WO2023071995A1 - 控制手柄、器械和微创手术机器人 - Google Patents

控制手柄、器械和微创手术机器人 Download PDF

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Publication number
WO2023071995A1
WO2023071995A1 PCT/CN2022/127081 CN2022127081W WO2023071995A1 WO 2023071995 A1 WO2023071995 A1 WO 2023071995A1 CN 2022127081 W CN2022127081 W CN 2022127081W WO 2023071995 A1 WO2023071995 A1 WO 2023071995A1
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WO
WIPO (PCT)
Prior art keywords
handle
movable handle
linkage
state
rotating shaft
Prior art date
Application number
PCT/CN2022/127081
Other languages
English (en)
French (fr)
Inventor
王迎智
李浩泽
齐斌
Original Assignee
极限人工智能(北京)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 极限人工智能(北京)有限公司 filed Critical 极限人工智能(北京)有限公司
Publication of WO2023071995A1 publication Critical patent/WO2023071995A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
    • A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments

Definitions

  • the invention belongs to the field of robotic surgical tools, and in particular relates to a control handle, an instrument and a minimally invasive surgical robot.
  • the surgical robot can be used to perform laparoscopic surgery.
  • the doctor's hands do not need to touch the patient, and the surgical robot can be controlled to perform laparoscopic surgery by inputting corresponding control commands to the surgical robot.
  • the surgical robot can include a control handle and a surgical tool.
  • the surgical tool can pass through the aseptic channel of the surgical robot and enter the abdominal cavity of the human body.
  • the control handle is connected with the surgical tool to control the surgical tool to perform specific surgical operations.
  • various surgical operations such as scissoring, cutting, pulling, suturing, and suction are performed during a laparoscopic operation, and a variety of different surgical tools are also used correspondingly.
  • the purpose of the embodiments of the present invention is to provide a control handle, an instrument and a minimally invasive surgical robot, which can solve the problems in the prior art that the replacement process of surgical tools is relatively complicated, the replacement speed is slow, and the operation of the robot is easily affected.
  • an embodiment of the present invention provides a control handle for controlling an end tool, including: a handle body, a movable handle, a fixed handle, a linkage mechanism, a sliding mechanism, and a connecting structure for installing the end tool. Both the sliding mechanism and the linkage mechanism are movably connected to the handle body, wherein,
  • the movable handle is connected to the sliding mechanism through the linkage mechanism, the end of the sliding mechanism away from the linkage mechanism is connected to the connection structure, and the connection structure is detachably connected to the end tool;
  • the movable handle is movably connected with the linkage mechanism so as to have a working state and a tool replacement state.
  • the working state the end tool remains connected to the connection structure, and the movable handle is away from or close to the fixed handle, and when the movable handle moves relative to the fixed handle to the maximum working opening angle, the movable handle abuts against the handle body to limit the maximum working opening angle;
  • the movable handle moves relative to the linkage mechanism to break away from the contact with the handle body, and continues to move away from the fixed handle to the unlocked position of the replacement tool.
  • the mechanism drives the sliding mechanism to move relative to the handle body, so as to drive the connection structure to be exposed to the handle body, and disassemble the end tool through the connection structure.
  • control handle further includes: a button assembly, and the linkage mechanism includes a first linkage lever;
  • the top end of the first linkage rod is rotatably connected to the handle body, the movable handle is movably connected to the first linkage rod through the button assembly, and the button assembly is movably connected to the first linkage rod;
  • the button assembly has a locked state and an unlocked state.
  • the locked state the movable handle is locked to the first linkage lever, and the movable handle can be switched to the working state;
  • the movable handle is movable and opened relative to the first linkage lever, so as to break away from the contact with the handle body, and move to the unlocked position of the replacement tool, so that the movable handle can be switched to The replacement tool status.
  • the movable handle is provided with a first installation hole, and the lower end of the first linkage rod is provided with a second installation hole, and the second installation hole extends along the length direction of the first linkage rod.
  • the button assembly is passed through the first installation hole and the second installation hole for connecting the movable handle and the linkage mechanism; the button assembly is unlockable and lockable with the second installation hole.
  • the mounting holes are snugly fitted to have a first position and a second position;
  • the button assembly and the movable handle slide to the first position, the button assembly is locked with the second mounting hole, and the button assembly switches to the locked state; when the button assembly When the movable handle slides to the second position, the button assembly is unlocked from the second mounting hole, and the button assembly switches to the unlocked state.
  • the second installation hole includes a round hole and a slotted hole, the round hole is arranged on the top of the slotted hole, and the inner diameter of the round hole is larger than the width of the slotted hole, the The button assembly is located at the first position when passing through the round hole, and is located at the second position when passing through the long slot hole.
  • the button assembly includes: a pin shaft and an elastic member, the pin shaft includes: a first shaft segment and a second shaft segment connected in sequence, and the outer diameter of the second shaft segment is larger than the first shaft the outer diameter of the segment;
  • the first shaft section and the second shaft section pass through the first installation hole and the second installation hole respectively, the elastic member is sleeved on the first shaft section, and the elastic member The two ends of each abut against the movable handle and the first linkage rod respectively;
  • the outer diameter of the second shaft section is larger than the width of the slotted hole, and the outer diameter of the first shaft section is smaller than the width of the slotted hole;
  • the elastic member When the button assembly is in the locked state, the elastic member is in a compressed state, and the second shaft section passes through the circular hole; when the button assembly is in the unlocked state, the elastic member continues to compressed so that the second shaft section passes through the circular hole, and the first shaft section passes through the slotted hole.
  • the movable handle is provided with a slot for embedding the first linkage rod, so that the first installation hole communicates with the second installation hole;
  • the button assembly further includes: the pin shaft cap and the locking head; the pin shaft cap is connected to the end of the first shaft segment away from the second shaft segment, and the locking head and the second shaft segment are far away from the first shaft One end of the section is connected, and the movable handle and the first linkage rod are arranged between the pin shaft cap and the locking head;
  • the outer diameters of the pin cap and the locking head are larger than the inner diameter of the first installation hole
  • the locking head When the button assembly is in the locked state, the locking head is against the movable handle; when the button assembly is in the unlocked state, the locking head is spaced apart from the movable handle .
  • the sliding mechanism includes a slider assembly and a transmission rod, and the two ends of the slider assembly are connected to the transmission rod and the first linkage rod respectively;
  • the handle body is provided with a chute, and the slider assembly is slidably connected to the chute;
  • the control handle also includes an extension sleeve, the extension sleeve is connected to the handle body, the transmission rod is telescopically passed through the extension sleeve, and the end of the transmission rod is away from the slider assembly connected to the connecting structure;
  • the first linkage rod drives the slider assembly to slide along the chute, and the slider assembly drives the connecting structure to be exposed on the The extension sleeve.
