部与所述第二连接部电连接。
在一个具体的实施方案中，所述第一连接部包括第一导电环，所述第二连接部包括导电端子，所述第一导电环的表面抵触所述导电端子；或所述第一连接部包括导电端子，所述第二连接部包括第一导电环，所述第一导电环的表面抵触所述导电端子的表面。
在一个具体的实施方案中，所述第一连接部包括第一导电环，所述第二连接部包括第二导电环，所述第一导电环的表面抵触所述第二导电环的表面。
在一个具体的实施方案中，所述第一导电环为多个，多个所述第一导电环同心设置。
在一个具体的实施方案中，多个所述第一导电环均位于第一平面上，所述第一平面与所述手柄的旋转轴线垂直。
在一个具体的实施方案中，所述输入装置还包括第一电路板，所述第一电路板安装在所述手柄上，所述导电端子安装在所述第一电路板并与所述第一电路板电连接。
在一个具体的实施方案中，多个所述导电端子交错分布在所述第一电路板上。
在一个具体的实施方案中，所述导电端子包括基座和具有弹性的连接片，所述基座固定在所述第一电路板上，所述连接片的一端安装在所述基座上，另一端的表面抵触所述第一导电环。
在一个具体的实施方案中，所述手柄的远端延伸出第一边缘，所述第一边缘的远端表面位于所述第一电路板和所述第一连接部之间。
在一个具体的实施方案中，所述支撑部的近端延伸出第二边缘，所述第二边缘的近端表面位于所述第一边缘的远端表面和所述第一电路板之间，和/或所述第一边缘的远端表面位于所述第一连接部和所述第二边缘的近端表面之间。
在一个具体的实施方案中，所述输入装置还包括第二电路板，所述第二电路板安装在所述支撑部内，所述多个第一导电环与所述第二电路板连接。
在一个具体的实施方案中，所述第一连接部包括靠近所述第二连接部的第一表面和远离所述第二连接部的第二表面，所述第二连接部抵触所述第一表面，所述第二电路板与所述第二表面连接。
在一个具体的实施方案中，所述输入装置还包括位于所述手柄内的第一电子器件和位于所述支撑部内的第二电子器件，所述第一电子器件通过所述无绳电连接器与所述第二电子器件电连接。
在一个具体的实施方案中，所述第一电子器件与位于所述手柄内的第一电路板连接，和/或所述第二电子器件与所述支撑部内的第二电路板连接。
在一个具体的实施方案中，所述输入装置还包括安装在所述手柄上的夹具，所述第一电子器件包括第一传感器，所述第一传感器用于检测所述夹具的开合自由度运动。
在一个具体的实施方案中，所述输入装置还包括第一磁体，所述第一磁体与所述夹具相连接，所述夹具用于相对所述手柄运动使所述第一磁体相对所述第一传感器运动，从而使所述第一传感器检测到磁场强度的变化以检测所述夹具的开合自由度运动。
在一个具体的实施方案中，所述第一磁体通过连杆组件与所述夹具连接，所述连杆组件包括第一连杆和第二连杆，所述第一连杆一端与所述夹具枢接，另一端与所述第二连杆的近端枢接，所述第二连杆位于所述第一连杆与所述支撑部之间，所述第一磁体固定在所述第二连杆的远端。
在一个具体的实施方案中，所述第一磁体为两个，两个所述第一磁体安装在所述夹具上，所述第一传感器位于两个所述两个第一磁体之间。
在一个具体的实施方案中，所述第二电子器件包括信号处理器，所述信号处理器用于处理来自所述第一电子器件的信号，和/或发送信号至所述第一电子 器件。
在一个具体的实施方案中，所述第二电子器件包括第二传感器，所述第二传感器用于检测所述夹具的旋转自由度运动。
在一个具体的实施方案中，所述输入装置还包括与所述支撑部旋转连接的转轴，所述转轴上设置有第二磁体，所述转轴用于相对所述支撑部转动使所述第二磁体相对所述第二传感器转动，从而使所述第二传感器检测到磁场强度的变化以检测所述夹具的旋转自由度运动。
在一个具体的实施方案中，所述输入装置还包括位于所述支撑部内的电动机，所述电动机的转动轴与所述转轴通过齿轮连接,或所述转轴与所述电动机的转子固定连接。
在一个具体的实施方案中，所述输入装置还包括第三传感器和控制器，所述第三传感器用于检测所述电动机的旋转运动，所述控制器用于根据所述第二传感器及所述第三传感器所检测的信息控制所述电动机。
在一个具体的实施方案中，所述第二电子器件还包括电源，所述电源用于通过所述无绳电连接器提供电能给所述第一电子器件。
在一个具体的实施方案中，所述第一电子器件包括开关组件，所述开关组件用于产生控制所述电源通断的信号，和/或产生触发信号以发送至与所述输入装置连接的设备。
在一个具体的实施方案中，所述夹具包括第一夹持臂和第二夹持臂，所述第一传感器为两个，所述两个第一传感器分别安装在第一夹持臂和第二夹持臂上。
在一个具体的实施方案中，所述第一夹持臂的近端具有弧形槽，第二夹持臂的近端具有容纳在所述弧槽内的凸柱，所述弧形槽用于在所述第一夹持臂靠向所述手柄移动时抵触所述凸柱运动以带动所述第二夹持臂以与所述第一夹持臂相同的角速度靠向所述手柄运动。
在一个具体的实施方案中，所述输入装置还包括柔性电路板，所述第一传感器和/或所述开关组件通过所述柔性电路板与所述无绳电连接器电连接。
在一个具体的实施方案中，所述柔性电路板包括的第一柔性电路板体、第 二柔性电路板体及第三柔性电路板体，所述第一柔性电路板体和所述第二柔性电路板体的自由端朝所述手柄的近端延伸，所述第三柔性电路板体沿所述手柄的远端延伸而与所述无绳电连接器电连接。
在一个具体的实施方案中，所述第一传感器安装在所述柔性电路板的中间区域上，两个所述开关组件分别设置在所述第一柔性电路板体和所述第二柔性电路板体上。
本申请实施例第二方面还提供一种输入装置，该所述输入装置包括：
支撑部；手柄，所述手柄被配置为与所述支撑部旋转连接；夹具，所述夹具安装在所述手柄上；第一传感器，所述第一传感器安装在所述手柄内,所述第一传感器用于检测所述夹具的开合自由度运动。
在一个具体的实施方案中，所述输入装置还包括第一磁体，所述第一磁体与所述夹具相连接，所述夹具运动使所述第一磁体相对所述第一传感器运动从而使所述第一传感器检测到磁场强度的变化以检测所述夹具的开合自由度运动。