  • the linkage mechanism further includes a second linkage rod, and the first linkage rod includes a first hinge part and a second hinge part;
  • the first hinge part is hinged to the handle body
  • the second hinge part is hinged to one end of the second linkage rod
  • the other end of the second linkage rod is hinged to the slider assembly.
  • a limiting column is arranged on the first linkage rod, and a first limiting groove is correspondingly arranged on the movable handle;
  • control handle further includes: a ratchet mechanism movably connected with the handle body, and the ratchet mechanism cooperates with the slider assembly to lock or unlock the movement of the movable handle relative to the fixed handle. angle.
  • the slider assembly includes a fixedly connected slider and a rack connector, both ends of the rack connector are respectively connected to the transmission rod and the slider;
  • a rack portion is provided on the side of the rack connector facing the ratchet mechanism, and the ratchet mechanism includes: a driving member, a first rotating shaft, a torsion spring and ratchet teeth, and the driving member is connected to the first rotating shaft.
  • the first rotating shaft is movably connected to the handle body
  • the ratchet teeth are rotationally connected to the first rotating shaft
  • the torsion spring is sleeved on the first rotating shaft
  • the torsion spring The two ends abut against the ratchet teeth and the handle body respectively;
  • the ratchet mechanism includes: a connected state and a disconnected state.
  • the driving member can drive the ratchet teeth to move toward the rack portion through the first rotating shaft, so that the ratchet teeth Engaged with the rack part, under the action of the torsion spring, the angle of the movable handle relative to the fixed handle can be locked; in the separated state, the driving member can pass the first rotation
  • the shaft drives the ratchet teeth to move away from the rack portion, so that the ratchet teeth are separated from the rack portion, and the angle of the movable handle relative to the fixed handle can be unlocked.
  • a limit protrusion is provided on the handle body, and the driving member can drive the ratchet teeth to move through the first rotating shaft.
  • the driving member can drive the ratchet teeth to move through the first rotating shaft.
  • the ratchet tooth slides along the limiting protrusion, so that the ratchet tooth engages with or separates from the rack portion, and the angle of the movable handle relative to the fixed handle can be locked or adjusted.
  • the ratchet mechanism includes: a second rotating shaft, a third rotating shaft and a connecting piece, the second rotating shaft is movably connected to the handle body, and the third rotating shaft is fixedly connected to the handle body ;
  • the connectors are respectively connected to the second rotating shaft and the first rotating shaft, the driving member is connected to the second rotating shaft, and the driving member is rotatably connected to the third rotating shaft.
  • the connecting part can be driven to move through the second rotating shaft, and the movement of the connecting part can drive the ratchet teeth to move through the first rotating shaft.
  • the handle body is provided with elongated second limiting grooves and third limiting grooves, the length direction of the second limiting grooves and the third limiting grooves is along the rack set in the direction from the top to the ratchet teeth;
  • the first rotating shaft slides along the groove wall of the second limiting groove, and the second rotating shaft slides along the groove wall of the third limiting groove.
  • an embodiment of the present invention provides an instrument, including an end tool and the aforementioned control handle, where the control handle is detachably connected to the end tool.
  • connection structure of the control handle facing away from the sliding mechanism is provided with a mounting groove for mounting the end tool.
  • the top of the installation groove is provided with an opening for installing the end tool
  • the installation groove includes a spherical groove and a U-shaped groove connected in sequence, and the width of the U-shaped groove is smaller than the diameter of the spherical groove;
  • the terminal tool is provided with a connecting rod and a connecting head connected to each other, and the outer diameter of the connecting head is larger than the outer diameter of the connecting rod;
  • the connecting head is detachably embedded in the spherical groove, and the connecting rod is detachably embedded in the U-shaped groove.
  • the embodiment of the present invention provides a minimally invasive surgical robot, including the above instrument,
  • control adapter for detecting whether the device is in a working state, an energy adapter for providing energy to the device, and a multifunctional channeler for providing a channel for the device;
  • the end tool of the instrument is sequentially passed through the control adapter, the energy adapter and the multifunctional channeler.
  • the movable handle is connected to the linkage mechanism, the linkage mechanism is connected to the sliding mechanism, and the connecting structure is connected to the sliding mechanism, so that when the movable handle is switched to the replacement In the tool state, the movable handle can drive the sliding mechanism to move along the handle body through the linkage mechanism, and the sliding mechanism can drive the connecting structure to be exposed to the handle body to pass through the
  • the connection structure disassembles and assembles the terminal tool, which is convenient for replacing the terminal tool, so that the process of replacing the terminal tool is relatively simple, the replacement speed is fast, and it is convenient for the robot to perform surgical operations.
  • Fig. 1 is a schematic structural view of a control handle in an embodiment of the present invention
  • Fig. 2 is a structural schematic diagram of another control handle in the embodiment of the present invention.
  • Fig. 3 is a structural schematic diagram of a movable handle in an embodiment of the present invention.
  • Fig. 4 is a schematic structural view of a first linkage rod in an embodiment of the present invention.
  • Fig. 5 is a schematic structural diagram of a button assembly in an embodiment of the present invention.
  • Fig. 6 is a structural schematic diagram of another movable handle in the embodiment of the present invention.
  • Fig. 7 is a schematic diagram of an enlarged structure at A in Fig. 6 in an embodiment of the present invention.
  • Fig. 8 is a partial cross-sectional structural schematic diagram of a control handle in an embodiment of the present invention.
  • Fig. 9 is a structural schematic diagram of a movable handle in an unclamped state in an embodiment of the present invention.
  • Fig. 10 is a structural schematic diagram of a movable handle in a clenched state in an embodiment of the present invention
  • Fig. 11 is a schematic structural view of a movable handle in the embodiment of the present invention in the state of changing tools;
  • Fig. 12 is a schematic structural view of a ratchet mechanism in an embodiment of the present invention.
  • Fig. 13 is a schematic structural view of the handle body in the embodiment of the present invention.
  • Fig. 14 is a schematic diagram of a partial structure of a control handle in an embodiment of the present invention.
  • Fig. 15 is a partial structural schematic diagram of another control handle in the embodiment of the present invention.
  • Fig. 16 is a schematic structural view of an end tool in an embodiment of the present invention.
  • 421-end tool 4211-connecting head, 4212-connecting rod, 4213-first thread structure, 427-control handle, 4271-handle body, 711-limit protrusion, 712-chute, 714-second limit Slot, 715-the third limit slot, 4272-movable handle, 721-the first installation hole, 722-the first limit slot, 723-card slot, 4273-linkage mechanism, 731-the second installation hole, 7311-circle Hole, 7312-long slot hole, 732-first linkage rod, 7321-first hinge part, 7322-second hinge part, 7323-limit post, 733-second linkage rod, 4274-sliding mechanism, 741-sliding Block assembly, 7411-slider, 7412-rack connector, 74121-rack part, 742-transmission rod, 4275-connection structure, 743-installation groove, 7431-like spherical groove, 7432-U-shaped groove, 4276- Button assembly, 7
  • first, second and the like in the description and claims of the present invention are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It should be understood that the terms so used are interchangeable under appropriate circumstances such that embodiments of the invention can be practiced in sequences other than those illustrated or described herein, and references to "first,” “second,” etc. distinguish Objects are generally of one type, and the number of objects is not limited. For example, there may be one or more first objects.
  • “and/or” in the specification and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • control handle, instrument and minimally invasive surgical robot provided by the embodiments of the present invention will be described in detail below with reference to the accompanying drawings 1-16, as well as specific embodiments and application scenarios thereof.
  • the control handle 427 of the embodiment of the present invention can be used to control the end tool 421, and can specifically include: a handle body 4271, a movable handle 4272, a linkage mechanism 4273, a sliding mechanism 4274, and a connecting structure 4275 for installing the end tool 421, Both the sliding mechanism 4274 and the linkage mechanism 4273 are movably connected to the handle body 4271, wherein the movable handle 4272 is connected to the sliding mechanism 4274 through the linkage mechanism 4273, the end of the sliding mechanism 4274 away from the linkage mechanism 4273 is connected to the connection structure 4275, and the connection structure 4275 is connected to the end
  • the tool 421 is detachably connected; wherein, the movable handle 4272 is movably connected with the linkage mechanism 4273 to have
  • the movable handle 4272 is connected to the linkage mechanism 4273, the linkage mechanism 4273 is connected to the sliding mechanism 4274, and the connecting structure 4275 is connected to the sliding mechanism 4274.
  • the movable handle 4272 can drive the sliding mechanism 4274 to move along the handle body 4271 through the linkage mechanism 4273, and the sliding mechanism 4274 can drive the connecting structure 4275 to be exposed to the handle body 4271, so that the terminal tool 421 can be disassembled through the connecting structure 4275, so as to facilitate the replacement of the terminal tool 421.
  • the process of replacing the end tool 421 is relatively simple, and the replacement speed is fast, which is convenient for the operation of the robot.
  • the end tool 421 in the embodiment of the present invention can be a tool for the surgical robot to perform surgical operations, and the control handle 427 can be an auxiliary tool for the surgical robot to operate the end tool 421.
  • the end tool 421 can include but not limited to: scissors, cutters, pliers and Suture needles and other surgical tools.
  • the handle body 4271 can be provided with an accommodating chamber, which can be used to arrange the linkage mechanism 4273, the sliding mechanism 4274 and the connecting structure 4275, and the linkage mechanism 4273, the sliding mechanism 4274 and the connecting structure 4275 can all be in the described Accommodates intraluminal activity.
  • the sliding mechanism 4274 can be slidably connected to the handle body 4271, and can drive the connecting structure 4275 to slide along the handle body 4271. In this way, when the connecting structure 4275 is exposed to the handle body 4271, it is convenient to replace and install the end tool 421.
  • the working state of the movable handle 4272 may include a clenched state and an unclamped state.
  • the movable handle 4272 is in a working state.
  • the movable handle 4272 abuts against the handle body 4271, the handle body 4271 can block the maximum opening angle of the movable handle 4272, prevent the movable handle 4272 from accidentally switching to the tool replacement state, and prevent the end tool 421 from accidentally falling off during the operation.
  • the movable handle 4272 is in the gripped state. In the working state, the movable handle 4272 moves between the gripped state and the maximum opening angle.
  • connection structure 4275 can install the end tool 421, so that the end tool 421 can be controlled by operating the movable handle 4272, and it is convenient for the surgical robot to operate the end tool 421 through the movable handle 4272 .
  • the movable handle 4272 moves relative to the linkage mechanism 7273, and can be switched to the state of changing tools, so that the movable handle 4272 can move freely without being restricted by the handle body 4271.
  • the mechanism 4273 and the sliding mechanism 4274 drive the connection structure 4275 to be exposed outside the handle body 4271, which facilitates the installation and replacement of the end tool 421 on the connection structure 4275, or the removal of the end tool 421 from the connection structure 4275.
  • the maximum working opening angle is the angle between the movable handle 4272 and the fixed handle 4278 when the movable handle 4272 abuts against the handle body 4271.
  • the angle ⁇ shown in FIG. 1 is the maximum working angle. Open angle.
  • the movable handle 4272 may be an annular structural member.
  • the movable handle 4272 is an annular structural member, which is convenient for holding the movable handle 4272 so that the movable handle 4272 is far away from or close to the fixed handle 4278 .
  • the annular part of the movable handle 4272 can be an insertion part operated by a human hand. After inserting a finger, the movable handle 4272 can be pushed forward or backward.
  • control handle 427 may also include: a button assembly 4276, and the linkage mechanism 4273 includes a first linkage rod 732;
  • the rod 732 is movably connected, and the button assembly 4276 is movably connected with the first linkage rod 732;
  • the button assembly 4276 has a locked state and an unlocked state, and in the locked state, the movable handle 4272 is locked on the first linkage rod 732, and the movable handle 4272 can be switched to the working state; in the unlocked state, the movable handle 4272 is movable and opened relative to the first linkage lever 732, so as to break away from the abutment with the handle body 4271, and move to the unlocked position of the replacement tool to The movable handle 4272 is enabled to switch to the change tool state.
  • the button assembly 4276 can be switched between the locked state and the unlocked state, and the relative state between the movable handle 4272 and the first linkage lever 732 can be adjusted through the button assembly 4276, which facilitates the adjustment of the movable handle 4272 It is more convenient and fast to operate to the working state or to change the tool state.
  • the button assembly 4276 is adjusted to the locked state, the movable handle 4272 can be adjusted to the working state, the movable handle 4272 can be close to or away from the fixed handle 4278, and the clamp between the movable handle 4272 and the fixed handle 4278 The angle does not exceed the maximum working opening angle.