在一个具体的实施方案中，所述第一磁体为两个，两个所述第一磁体安装在所述夹具上，所述第一传感器位于两个所述第一磁体之间。
在一个具体的实施方案中，所述输入组件还包括连杆组件，所述第一磁体通过所述连杆组件与所述夹具连接。
一个具体的实施方案中，所述连杆组件包括第一连杆和第二连杆，所述第一连杆一端与所述夹具枢接，另一端与所述第二连杆的近端枢接，所述第二连杆位于所述第一连杆与所述支撑部之间，所述第一磁体固定在所述第二连杆的远端。
在一个具体的实施方案中，所述夹具包括第一夹持臂和第二夹持臂，所述两个第一磁体分别安装在所述第一夹持臂和所述第二夹持臂上，所述第一夹持臂的近端具有弧形槽，第二夹持臂的近端具有容纳在所述弧槽内的凸柱，所述弧形槽用于在所述第一夹持臂靠向所述手柄移动时抵触所述凸柱运动以带动所述第二夹持臂以与所述第一夹持臂相同的角速靠向所述手柄运动。
在一个具体的实施方案中，所述输入装置包括设置在所述支撑部内的第二 传感器，所述第二传感器用于检测所述夹具的旋转自由度运动。
在一个具体的实施方案中，所述输入装置还包括转轴，所述转轴的一端与所述手柄固定连接，另一端与所述支撑部旋转连接，所述转轴的远端上设置有第二磁体，所述转轴用于相对所述支撑部转动使所述第二磁体相对所述第二传感器转动，从而使所述第二传感器检测到磁场强度的变化以检测所述夹具的旋转自由度运动。
在一个具体的实施方案中，所述输入装置还包括位于所述支撑部内的电动机,所述电动机的转动轴与所述转轴通过齿轮连接，或所述电动机的转子与所述转轴固定连接。
在一个具体的实施方案中，所述输入装置还包括设置在所述支撑部内的第二传感器，所述第二传感器设置在所述电动机上并用于检测所述电动机的旋转运动。
在一个具体的实施方案中，所述输入装置还包括第三传感器和控制器，所述第三传感器用于检测所述电动机的旋转运动，所述控制器用于根据所述第二传感器及所述第三传感器所述检测的信息控制所述电动机。
在一个具体的实施方案中，所述第三传感器和所述控制位于所述支撑部内。
本申请实施例第三方面还提供一种主操作设备，所述主操作设备包括主控制台和所述的输入装置，所述主控制台用于处理所述输入装置输入的信号。
本申请实施例第四方面还提供一种手术机器人，所述手术机器人包括从操作设备和上述主操作设备，所述从操作设备根据所述主操作设备的指令执行相应操作。
本申请的输入装置手柄旋转安装在支撑部上，手柄内的电子器件和支撑部内的电子器件通过无绳电连接器电连接，手柄和支撑部之间没有传输线缆，使得手柄相对支撑部如何旋转，始终能使手柄内的电子器件和支撑部内的电子器件维持电连接状态，从而允许手柄相对支撑部进行无限旋转，更便于操作者操作输入装置。另外，手柄内的电子器件和支撑部内的电子器件的电信号直接通过无绳电连接器进行传输，中间没有进行信号的转换，减少了信号的丢失。
附图说明
图1为本申请一个实施例的手术机器人的从操作设备示意图；
图2为本申请一个实施例的手术机器人的主操作设备示意图；
图3为本申请一个实施例的手术器械示意图；
图4为本申请一个实施例的输入装置结构示意图；
图5为图4的输入装置沿旋转轴线Y的竖直方向的截面图；
图6为本申请另一个实施例的输入装置的截面图；
图7A为本申请又一个实施例的输入装置的截面图；
图7B为本申请一个实施例的末端执行器动作示意图；
图8A为本申请又一个实施例的输入装置的截面图；
图8B为图8A中的同步机构的结构示意图；
图9A-图9B为本申请一个实施例的输入装置的爆炸图；
图10为图9A所示的实施例中的输入装置手柄一侧的结构示意图；
图11为图9A所示的实施例中的输入装置的立体图；
图12为图11中的输入装置沿旋转轴线Y的竖直方向的局部截面图；
图13为本申请一个实施例中的输入装置的信号传输的方框图。
具体实施方式
为了便于理解本申请，下面将参照相关附图对本申请进行更全面的描述。附图中给出了本申请的较佳实施方式。但是，本申请可以以许多不同的形式来实现，并不限于本文所描述的实施方式。相反地，提供这些实施方式的目的是使对本申请的公开内容理解的更加透彻全面。
需要说明的是，当元件被称为“设置于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。当一个元件被认为是“耦合”另一个元件，它可以是直接耦合到另一个元件或者可能同时存在居中元件。本文所使用的术语“垂直的”、“水平的”、“左”、“右”、“上方”、“下方”以及类似的表述只是为了说明的目的，并不表示是唯一的实施方 式，应理解的是，这些与空间相关的术语旨在除了附图中描绘的取向之外还涵盖设备在使用中或在操作中的不同取向，例如，如果设备在附图中被翻转，则描述为在其他元件或特征“下方”或“之下”的元件或特征将被取向为在其他元件或特征“上方”。因此，示例术语“下方”可以包括上方和下方两种取向。
本文所使用的术语“远端”、“近端”作为方位词，该方位词为介入医疗器械领域惯用术语，其中“远端”表示手术过程中远离操作者的一端，“近端”表示手术过程中靠近操作者的一端。本文所使用的“耦合”可以被广义地理解为其中两个或更多物体以一种方式被连接到任何事件，改方式允许绝对耦合的物体彼此在一起进行操作，使得物体之间至少在一个方向上没有相对移动，例如突出物和凹槽的耦合，两者可以在径向相对移动但不能在轴向相对移动。
术语“器械”在文中被用来描述医疗设备，该医疗设备用于插入患者身体并用于执行外科手术或诊断程序，该器械包括末端执行器，末端执行器可以是用于执行外科手术相关的外科手术工具，例如电烧灼器、钳夹器、吻合器、剪割器、成像设备(例如内窥镜或超声探头)以及类似物。本申请实施例中使用的一些器械进一步包括为末端执行器提供了铰接部件(例如关节组件)，使得末端执行器的位置和取向能够以相对于器械轴一个或多个机械自由度被操控而运动。进一步地，末端执行器包括还包括功能性机械自由度，例如打开和闭合的钳夹。器械还可以包括可以被外科手术系统更新的存储信息，借此该存储系统可以提供器械与一个或多个系统元件之间的单向或双向通信。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施方式的目的，不是旨在于限制本申请。本文所使用的术语“及/或”和“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