  • the button assembly 4276 is adjusted to the unlocked state, the movable handle 4272 can be adjusted to the tool replacement state, and the angle between the movable handle 4272 and the fixed handle 4278 can exceed the maximum working opening angle, so that the movable handle 4272 can pass through
  • the first linkage rod 732 and the sliding mechanism 4274 drive the connecting mechanism to be exposed to the handle body 4271 to disassemble and assemble the end tool 421 .
  • the movable handle 4272 may be provided with a first installation hole 721, and the first linkage rod 732 may be provided with a second installation hole 731, and the second installation hole 731 is a length extending along the length direction of the first linkage rod 732.
  • the button assembly 4276 can pass through the first installation hole 721 and the second installation hole 731, and can be used to connect the movable handle 4272 and the linkage mechanism 4273; the button assembly 4276 can be unlocked and lockable with the second installation hole 731 sliding fit to have a first position and a second position; when the button assembly 4276 slides to the first position together with the movable handle 4272, the button assembly 4276 can switch to the locked state; when the button assembly 4276 slides together with the movable handle 4272 to the second position In the second position, the button assembly 4276 can be switched to an unlocked state.
  • the button assembly 4276 is passed through the first installation hole 721 and the second installation hole 731, and the movable handle 4272 and the first linkage rod 732 can be connected, and the button assembly 4276 can slide along the second installation hole 731.
  • the button assembly 4276 can be switched to the locked state, which is convenient for the movable handle 4272 to switch to the working state; when the button assembly 4276 is slid to the second position, it can be switched To the unlocked state, it is convenient for the movable handle 4272 to switch to the tool replacement state.
  • the use state of the movable handle 4272 can be adjusted by adjusting the position of the button assembly 4276, which is more convenient.
  • the first installation hole 721 can be a through hole, and the button assembly 4276 can move freely in the first installation hole 721 , specifically, the button assembly 4276 can move freely along the centerline of the first installation hole 721 .
  • the second mounting hole 731 can be a through hole, and the button assembly 4276 can move freely in the second mounting hole 731, specifically, the button assembly 4276 can move freely along the length direction and the thickness direction of the second mounting hole 731. Further, the position of the button assembly 4276 can be adjusted by pressing the button assembly 4276 .
  • the first installation hole 721 can be a circular hole, a square hole or an irregularly shaped hole, the first installation hole 721 can be adapted to the structure of the button assembly 4276, and can be set according to the structure of the button assembly 4276.
  • the embodiment of the utility model does not specifically limit this.
  • the second mounting hole 731 may include a round hole 7311 and a slotted hole 7312, the round hole 7311 may be arranged on the top of the slotted hole 7312, and the inner diameter of the round hole 7311 may be greater than the width of the slotted hole 7312,
  • the button assembly 4276 can be located at the first position when passing through the circular hole 7311 , and can be located at the second position when the button assembly 4276 is passing through the slotted hole 7312 .
  • the inner diameter of the round hole 7311 is larger than the width of the slotted hole 7312, so that the dimensions of the round hole 7311 and the slotted hole 7312 are inconsistent. Since the button assembly 4276 can be located at the first position when passing through the round hole 7311, When the button assembly 4276 passes through the slot hole 7312, it can be located at the second position, so as to facilitate the button assembly 4276 to switch positions.
  • the direction from the circular hole 7311 to the slotted hole 7312 can be the length direction of the second mounting hole 731
  • the axial direction of the circular hole 7311 is the thickness direction of the second mounting hole 731
  • the width direction of the second mounting hole 731 The longitudinal direction and the thickness direction are respectively perpendicular to each other, and the width direction of the long slot hole 7312 is consistent with the width direction of the second installation hole 731 .
  • the round hole 7311 can be arranged close to the handle body 4271
  • the long slot hole 7312 can be arranged away from the handle body 4271
  • the diameter of the round hole 7311 can be larger than the width of the long slot hole 7312
  • the long slot hole 7312 may be a long strip structure.
  • the button assembly 4276 may include: a pin shaft 744 and an elastic member 745, the pin shaft 744 includes: a first shaft segment 7441 and a second shaft segment 7442 connected in sequence, and the outer diameter of the second shaft segment 7442 may be larger than The outer diameter of the first shaft section 7441; the first shaft section 7441 and the second shaft section 7442 can be respectively passed through the first installation hole 721 and the second installation hole 731, and the elastic member 745 can be sleeved on the first shaft section 7441 , the two ends of the elastic member 745 can respectively abut against the movable handle 4272 and the first linkage rod 732; the outer diameter of the second shaft section 7442 can be larger than the width of the long slot hole 7312, and the outer diameter of the first shaft section 7441 can be smaller than the long slot hole 7312; The width of the slot hole 7312; when the button assembly 4276 is in the locked state, the elastic member 745 can be in a compressed state
  • the elastic member 745 is sheathed on the first shaft segment 7441 , and its two ends respectively abut against the movable handle 4272 and the first linkage rod 732 .
  • the outer diameter of the second shaft section 7442 is larger than the width of the slotted hole 7312, so that the second shaft section 7442 can only be passed through the round hole 7311, and the outer diameter of the first shaft section 7441 is smaller than the width of the slotted hole 7312, so that the first The shaft section 7441 can pass through the round hole 7311 and the long slot hole 7312. In this way, by adjusting the compression state of the elastic member 745, the first shaft section 7441 or the second shaft section 7442 can be adjusted to pass through the round hole 7311, which is convenient for switching buttons The usage status of component 4276.
  • the elastic member 745 may be a structure such as a tension spring or a torsion spring, which is not specifically limited in this embodiment of the present invention.
  • the outer diameters of the first shaft segment 7441 and the second shaft segment 7442 may be smaller than the inner diameter of the first mounting hole 721, so as to pass the first shaft segment 7441 and the second shaft segment 7442 through the first mounting hole 721 .
  • the round hole 7311 is set close to the handle body 4271.
  • the button assembly 4276 can be switched to the locked state
  • the movable handle 4272 can be switched to the working state
  • the handle body 4271 can be Limit the range of motion of the movable handle 4272 to prevent the movable handle 4272 from being switched to the tool replacement state.
  • the slotted hole 7312 is set away from the handle body 4271.
  • the button assembly 4276 can be switched to the unlocked state, the movable handle 4272 can be switched to the tool replacement state, and the movable handle 4272 can move freely relative to the handle body 4271, which is convenient for adjusting the position of the movable handle 4272 to disassemble the terminal tool 421.
  • the outer diameter of the second shaft section 7442 can be larger than the width of the slotted hole 7312, and smaller than the inner diameter of the round hole 7311, the second shaft section 7442 can pass through the round hole 7311, but cannot be passed through the long slotted hole 7311.
  • the slot 7312 enables the button assembly 4276 to be stably maintained in the locked state.