本申请一个实施例的手术机器人如图1和图2所示，手术机器人包括从操作设备10及主操作设备20，从操作设备10位于患者一侧用于执行外科手术，其中从操作设备10包括多个机械臂11和安装在机械臂11上的器械12，器械12可以是用于执行手术操作的电烧灼器、钳夹器、吻合器、剪割器等，也可以是 获取影像的相机或者其他外科器械，多个器械12从不同的切口插入患者身体。机械臂被配置成通过多个大臂被支柱所述支撑，在其他的一些施例中，从操作设备的机械臂也可以被安装在墙上或天花板上。
机械臂11进一步包括平行四边形连杆机构，器械12可拆卸地安装在平行四边形连杆机构的远端上，平行四边形连杆机构可以允许器械12移动或多个机械自由度(例如，全部六个笛卡尔自由度、五个或更少笛卡尔自由度等)移动。平行四边形连杆机构用于约束限制器械12在相对患者保持静止的外科手术器械上的远程运动中心(RCM)附近移动，该远程中心运动中心通常位于器械进入患者身体的位置。在其他的一些实施例中，另一种从操作设备的大臂构成不同，该类从操作设备的多个器械可拆卸地安装在大臂远端的动力机构上，多个器械从一个切口进入人体，多个大臂控制约束器械在远程运动中心附近移动，具体请参照中国专利申请CN201810664598.2。
手术机器人通常还包括使操作者能够从患者身体外部观察手术部位的影像系统部分(未示出)。该影像系统不同通常包括具有视频图像采集功能(例如具有图像获取功能的器械12)和用于显示被采集图像的一个或多个视频显示设备。一般地，具有图像获取能的器械12包括将获取患者身体内图像的一个或多个成像传感器(例如CCD或CMOS传感器)的光学器件。该一个或多个成像传感器可以被放置在的具有图像获取能的器械12远端处，并且该一个或多个传感器产生的信号可以沿电缆或通过无线传输以在视频显示设备上处理和显示。
主操作设备20位于操作者一侧，主操作设备20用于根据操作者的操作向从操作设备10发送控制命令和显示从操作设备10获取的影像，操作者通过主从操作设备20可以观察到影像系统提供的患者体内的三维立体成像，操作者通过观察患者体内三维的影像，能以沉浸式的感觉控制从操作设备10执行相关操作(例如执行手术或获取患者体内影像)。主操作设备20包括主控制台21和输入装置22，主控制台21包括显示装置、扶手、控制信号处理系统及观察装置，其中，显示装置用于显示上述影像系统所获取图像。扶手用于放置操作者的胳膊及/或手部，以使操作者更舒适地操作输入装置，观察装置用于观察显示装置所显示的所述图像。根据实际需要，也可以省略扶手；或省略观察装置，此时可 直接观察。操作者通过操作输入装置22控制从操作设备10的运动，主控制台21的控制信号处理系统处理输入装置22的输入信号后向从操作设备发出控制命令，从操作设备300用于响应主控制台21发送的控制命令，并进行相应的操作。
如图3所示，器械12包括末端执行器15、长轴14以及驱动盒13，驱动盒13内具有多个传动单元，传动单元耦合到机械臂11内驱动单元后能被驱动单元所驱动，驱动单元根据来自主控制台21的控制指令通过传动单元从而驱动末端执行器15的运动，传动单元可以是多个柔性缆线和绞盘，多个缆线的近端缠绕在绞盘上，多个缆线的远端连接到末端执行器，驱动盒13通过驱动绞盘转动从而对柔性缆线进行收/拉以对末端执行器进行控制。末端执行器1具有关节组件，其通过关节组件能执行多个笛卡尔自由度的动作，例如俯仰、偏摆等。末端器械15用于执行手术操作，根据手术操作的需求不同，末端执行器15可以是电烧灼器、钳夹器、吻合器、剪刀、相机等。
如图4所示，输入装置22包括手柄111、夹具210、多个L形连杆113，115，117及多个旋转关节112，114，116，夹具210可活动地安装在手柄111上，夹具210可相对手柄111运动，手柄111通过第一旋转关节112与第一L形连杆113旋转连接，从而手柄111及夹具210可围绕旋转关节112的旋转轴线Y旋转，第一L形连杆113通过第二旋转关节114与第二L形连杆115旋转连接，从而第一L形连杆113能围绕第二旋转关节114的旋转轴线Z1旋转，第二L形连杆115通过第三旋转关节116与第三L形连杆117旋转连接，从而第二L形连杆115能围绕第三旋转关节116的旋转轴线X旋转，第三L形连杆117通过第四旋转关节(图4未示出)与主控制台21旋转连接，从而第三L形连杆117能围绕第四旋转关节的旋转轴线旋转。
夹具210通过手柄111、多个L形连杆113，115，117及多个旋转关节112，114，116能执行多个自由度的运动，在其他的一些施例中，可以根据实际需要夹具210的运动自由度来设置L形连杆和旋转关节的数量。
输入装置22与末端执行器15之间通过主操作设备20建立起位姿的映射控制，这种映射可以位置关系相对应，位置关系相对应可为距离成比例，距离趋势对应等对应关系。或者，运动关系对应，其可为运动姿态对应，运动趋势对 应等。使得操作者在操作输入装置22可以控制器械12执行相应的动作(例如俯仰、偏摆、滚转、夹持等)，输入装置22可以设置在主控制台21，在其他的实施例中输入装置22也可以与主控制台21分开设置。
其中，夹具210相对手柄111的开合自由度运动映射至器械12后，可以控制末端执行器15的开合动作(如夹持或剪切等)，夹具210和/或手柄111围绕第一旋转关节112的旋转轴线Y的旋转自由度运动映射至器件12后，可以控制末端执行器15的滚转运动。
本申请一个实施例如图5所示，图5为图4的沿旋转轴线Y的截面的示意图，夹具210的第一夹持臂211和第二夹持臂212分别枢接于手柄111，第一夹持臂211和第二夹持臂212可分别绕枢轴216a，216b沿方向Ha，Hb旋转，即夹具210的开合自由度运动。第一夹持臂211和第二夹持臂212之间设有弹性件215，弹性件215处于拉伸状态，用于维持夹具210的状态和为操作者提供操作手感。
手柄111的远端通过端盖124与转轴242固定连接，端盖124固定安装在手柄111上，转轴242通过轴承122旋转连接于第一L形连杆113的支撑部121上，从而使手柄111通过转轴242(第一旋转关节)与支撑部121旋转连接，使手柄210及夹具210可沿转轴242的旋转轴线Y的旋转，即夹具210/或手柄111的旋转自由度运动。
输入装置22还包括第一传感器221和第二传感器227，第一传感器211安装在手柄111内，用于检测夹具210的开合自由度运动，第二传感器227安装在支撑部121内，用于检测夹具210的旋转自由度运动。
进一步地，在手柄111内设置有第一磁体222，第一磁体222通过连杆组件与夹具210间接连接，连杆组件包括第一连杆213和第二连杆214，第一连杆213通过枢轴216c，216d与第一夹持臂211及第二夹持臂212旋转连接，第二连杆214的近端通过枢轴216e与第一连杆213旋转连接，连杆组件可使第一夹持臂211和第二夹持臂212共同运动，共同运动是指操作者仅操作第一夹持臂211和第二夹持臂212中的一个夹持臂执行开合自由度运动时，另一个夹持臂也以被同步运动机构(如连杆组件)驱使以相同的角速度执行开合自由度运动。
第一磁体222固定安装在第一连杆214的远端，在第一夹持臂211和第二夹 持臂212在开合自由度运动时，第一连杆214将沿旋转轴线Y的轴向直线运动，从而改变第一磁体222与第一传感器221之间的相对距离，第一传感器221通过检测第一磁体222的磁场强度在其上的变化从而检测第一夹持臂221和第二夹持臂212的开合自由度运动，例如开合角度大小，主控制台21根据第一传感器221检测的结果发出控制末端执行器15开合运动指令。
支撑部121内设置有第二磁体226，第二磁体226固定安装在转轴242上，在夹具210执行旋转自由度运动时，第二磁体226相对第二传感器227转动，引发第二磁体226的磁场强度在第二传感器227上变化，第二传感器227通过检测在其上的第二磁体226的磁场强度变化从而检测夹具210的旋转自由度运动。
由于本实施例中第一传感器221和第二传感器227都是磁传感器(例如霍尔传感器)，因此将第一磁体221和第二磁体226分开设置，即第一磁体221设置在手柄111内，第二磁体226设置在支撑部121内，这样可以避免第一磁体221和第二磁体226的磁场相互干扰，提高检测的精度。
进一步地，输入装置22还包括电动机240，电动机240设置在第一L形连杆113内，电动机240的转动轴通过齿轮组241与转轴242连接，齿轮组240的第一斜齿轮241a固定安装在转轴242上，第二斜齿轮241b与电动机240的转动轴固定连接，电动机240通过齿轮组241施加力矩至转轴242，进而将力矩施加至手柄111上，从而使电动机240能施加力反馈至夹具210，电动机240也同时可以对手柄111及夹具210提供重力补偿，避免操作者在离开手柄111后，手柄111及夹具210因重力作用而绕旋转轴线Y旋转。
一个实施例中，输入装置22还包括控制器252和第三传感器243，第二传感器227检测的手柄111的旋转自由度运动的信息用于反馈至控制器252，第三传感器243用于检测电动机240的旋转运动并将其输入给控制器252，控制器252将手柄111的旋转自由度运动信息与第三传感器243检测到的电动机240的旋转运动信息进行比较后对电动机240进行控制，使控制器252对电动机240形成有反馈的闭环控制，避免因齿轮组241或其他传动的间隙导致对电动机240输出的控制不精准，使控制器252对电动机240的输出控制更精准。一些实施 例中，第三传感器243为编码器。
由于第一传感器221及第一磁体222设置手柄111内，这样使转轴242具有更大空间来安装齿轮组241，同时也减少了支撑部121的体积。
本申请一个实施例的输入装置如图6所示，手柄111通过转轴342与支撑部121连接，转轴342同时也为电动机340的转动轴，电动机340包括定子341a和转子341b，转轴342与转子341b固定连接。
进一步地，转轴342为中空的，连杆组件的第一连杆217的远端穿过转轴342，第一磁体345固定在第一连杆217的远端，第一传感器344安装在支撑部121内与第一磁体345相对的位置，在夹具210执行开合自由度运动时，第一连杆217沿旋转轴线Y直线运动，第一传感器344通过检测第一磁体345的磁场强度在其上的变化从而检测夹具210的开合自由度运动。
第二传感器343直接设置在电动机340上，第二传感器343用于直接检测电动机340的旋转运动，由于转轴342即为电动机340的转动轴，没有诸如齿轮组的中间传动部件也就没有了回程间隙，故第二传感器343所检测到电动机340的旋转运动即为电动机340的输出旋转运动，同时也为手柄111的旋转运动，因此，不需要再设置第三传感器来检测电动机340的输出，减少了传感器的数量，同时也简化了对电动机340的控制。一个实施例中，第二传感器343为编码器。
本申请一个实施例的输入装置如图7A所示，本实施例中，输入装置无连杆组件，第一夹持臂411和第二夹持臂412分别单独通过第一弹性件215a和第二弹性件215b与手柄111连接，第一夹持臂411和第二夹持臂412两者相互独立运动。
第一磁体247a安装在第一夹持臂411上，第一磁体247b安装在第二夹持臂412上，第一传感器246a，246b位于手柄111内的第一磁体247a和第一磁体247b之间。