  • the outer diameter of the first shaft section 7441 can be smaller than the width of the long slot hole 7312, when pressure is applied to the first shaft section 7441, the elastic member 745 is compressed, the first shaft section 7441 can first pass through the round hole 7311, and then pass through the round hole 7311 slides into the slotted hole 7312, under the action of the second shaft section 7442 and the elastic member 745, the first shaft section 7441 can pass through the slotted hole 7312, so that the button assembly 4276 can be stably maintained in the unlocked state.
  • the movable handle 4272 can be provided with a slot 723 for embedding the first linkage rod 732, so that the first installation hole 721 and the second installation hole 731 communicate;
  • the button assembly 4276 It can also include: a pin shaft cap 746 and a locking head 747; the pin shaft cap 746 can be connected with the end of the first shaft segment 7441 away from the second shaft segment 7442, and the locking head 747 can be connected with the second shaft segment 7442 away from the first shaft One end of the segment 7441 is connected, and the movable handle 4272 and the first linkage rod 732 can be arranged between the pin shaft cap 746 and the locking head 747; wherein, the outer diameters of the pin shaft cap 746 and the locking head 747 can be larger than the first installation The inner diameter of the hole 721; when the button assembly 4276 is in the locked state, the locking head 747 can be against the movable handle 4272; when the button assembly 4276 is in the unlocked state, the
  • the first linkage rod 732 is embedded in the slot 723 on the movable handle 4272, so that the pin The cap 746 and the locking head 747 abut against both sides of the movable handle 4272 respectively.
  • the pin shaft cap 746 and the locking head 747 can play a blocking role, which can prevent the first shaft segment 7441 and the second shaft segment 7442 from falling off from the first installation hole 721, and improve the stability of the connection between the movable handle 4272 and the linkage mechanism 4273.
  • the pin shaft 744 can also include a third shaft segment 7443, one end of the third shaft segment 7443 can be connected with the pin shaft cap 746, and the other end can be connected with the first shaft segment 7441, the third shaft segment 7443 can The outer diameter of the third shaft section 7443 can be smaller than the inner diameter of the first installation hole 721 and can be larger than the width of the slotted hole 7312 .
  • the pin shaft 744 can also include a fourth shaft section 7444, one end of the fourth shaft section 7444 can be connected with the second shaft section 7442, and the other end can be connected with the locking head 747, and the fourth shaft section 7444 can be passed through the first installation
  • the outer diameter of the hole 721 ; the fourth shaft segment 7444 may be smaller than the inner diameter of the first installation hole 721 .
  • the pin shaft cap 746, the first shaft section 7441, the second shaft section 7442, the third shaft section 7443 and the fourth shaft section 7444 can be of an integrated structure, and the locking head 747 can be provided with a through hole, so The through hole can be interference fit with the fourth shaft segment 7444 .
  • the sliding mechanism 4274 can include: a slider assembly 741 and a transmission rod 742, the slider assembly 741 can be connected with the first linkage rod 732; the handle body 4271 can be provided with a slide groove 712, and the slider assembly 741 can Slidingly connected to the sliding groove 712; the control handle 427 can also include an extension sleeve 4279, and the extension sleeve 4279 can be connected with the handle body 4271, as shown in Figures 8 and 15, the transmission rod 742 is telescopically passed through the extension sleeve 4279 , the end of the transmission rod 742 away from the slider assembly 741 can be connected with the connection structure 4275; when the movable handle 4272 is in the state of changing tools, the first linkage rod 732 can drive the slider assembly 741 to slide along the chute 712, and the slider assembly 741 The connecting structure 4275 can be exposed to the extension sleeve 4279 through the transmission rod 742 .
  • the slider assembly 741 can be slidably connected to the slide groove 712 , which can improve the stability of the slider assembly 741 sliding along the handle body 4271 .
  • the transmission rod 742 can expand and contract in the extension sleeve 4279 , and can drive the connecting structure 4275 to be exposed to the extension sleeve 4279 to disassemble the end tool 421 .
  • the extension sleeve 4279 is connected with the handle body 4271, which can increase the length of the control handle 427, thereby increasing the operating length of the terminal tool 421, which is beneficial for surgical operations.
  • the slider assembly 741 can only slide in the chute 712 , which can limit the movement track of the slider assembly 741 .
  • the sliding mechanism 4274 can be fixed with the linkage mechanism 4273 by pins.
  • the pins can also be used instead of the slider assembly 741, that is, the sliding mechanism 4274 and the handle body 4271 can be realized by sliding the pins in the chute 712. connect.
  • the linkage mechanism 4273 may include: a second linkage rod 733, and the first linkage rod 732 includes a first hinge part 7321 and a second hinge part 7322; the first hinge part 7321 may be hinged to the handle body 4271, and the second hinge part 7322 can be hinged with one end of the second linkage rod 733 , and the other end of the second linkage rod 733 can be hinged with the slider assembly 741 .
  • the first hinge part 7321 of the first linkage rod 732 is hinged with the handle body 4271, which can improve the stability and reliability of the first linkage rod 732 relative to the handle;
  • the second hinge of the first linkage rod 732 Part 7322 is hinged with the second linkage rod 733, which can improve the stability and reliability that the first linkage rod 732 drives the second linkage rod 733 to move; Drive the stability and reliability of the slider assembly 741 activities.
  • first linkage rod 732 and the handle body 4271 may be hinged by a pin
  • first linkage rod 732 and the second linkage rod 733 may be hinged by a pin
  • second linkage rod 733 and the slider assembly 741 may be hinged. Hinged by pins.
  • a limit column 7323 is arranged on the first linkage rod 732, and a first limit groove 722 is correspondingly provided on the movable handle 4272; when the movable handle 4272 is switched to the working state, the limit column 7323 It can be snapped into the first limiting slot 722 .
  • the stability of the connection between the movable handle 4272 and the first linkage rod 732 can be further improved, so that the movable handle 4272 can drive the first linkage rod 732 to move.
  • the movable handle 4272 gradually approaches the fixed handle 4278 , and since the limiting column 7323 is engaged in the first limiting groove 722 , the movable handle 4272 can drive the first linkage rod 732 to move.
  • the fixed handle 4278 can be bent along the handle body 4271, and when the movable handle 4272 is in the working state, a preset angle ⁇ can be formed between the movable handle 4272 and the fixed handle 4278, and the preset angle ⁇ can be less than 90° , to facilitate applying a gripping force to the movable handle 4272, so that the movable handle 4272 is close to the fixed handle 4278.
  • the terminal tool 421 can be clamps such as pliers or scissors, and the movable handle 4272 is grasped tightly so that the movable handle 4272 is close to the fixed handle 4278, and the pliers and scissors can be manipulated to perform surgical operations such as clamping or cutting.
  • control handle 427 can also include: a ratchet mechanism 428 that is movably connected with the handle body 4271, and the ratchet mechanism 428 can cooperate with the slider assembly 741 to lock or unlock the angle of the movable handle 4272 relative to the fixed handle 4278 .
  • the ratchet mechanism 428 cooperates with the slider assembly 741 to lock the angle of the movable handle 4272 relative to the fixed handle 4278, so that the movable handle 4272 can be prevented from moving relative to the fixed handle 4278 due to fatigue during the operation , Improve the safety during the operation. Moreover, the ratchet mechanism 428 cooperates with the slider assembly 741 to unlock the angle of the movable handle 4272 relative to the fixed handle 4278 , so as to facilitate the adjustment of the position of the movable handle 4272 .
  • the ratchet mechanism 428 and the slider assembly 741 can be used to lock the angle of the movable handle 4272 relative to the fixed handle 4278, so as to avoid changes in the use state of the end tool 421 during the operation , Improve the safety of the operation.
  • the ratchet mechanism 428 and the slider assembly 741 can be used to cooperate to unlock the angle of the movable handle 4272 relative to the fixed handle 4278, so as to adjust the position of the movable handle 4272.
  • the slider assembly 741 can include a fixedly connected slider 7411 and a rack connector 7412, and the two ends of the rack connector 7412 can be connected to the transmission rod 742 and the slider 7411 respectively; the rack connector 7412 A rack portion 74121 is provided on the side facing the ratchet mechanism 428.
  • the ratchet mechanism 428 includes: a driving member 4284, a first rotating shaft 4281, a torsion spring 4282 and a ratchet tooth 4283.
  • the driving member 4284 is connected with the first rotating shaft 4281, and the first The rotating shaft 4281 is movably connected to the handle body 4271, the ratchet teeth 4283 can be rotatably connected to the first rotating shaft 4281, the torsion spring 4282 can be sleeved on the first rotating shaft 4281, and the two ends of the torsion spring 4282 can be connected with the ratchet teeth 4283 and the handle respectively.
  • the body 4271 abuts; the ratchet mechanism 428 can include: a connected state and a disconnected state, in the connected state, the driving member 4284 can drive the ratchet tooth 4283 to move toward the rack part 74121 through the first rotating shaft 4281, so that the ratchet tooth 4283 It can be meshed with the rack part 74121, and under the action of the torsion spring 4282, the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked; in the separated state, the driving member 4284 can drive the ratchet tooth 4283 through the first rotating shaft 4281 Moving away from the rack portion 74121 to separate the ratchet teeth 4283 from the rack portion 74121 can unlock the angle of the movable handle 4272 relative to the fixed handle 4278 .
  • the rack connection part 7412 of the slider assembly 741 is provided with a rack portion 74121
  • the ratchet mechanism 428 includes a ratchet tooth 4283
  • the driving member 4284 can drive the ratchet tooth 4283 towards the rack through the first rotating shaft 4281
  • the part 74121 moves or moves away from the rack part 74121, so that the ratchet teeth 4283 can be engaged with or separated from the rack part 74121, and the cooperation between the slider assembly 741 and the ratchet mechanism 428 can be realized.
  • the torsion spring 4282 is sleeved on the first rotation shaft 4281, and the ratchet teeth 4283 are rotatably connected to the first rotation shaft 4281, thus, under the action of the torsion force of the torsion spring 4282, the driving member 4284 is aligned with the first rotation shaft 4281.
  • the ratchet tooth 4283 can always keep engaged with the rack part 74121, and can lock the angle of the movable handle 4272 relative to the fixed handle 4278, so as to avoid changing the use state of the end tool 421.
  • the handle body 4271 is provided with a limit protrusion 711, and the driving member 4284 can drive the ratchet tooth 4283 to move through the first rotating shaft 4281.
  • the ratchet tooth 4283 contacts the limit protrusion 711, the ratchet tooth 4283 It can slide along the limiting protrusion 711, so that the ratchet tooth 4283 can engage with or separate from the rack portion 74121, and the angle of the movable handle 4272 relative to the fixed handle 4278 can be locked or adjusted.
  • the transmission rod 742 and the rack connector 7412 may be directly connected, or the transmission rod 742 and the rack connector 7412 may also be connected through a connecting rod, which is not specifically limited in this embodiment of the present invention.
  • the driving member 4284 can drive the first rotating shaft 4281 to rotate, and the first rotating shaft 4281 drives the ratchet tooth 4283 to move to the limit protrusion.
  • the limiting projection 711 can exert force on the ratchet tooth 4283 to counteract the elastic force of the torsion spring 4282, so that the moving direction of the ratchet tooth 4283 changes, and the ratchet tooth 4283 moves downward along the limiting projection 711 , separated from the rack part 74121.
  • the driving member 4284 can drive the first rotating shaft 4281 to move upward along the stop protrusion 711 , so that the ratchet teeth 4283 and the rack portion 74121 are meshed and connected.
  • the ratchet mechanism 428 may include: a second rotating shaft 4285, a third rotating shaft 4286 and a connecting piece 4287, the second rotating shaft 4285 may be movably connected to the handle body 4271, and the third rotating shaft 4286 may be fixedly connected to the handle body 4271; the connecting piece 4287 can be connected with the second rotating shaft 4285 and the first rotating shaft 4281 respectively, the driving member 4284 can be connected with the second rotating shaft 4285, and the driving member 4284 can be rotatably connected with the third rotating shaft 4286.
  • the second rotation axis 4285 can drive the connecting piece 4287 to move, and the movement of the connecting piece 4287 can drive the ratchet teeth 4283 to move through the first rotation axis 4281.
  • the connecting piece 4287 is connected to the first rotating shaft 4281 and the second rotating shaft 4285 respectively, the driving member 4284 is connected to the second rotating shaft 4285, and the first rotating shaft 4281 is connected to the ratchet teeth 4283.
  • the connecting piece 4287 and the second rotating shaft 4285 Under the action of the rotating shaft 4281 , the connecting piece 4287 and the second rotating shaft 4285 , the linkage between the driving member 4284 and the ratchet teeth 4283 can be realized, so that the driving member 4284 can drive the ratchet teeth 4283 to move.
  • a protrusion can be provided on the side of the ratchet tooth 4283 away from the rack portion 74121, one end of the torsion spring 4282 can be in contact with the protrusion, and the other end can be in contact with the third rotating shaft 4286 .