在第一夹持臂411和第二夹持臂412执行开合自由度运动时，第一磁体247a，247b随第一夹持臂411和第二夹持臂412的运动会靠近或远离第一传感器246a，246b，第一传感器246a通过检测第一磁体247a的磁场强度从而检测第一夹持 臂411的开合运动，第一传感器246b通过检测第一磁体247b的磁场强度从而检测第二夹持臂412的开合运动。
由于本实施例中的输入装置没有连杆组件，第一夹持臂411和第二夹持臂412两者的开合自由度运动是相互独立的，第一夹持臂411和第二夹持臂412中的一个夹持臂的运动不会影响到另一个夹持臂的运动。因此，可以适用于操作者需要通过第一夹持臂411和第二夹持臂412单独控制末端执行器15的每个夹持部件单独运动的应用场景(例如末端执行器为牵开器retractor时)。
如图7B所示，第一夹持臂411和第二夹持臂412与末端执行器15建立映射，可以单独控制末端执行器15的第一夹持部件151和第二夹持部件152的围绕旋转轴线BB’旋转，例如运动的第一夹持臂411可以控制第一夹持部件151单独运动，而静止的第二夹持臂412控制第二夹持部件152维持原状。
本申请一个实施例的输入装置如图8A和图8B所示，第一夹持臂411和第二夹持臂412在枢轴216a，216b附近设有同步运动机构218，同步运动机构218用于使第一夹持臂411和第二夹持臂412同角速度运动，确保在操作者只操作第一夹持臂411和第二夹持臂412中的一个夹持臂执行开合自由度运动时，同步运动机构218能使另一个未被操作者操作的夹持臂以相同的角速度执行开合自由度运动，从而使操作者只操作一个夹持臂时也能使末端执行器15执行夹持动作。
由于第一夹持臂411和第二夹持臂412同步运动，任意一个夹持臂的运动都会引起另一个夹持臂同角速度运动，因此通过一个第一传感器246即可以检测第一夹持臂411和第二夹持臂412的开合自由度运动。
如图8B所示，同步运动机构218包括第一支架218a和第二支架218b，第一支架218a与第一夹持臂411固定连接，第二支架218b与第二夹持臂412固定连接，第一支架218a的自由端上设有弧形槽219a，第二支架218b的自由端设有凸柱219b，凸柱219b容纳在弧形槽219a内，弧形槽219a的内壁219c紧贴凸柱219b。
弧形槽219a为大致呈C形，弧形槽219a的凸出的方向B指向输入装置的远端，弧形槽219a的弧度选取满足第一夹持臂411和第二夹持臂412中的一个夹 持臂在运动时引起另一个夹持臂以相同的角速度运动，从而在第一夹持臂411靠向所述手柄111移动时弧形槽219a抵触所述凸柱219b运动进而带动第二夹持臂412与所述第一夹持臂411以相同的角速靠向所述手柄111运动。
进一步地，如图5至图7A、图8A所示，输入装置22还包括无绳电连接器230，无绳电连接器是指不直接通过线缆进行电连接的电连接器，例如电滑环。无绳电连接器230将位于手柄111内第一电子器件和位于支撑部121内的第二电子器件电连接，以使第一电子器件和第二电子器件通过无绳电连接器进行通信或电能输送。第一电子器件和第二电子器件可以包括一个或多个电子元器件，在图5所示的实施例中，第一电子器件包括第一传感器221和/或开关组件223，第二电子器件包括位于支撑部121内的信号处理器253、控制器252及电源254，信号处理器253、控制器252及电源254均安装在第二电路板251上。
第一传感器221检测到的夹具210的开合自由度运动的信息通过无绳电连接器230传输至信号处理器253，信号处理器253对夹具210的开合自由度运动信息进行处理后传输至主控制台21的控制信号处理系统，例如信号处理器253对第一传感器221输入的模拟信号转换为数字信号后传输至主控制台21的控制信号处理系统。
电源254用于通过无绳电连接器230为第一电子器件提供电能，由于电源254是通过无绳电连接器230直接供电给手柄111一侧的电子器件，中间没有进行电能的转换，减少了电能转换元件，使整个输入装置的体积更紧凑也使电能利用率更高。在图6所示的实施例中，第一电子器件包括开关组件223，第二电子器件包括开关信号处理器(图未示出)，开关信号处理器用于接收开关组件223发出的控制信号。
进一步地，无绳电连接器230包括第一连接部231和第二连接部232，第一连接部231固定安装在支撑部121上，第二连接部232与手柄111固定安装在手柄111上，第一连接部231的导电部分的表面抵触第二连接部232的导电部分的表面，使第一连接部231与第二连接部232电连接，使得无论手柄111如何旋转，第一连接部231与第二连接部232始终能保持电连接装置，借此允许手柄111在旋转自由度上可以无限旋转。手柄111可以无限旋转是非常有必要 的，例如在手术过程中，手柄111的无限旋转可以使操作者更方便的控制器械12的滚转运动。
第二连接部232通过第一电路板225与第一电子器件电连接，第一连接部232通过第二电路板251与第二电子器件连接，由于手柄111内第一电子器件的电信号通过无绳电连接器230与支撑部内的第二电子器件进行通信的，因此无论手柄111如何旋转，都不会影响到手柄111内的电信号传输，而且在第一电子器件的电信号通过无绳电连接器230传输至第二电子器件的过程中，电信号并不要进行任何转换，避免了通过转换信号的传输方式在传输过程中发生的信号丢失的情形。
本申请一个实施例的输入装置33如图9A-图12所示，为展示输入装置33的内部结构，图9A中未展示手柄及第一L形连杆的外壳，输入装置33的第一传感器321及第一磁体322位于手柄内，第一磁体322位于第二连杆314的远端，第二连杆314枢接于第一连杆313，第一连杆313枢接于第一夹持臂311和第二夹持臂312，第一传感器321通过检测第一磁体322的磁场强度在其上的变化来检测夹具210的开合自由运动。