  • the handle body 4271 may be provided with a second limiting groove 714 and a third limiting groove 715, and the length direction of the second limiting groove 714 and the third limiting groove 715 may extend from the rack part 74121 to the ratchet teeth.
  • the direction of 4283 is set; the first rotating shaft 4281 can slide along the groove wall of the second limiting groove 714 , and the second rotating shaft 4285 can slide along the groove wall of the third limiting groove 715 .
  • the first rotating shaft 4281 can move in the second limiting groove 714, so that the second limiting groove 714 can limit the range of movement of the first rotating shaft 4281, which can improve the flexible connection of the first rotating shaft 4281.
  • the second rotating shaft 4285 can move in the third limiting groove 715, so that the third limiting groove 715 can limit the movable range of the second rotating shaft 4285, which can improve the stability and stability of the second rotating shaft 4285 being movably connected to the handle body 4271. reliability.
  • the movable handle is connected to the linkage mechanism, the linkage mechanism is connected to the sliding mechanism, and the connecting structure is connected to the sliding mechanism, so that when the movable handle is switched to the replacement In the tool state, the movable handle can drive the sliding mechanism to move along the handle body through the linkage mechanism, and the sliding mechanism can drive the connecting structure to be exposed to the handle body to pass through the
  • the connection structure disassembles and assembles the terminal tool, which is convenient for replacing the terminal tool, so that the process of replacing the terminal tool is relatively simple, the replacement speed is fast, and it is convenient for the robot to perform surgical operations.
  • the embodiment of the present invention also discloses an instrument, which may include an end tool 421 and the above-mentioned control handle 427 , and the control handle 427 may be detachably connected to the end tool 421 .
  • control handle 427 includes a connecting structure 4275, and the terminal tool 421 can be detachably connected with the connecting structure 4275.
  • One end of the terminal tool 421 is provided with a connection head 4211 for detachable connection with the connection structure 4275, and the other end is provided with tools such as scissors, tweezers, and pliers for performing surgical operations.
  • the end of the connecting structure 4275 of the control handle 427 facing away from the sliding mechanism 4274 may be provided with a mounting groove 743 for mounting the end tool 421 .
  • a mounting groove 743 is provided on the connecting structure 4275 to facilitate fixing the end tool 421 on the connecting structure 4275 .
  • the sliding mechanism 4274 includes a transmission rod 742 , one end of the connecting structure 4275 is connected to the transmission rod 742 , and the other end is provided with a mounting groove 743 .
  • the transmission rod 742 is telescopically installed in the extension sleeve 4279 , and can drive the connecting structure 4275 to be exposed outside the extension sleeve 4279 , so as to facilitate the installation or removal of the end tool 421 in the installation groove 743 .
  • the top of the installation groove 743 can be provided with an opening for installing the end tool 421, the installation groove 743 can include a spherical shape groove 7431 and a U-shaped groove 7432 connected in sequence, and the width of the U-shaped groove 7432 can be smaller than that of a spherical shape.
  • the end tool 421 can be provided with a connecting rod 4212 and a connecting head 4211 connected to each other, and the outer diameter of the connecting head 4211 can be larger than the outer diameter of the connecting rod 4211; the connecting head 4211 can be detachably Embedded in the spherical groove 7431 , the connecting rod 4211 is detachably embedded in the U-shaped groove 7432 .
  • the connector 4211 is embedded in the spherical groove 7431, and the connecting rod 4211 is embedded in the U-shaped groove 7432.
  • the tip tool 421 may be fixed in the mounting groove 743 .
  • the connecting head 4211 can also be disassembled from the spherical-like groove 7431 , and the connecting rod 4211 can be disassembled from the U-shaped groove 7432 , so as to facilitate the replacement of the end tool 421 .
  • the top of the mounting groove 743 can be provided with an opening, and the connecting head 4211 can be put into or out of the spherical groove 7431 through the opening; the connecting rod 4211 can be put into or out of the U-shaped groove 7432 through the opening.
  • the spherical-like groove 7431 may be approximately spherical and only include a part of the spherical shape.
  • the size of the connector 4211 is adapted to the size of the spherical-like groove 7431, and the shape of the connector 4211 may be spherical or spherical.
  • the size of the connecting rod 4211 is adapted to the size of the U-shaped groove 7432, and the connecting rod 4211 may be a cylindrical structure or a cubic structure.
  • the end tool 421 may be provided with a first threaded structure 4213, and the inner wall of the extension sleeve 4279 of the control handle 427 may be provided with a corresponding second threaded structure 751, when the connector 4211 is embedded In the quasi-spherical groove 7431 , after the connecting rod 4211 is embedded in the U-shaped groove 7432 , the first thread structure 4213 and the second thread structure 751 are screwed tightly to complete the connection between the end tool 421 and the control handle 427 .
  • the movable handle is connected to the linkage mechanism, the linkage mechanism is connected to the sliding mechanism, and the connecting structure is connected to the sliding mechanism, so that when the movable handle is switched to the replacement In the tool state, the movable handle can drive the sliding mechanism to move along the handle body through the linkage mechanism, and the sliding mechanism can drive the connecting structure to be exposed to the handle body to pass through the
  • the connection structure disassembles and assembles the terminal tool, which is convenient for replacing the terminal tool, so that the process of replacing the terminal tool is relatively simple, the replacement speed is fast, and it is convenient for the robot to perform surgical operations.
  • the embodiment of the present invention also discloses a minimally invasive surgical robot, which may include the above-mentioned instrument, a control adapter for detecting whether the instrument is in a working state, an energy adapter for providing energy to the instrument, and a The multifunctional channeler that provides channels for the above-mentioned instruments; the end tool of the instrument can be threaded through the control adapter, the energy adapter and the multifunctional channeler in sequence.
  • control adapter can detect the presence of a physician and also provide support for the control handle of the instrument.
  • Energy adapters can provide rotational and monopolar or bipolar energy to instruments.
  • the multifunctional channeler can point to the abdominal cavity of the human body, so that the terminal tool can enter the abdominal cavity of the human body after passing through the multifunctional channeler.