本实施例中，第一夹持臂311和第二夹持臂312同时通过连杆组件和同步运动机构318相连接，弹性件315位于连杆组件和同步运动机构318之间，以确保第一夹持臂311和第二夹持臂312能以相同角速度运动。手柄111还上设置拨钮323a，拨钮323a与开关组件323耦合，操作者通过操作拨钮323a可以使开关组件323发出控制信号。
第一传感器321和/或开关组件323通过柔性电路板361连接到第一电路板325上，第一电路板325与无绳电连接器330电连接，第一传感器321和/或开关组件323的电信号通过无绳电连接器330传输到位于支撑部内，柔性电路板361可以使第一传感器321和开关组件323更便捷地与第一电路板325连接。
本实施例中，无绳电连接器330的第一连接部331为盘状，其包括多个导电环331a和底座335，多个导电环331a固定安装在底座335上，其第二连接部332包括多个导电端子333，导电端子333包括导电的具有弹性的连接片333a和基座334，多个连接片333a的自由端333b的表面抵触多个导电环331a远端 的第一表面，从而实现第二连接部332与第一连接部331电连接。
多个导电环331a以旋转轴线Y为轴心同心设置，各导电环331a彼此绝缘且位于同一第一平面上，同样地，多个导电端子333也分布在以旋转轴线Y为轴心的多个同心圆上，使得在第一夹持臂311和第二夹持臂312执行旋转自由度运动时，多个导电端子333的自由端333b分别在多个导电环331a的第一表面上滑动，在滑动的过程中，导电端子333始终抵触导电环331a以维持两者的电连接，从而允许手柄111和夹具210实现电连接地无限旋转。
连接片333a的另一端333c通过基座334固定连接在第一电路板325上，多个导电端子333通第一电路板325与柔性电路板361电连接。一个实施例中，多个导电端子333交错分布在大致呈C形结构的第一电路板325，多个导电端子333的自由端333a大致分布在垂直于旋转轴线Y的第一直线上，该布局方式可以使多个导电端子333所占空间更少，从而使第一电路板325更加紧凑。
进一步地，如图9B所示，柔性电路板361为三叉形，柔性电路板361包括一体的第一柔性电路板体361a、第二柔性电路板体361b及第三柔性电路板体361c，三个柔性电路板体形成三叉形，即第一柔性电路板体361a和第二柔性电路板体361b的自由端朝沿手柄111的近端延伸，第三柔性电路板体361c沿手柄111的远端延伸至第一电路板325，第一柔性电路板体361a、第二柔性电路板体361b及第三柔性电路板体361c共同连接于柔性电路板361中间区域的第四柔性电路板体361d，第一传感器321设置在第四柔性电路板体361d上。第一柔性电路板体361a和第二柔性电路板体361b相对设置，两者之间形成容纳第二连杆314的远端的空间，在夹具210的开合自由度运动的过程中，第二连杆314的远端在该空间内沿直线运动。
两个开关组件323分别设置在第一柔性电路板体361a和第二柔性电路板体361b相背的一面上，开关组件323及第一传感器321的信号通过第三柔性电路板体361c传输到无绳电连接器330的第二连接部332上，然后通过第一连接部331传输至第二电路板351上的信号处理器353，电动机360的控制器352及电源354也安装在第二电路板351上。第一柔性电板361在将第一传感器321和开关组件323通过柔性电路板361电连接到第一电路板325上，同时也起到了 固定支撑第一传感器321和开关组件323的作用。
进一步地，电动机360的转动轴342穿过第一连接部331与手柄111固定连接，转动轴342的近端通过端盖324与手柄111固定连接，端盖324固定在手柄111内。转动轴342通过轴承122与支撑部旋转连接，电动机360直接通过转动轴342施加力矩至手柄上。第二磁体326安装在转动轴342的远端，第二传感器327通过检测第二磁体326的磁场强度在其上的变化来检测转动轴342的转动从而检测夹具210的旋转自由度运动。
如图10-12所示，第一电路板325通过固定部123固定在手柄111的远端内侧，固定部123可以是卡扣和/或螺栓固定结构，手柄111的远端延伸出第一边缘1110，第一边缘1110的远端表面1111位于第一电路板325的远端表面3251和第一连接部331之间。
进一步地，如图11所示，无绳电连接器330的第一连接部331通过底座312固定安装在支撑部131上，第一连接部331通过电缆371与第二电路板351电连接，支撑部131顶部具有容纳电缆371的缺口131a，底座312上具有通孔312a，电缆371的一端与第一连接部331远离第二连接部332的第二表面电连接，另一端穿过通孔312a并沿缺口131a穿过支撑部131，沿输入装置33的远端延伸并连接到第二电路板351，使来自手柄111内的电信号先通过无绳电连接器330再通过电缆371传输到支撑部131内的电子器件，手柄111内的电子器件与支撑部131内的电子器件无直接的电缆371连接。
进一步地，如图12所示，支撑部131的近端延伸出第二边缘1310，第二边缘1310的近端表面1311位于第一边缘1110的远端表面1111和第一电路板325之间。在手柄111连接到支撑部131上后，手柄111的第一边缘1110的远端表面1111比第二边缘1310的近端表面1311更靠近第一连接部331，使第一边缘1110与第二边缘1310部分重叠，从而阻止异物从第一连接部331与第二连接部332之间的空隙进入输入装置33内。
如图13所示为输入装置内部电信号传输示意图，信号处理器452和电源453位于支撑部内，第一传感器421和开关组件423位于手柄内，电源4531通过电源线4531，4532及无绳电连接器430与第一传感器421和开关组件423建立起 电连接，从而通过无绳电连接器430为第一传感器421和开关组件423提供电能。
第一传感器421的发出的信号通过第一信号输出线4211和无绳电连接器430传输至第一输入信号线4521，并输入至信号处理452，信号处理452在对第一传感器421发出的信息进行处理后通过第二信号输出线4522输出到主控制台21内的控制信号处理系统。
开关组件423发出控制信号通过第三信号输出线4231、无绳电连接器430及第二信号输出线4522传输至主控制台21内的控制信号处理系统，开关组件432发出控制信号用于控制主操作设备20和从操作设备10之间的主从映射通断，从而切断主操作设备20对从操作设备10的控制。和/或开关组件432发出的控制信号用于控制电源453的通断，从而切断电源453对支撑部内和/或手柄内的电子器件的电能供应，从而使该电子器件暂停工作。
例如，使开关组件432发出用于切断电源453对第一传感器421电能供应的信号，使得第一传感器432因失去电能而暂停工作，夹具的开合自由运动因无法检测而不能映射至从操作设备上。
可以理解的是，在其他的一些实施例中，可以是无绳电连接器的第一连接部为多个导电端子而第二连接部包括多个导电环，或者第一连接部和第二连接部均为多个导电环。
以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。
以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。

Claims (44)

  1. 一种输入装置，其特征在于，所述输入装置包括：
    支撑部；
    手柄，所述手柄配置为与所述支撑部旋转连接；
    无绳电连接器，所述无绳电连接器包括第一连接部和第二连接部，所述第一连接部安装在所述支撑部上，所述第二连接部安装在所述手柄上，所述第一连接部的表面抵触所述第二连接部的表面，以使所述第一连接部与所述第二连接部电连接。
  2. 如权利要求1所述的输入装置，其特征在于，所述第一连接部包括第一导电环，所述第二连接部包括导电端子，所述第一导电环的表面抵触所述导电端子；或所述第一连接部包括导电端子，所述第二连接部包括第一导电环，所述第一导电环的表面抵触所述导电端子的表面。
  3. 如权利要求1所述的输入装置，其特征在于，所述第一连接部包括第一导电环，所述第二连接部包括第二导电环，所述第一导电环的表面抵触所述第二导电环的表面。
  4. 如权利要求2或3所述的输入装置，其特征在于，所述第一导电环为多个，多个所述第一导电环同心设置。
  5. 如权利要求4所述的输入装置，其特征在于，多个所述第一导电环均位于第一平面上，所述第一平面与所述手柄的旋转轴线垂直。
  6. 如权利要求2所述的输入装置，其特征在于，所述输入装置还包括第一电路板，所述第一电路板安装在所述手柄上，所述导电端子安装在所述第一电路板并与所述第一电路板电连接。
  7. 如权利要求6所述的输入装置，其特征在于，多个所述导电端子交错分布在所述第一电路板上。
  8. 如权利要求6所述的输入装置，其特征在于，所述导电端子包括基座和具有弹性的连接片，所述基座固定在所述第一电路板上，所述连接片的一端安装在所述基座上，另一端的表面抵触所述第一导电环。
  9. 如权利要求6所述的输入装置，其特征在于，所述手柄的远端延伸出第一边缘，所述第一边缘的远端表面位于所述第一电路板和所述第一连接部之间。
  10. 如权利要求9所述的输入装置，其特征在于，所述支撑部的近端延伸出第二边缘，所述第二边缘的近端表面位于所述第一边缘的远端表面和所述第一电路板之间，和/或所述第一边缘的远端表面位于所述第一连接部和所述第二边缘的近端表面之间。
  11. 如权利要求2所述的输入装置，其特征在于，所述输入装置还包括第二电路板，所述第二电路板安装在所述支撑部内，所述多个第一导电环与所述第二电路板连接。
  12. 如权利要求11所述的输入装置，其特征在于，所述第一连接部包括靠近所述第二连接部的第一表面和远离所述第二连接部的第二表面，所述第二连接部抵触所述第一表面，所述第二电路板与所述第二表面连接。
  13. 如权利要求1所述的输入装置，其特征在于，所述输入装置还包括位于所述手柄内的第一电子器件和位于所述支撑部内的第二电子器件，所述第一电子器件通过所述无绳电连接器与所述第二电子器件电连接。
  14. 如权利要求13所述的输入装置，其特征在于，所述第一电子器件与位于所述手柄内的第一电路板连接，和/或所述第二电子器件与所述支撑部内的第二电路板连接。
  15. 如权利要求13所述的输入装置，其特征在于，所述输入装置还包括安装在所述手柄上的夹具，所述第一电子器件包括第一传感器，所述第一传感器用于检测所述夹具的开合自由度运动。
  16. 如权利要求15所述的输入装置，其特征在于，所述输入装置还包括第一磁体，所述第一磁体与所述夹具相连接，所述夹具用于相对所述手柄运动使所述第一磁体相对所述第一传感器运动，从而使所述第一传感器检测到磁场强度的变化以检测所述夹具的开合自由度运动。
  17. 如权利要求16所述的输入装置，其特征在于，所述第一磁体通过连杆组件与所述夹具连接，所述连杆组件包括第一连杆和第二连杆，所述第一连杆一端与所述夹具枢接，另一端与所述第二连杆的近端枢接，所述第二连杆位于所述第一连杆与所述支撑部之间，所述第一磁体固定在所述第二连杆的远端。
  18. 如权利要求16所述的输入装置，其特征在于，所述第一磁体为两个， 两个所述第一磁体安装在所述夹具上，所述第一传感器位于两个所述两个第一磁体之间。
  19. 如权利要求13所述的输入装置，其特征在于，所述第二电子器件包括信号处理器，所述信号处理器用于处理来自所述第一电子器件的信号，和/或发送信号至所述第一电子器件。
  20. 如权利要求13或15所述的输入装置，其特征在于，所述第二电子器件包括第二传感器，所述第二传感器用于检测所述夹具的旋转自由度运动。
  21. 如权利要求20所述的输入装置，其特征在于，所述输入装置还包括与所述支撑部旋转连接的转轴，所述转轴上设置有第二磁体，所述转轴用于相对所述支撑部转动使所述第二磁体相对所述第二传感器转动，从而使所述第二传感器检测到磁场强度的变化以检测所述夹具的旋转自由度运动。
  22. 如权利要求20所述的输入装置，其特征在于，所述输入装置还包括位于所述支撑部内的电动机，所述电动机的转动轴与所述转轴通过齿轮连接,或所述转轴与所述电动机的转子固定连接。
  23. 如权利要求22所述的输入装置，其特征在于，所述输入装置还包括第三传感器和控制器，所述第三传感器用于检测所述电动机的旋转运动，所述控制器用于根据所述第二传感器及所述第三传感器所检测的信息控制所述电动机。
  24. 如权利要求13所述的输入装置，其特征在于，所述第二电子器件还包括电源，所述电源用于通过所述无绳电连接器提供电能给所述第一电子器件。
  25. 如权利要求13所述的输入装置，其特征在于，所述第一电子器件包括开关组件，所述开关组件用于产生控制所述电源通断的信号，和/或产生触发信号以发送至与所述输入装置连接的设备。
  26. 如权利要求15所述的输入装置，其特征在于，所述夹具包括第一夹持臂和第二夹持臂，所述第一传感器为两个，所述两个第一传感器分别安装在第一夹持臂和第二夹持臂上。
  27. 如权利要求26所述的输入装置，其特征在于，所述第一夹持臂的近端具有弧形槽，第二夹持臂的近端具有容纳在所述弧槽内的凸柱，所述弧形槽用 于在所述第一夹持臂靠向所述手柄移动时抵触所述凸柱运动以带动所述第二夹持臂以与所述第一夹持臂相同的角速度靠向所述手柄运动。
  28. 如权利要求25所述的输入装置，其特征在于，所述输入装置还包括柔性电路板，所述第一传感器和/或所述开关组件通过所述柔性电路板与所述无绳电连接器电连接。
  29. 如权利要求28所述的输入装置，其特征在于，所述柔性电路板包括的第一柔性电路板体、第二柔性电路板体及第三柔性电路板体，所述第一柔性电路板体和所述第二柔性电路板体的自由端朝所述手柄的近端延伸，所述第三柔性电路板体沿所述手柄的远端延伸而与所述无绳电连接器电连接。
  30. 如权利要求29所述的输入装置，其特征在于，所述第一传感器安装在所述柔性电路板的中间区域上，两个所述开关组件分别设置在所述第一柔性电路板体和所述第二柔性电路板体上。
  31. 一种输入装置，其特征在于，所述输入装置包括：
    支撑部；
    手柄，所述手柄被配置为与所述支撑部旋转连接；
    夹具，所述夹具安装在所述手柄上；
    第一传感器，所述第一传感器安装在所述手柄内,所述第一传感器用于检测所述夹具的开合自由度运动。
  32. 如权利要求31所述的输入装置，其特征在于，所述输入装置还包括第一磁体，所述第一磁体与所述夹具相连接，所述夹具运动使所述第一磁体相对所述第一传感器运动从而使所述第一传感器检测到磁场强度的变化以检测所述夹具的开合自由度运动。
  33. 如权利要求32所述的输入装置，其特征在于，所述第一磁体为两个，两个所述第一磁体安装在所述夹具上，所述第一传感器位于两个所述第一磁体之间。
  34. 如权利要求32所述的输入装置，其特征在于，所述输入组件还包括连杆组件，所述第一磁体通过所述连杆组件与所述夹具连接。
  35. 如权利要求34所述的输入装置，其特征在于，所述连杆组件包括第一 连杆和第二连杆，所述第一连杆一端与所述夹具枢接，另一端与所述第二连杆的近端枢接，所述第二连杆位于所述第一连杆与所述支撑部之间，所述第一磁体固定在所述第二连杆的远端。
  36. 如权利要求35所述的输入装置，其特征在于，所述夹具包括第一夹持臂和第二夹持臂，所述两个第一磁体分别安装在所述第一夹持臂和所述第二夹持臂上，所述第一夹持臂的近端具有弧形槽，第二夹持臂的近端具有容纳在所述弧槽内的凸柱，所述弧形槽用于在所述第一夹持臂靠向所述手柄移动时抵触所述凸柱运动以带动所述第二夹持臂以与所述第一夹持臂相同的角速靠向所述手柄运动。
  37. 如权利要求31所述的输入装置，其特征在于，所述输入装置包括设置在所述支撑部内的第二传感器，所述第二传感器用于检测所述夹具的旋转自由度运动。
  38. 如权利要求37所述的输入装置，其特征在于，所述输入装置还包括转轴，所述转轴的一端与所述手柄固定连接，另一端与所述支撑部旋转连接，所述转轴的远端上设置有第二磁体，所述转轴用于相对所述支撑部转动使所述第二磁体相对所述第二传感器转动，从而使所述第二传感器检测到磁场强度的变化以检测所述夹具的旋转自由度运动。
  39. 如权利要求31所述的输入装置，其特征在于，所述输入装置还包括位于所述支撑部内的电动机,所述电动机的转动轴与所述转轴通过齿轮连接，或所述电动机的转子与所述转轴固定连接。
  40. 如权利要求39所述的输入装置，其特征在于，所述输入装置还包括设置在所述支撑部内的第二传感器，所述第二传感器设置在所述电动机上并用于检测所述电动机的旋转运动。
  41. 如权利要求40所述的输入装置，其特征在于，所述输入装置还包括第三传感器和控制器，所述第三传感器用于检测所述电动机的旋转运动，所述控制器用于根据所述第二传感器及所述第三传感器所述检测的信息控制所述电动机。
  42. 如权利要求41所述的输入装置，其特征在于，所述第三传感器和所述 控制位于所述支撑部内。
  43. 一种主操作设备，其特征在于，所述主操作设备包括主控制台和如权利要求1-42任一项所述的输入装置，所述主控制台用于处理所述输入装置输入的信号。
  44. 一种手术机器人，其特征在于，所述手术机器人包括从操作设备和如权利要求43所述的主操作设备，所述从操作设备根据所述主操作设备的指令执行相应操作。
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