  • the movable handle is connected to the linkage mechanism, the linkage mechanism is connected to the sliding mechanism, and the connecting structure is connected to the sliding mechanism, so that when the movable handle is switched to the replacement In the tool state, the movable handle can drive the sliding mechanism to move along the handle body through the linkage mechanism, and the sliding mechanism can drive the connecting structure to be exposed to the handle body to pass through the
  • the connection structure disassembles and assembles the terminal tool, which is convenient for replacing the terminal tool, so that the process of replacing the terminal tool is relatively simple, the replacement speed is fast, and it is convenient for the robot to perform surgical operations.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and apparatus in the embodiments of the present invention is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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Abstract

本发明公开了一种控制手柄、器械和微创手术机器人，活动把手通过联动机构与滑动机构连接，滑动机构的一端与连接结构连接，连接结构与末端工具可拆卸连接；活动把手可活动地与联动机构连接，以具有工作状态和更换工具状态，在工作状态下，末端工具保持与连接结构的连接，活动把手远离或靠近固定把手，且活动把手相对于固定把手运动至最大工作张开角度时，活动把手抵靠于手柄本体以限制最大工作张开角度；在更换工具状态下，活动把手相对于联动机构活动，以脱离与手柄本体的抵靠，继续向远离固定把手的方向运动至更换工具的解锁位置，通过联动机构带动滑动机构相对于手柄本体活动，以带动连接结构外露于手柄本体，并通过连接结构拆装末端工具。

Description

控制手柄、器械和微创手术机器人
本申请要求在2021年10月28日提交中国专利局、申请号为202111264224.X、发明名称为“控制手柄、器械和微创手术机器人”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
本发明属于机器人手术工具领域，具体涉及一种控制手柄、器械和微创手术机器人。
背景技术
随着科学技术的发展，越来越智能化，采用机器人进行手术也日益普及。在现有的技术中，能够利用手术机器人做腹腔镜手术，在此情况下，医生的双手可以不碰触患者，通过对手术机器人输入相应的控制指令，即可控制手术机器人进行腹腔镜手术。具体地，手术机器人可以包括控制手柄和手术工具，手术工具与可以穿过手术机器人的无菌通道，进入人体腹腔，控制手柄与手术工具连接，可以控制手术工具进行具体的手术操作。通常在一场腹腔镜手术过程中会进行剪、切、拉、缝合、抽吸等多种手术操作，对应的也会使用到多种不同的手术工具。
然而，现有的手术机器人进行腹腔镜手术操作的过程中，手术工具更换操作的过程较为复杂，更换速度较慢，容易影响手术机器人进行腹腔镜手术操作的效果。
发明内容
本发明实施例的目的是提供一种控制手柄、器械和微创手术机器人，能够解决现有技术中手术工具更换过程较为复杂，更换速度较慢，容易影响机器人手术操作的问题。
为了解决上述技术问题，本发明是这样实现的：
第一方面，本发明实施例提供了一种控制手柄，用于控制末端工具，包括：手柄本体、活动把手、固定把手、联动机构、滑动机构以及用于安装所述末端工具的连接结构，所述滑动机构和所述联动机构均活动连接于所述手柄本体，其中，
所述活动把手通过所述联动机构与所述滑动机构连接，所述滑动机构远离所述联动机构的一端与所述连接结构连接，所述连接结构与所述末端工具可拆卸连接；
其中，所述活动把手可活动地与所述联动机构连接，以具有工作状态和更换工具状态，在所述工作状态下，所述末端工具保持与所述连接结构的连接，所述活动把手远离或靠近所述固定把手，且所述活动把手相对于所述固定把手运动至最大工作张开角度时，所述活动把手抵靠于所述手柄本体以限制所述最大工作张开角度；在所述更换工具状态下，所述活动把手相对于所述联动机构活动，以脱离与所述手柄本体的抵靠，继续向远离所述固定把手的方向运动至更换工具的解锁位置，通过所述联动机构带动所述滑动机构相对于所述手柄本体活动，以带动所述连接结构外露于所述手柄本体，并通过所述连接结构拆装所述末端工具。
可选地，所述控制手柄还包括：按钮组件，所述联动机构包括第一联动杆；
所述第一联动杆的顶端与所述手柄本体转动连接，所述活动把手通过所述按钮组件与所述第一联动杆活动连接，所述按钮组件与所述第一联动杆活动连接；
所述按钮组件具有锁止状态和解锁状态，在所述锁止状态下，所述活动把手锁止于所述第一联动杆，所述活动把手可切换至所述工作状态；在所述解锁状态下，所述活动把手相对于所述第一联动杆活动并打开，以脱离与所述手柄本体的抵靠，且运动至所述更换工具的解锁位置，以使所述活动把手能够切换至所述更换工具状态。
可选地，所述活动把手上设置有第一安装孔，所述第一联动杆的下端设置有第二安装孔，所述第二安装孔为沿所述第一联动杆的长度方向延伸的长条形结构；
所述按钮组件穿设于所述第一安装孔和所述第二安装孔，用于连接所述活动把手和所述联动机构；所述按钮组件可解锁且可锁止地与所述第二安装孔滑动配合，以具有第一位置和第二位置；
在所述按钮组件连同所述活动把手滑动至所述第一位置时，所述按钮组件与所述第二安装孔锁止，所述按钮组件切换至所述锁止状态；在所述按钮组件连同所述活动把手滑动至所述第二位置时，所述按钮组件与所述第二安装孔解锁，所述按钮组件切换至所述解锁状态。
可选地，所述第二安装孔包括圆孔和长槽孔，所述圆孔设置于所述长槽孔的顶部，且所述圆孔的内径大于所述长槽孔的宽度，所述按钮组件穿设于所述圆孔时位于所述第一位置，所述按钮组件穿设于所述长槽孔时位于所述第二位置。
可选地，所述按钮组件包括：销轴和弹性件，所述销轴包括：依次连接的第一轴段和第二轴段，所述第二轴段的外径大于所述第一轴段的外径；
所述第一轴段、所述第二轴段分别穿设于所述第一安装孔和所述第二安装孔，所述弹性件套设于所述第一轴段上，所述弹性件的两端分别抵靠于所述活动把手和所述第一联动杆；
所述第二轴段的外径大于所述长槽孔的宽度，所述第一轴段的外径小于所述长槽孔的宽度；
在所述按钮组件处于所述锁止状态时，所述弹性件处于压缩状态，所述第二轴段穿设于所述圆孔；在所述按钮组件处于解锁状态时，所述弹性件继续被压缩，以使所述第二轴段穿过所述圆孔，所述第一轴段穿设于所述长槽孔。
可选地，所述活动把手上设置有用于嵌设所述第一联动杆的卡槽，以使所述第一安装孔和所述第二安装孔连通；
所述按钮组件还包括：所述销轴帽和锁止头；所述销轴帽与第一轴段远离第二轴段的一端连接，所述锁止头与第二轴段远离第一轴段的一端连接，所述活动把手和所述第一联动杆设于所述销轴帽和所述锁止头之间；
其中，所述销轴帽和所述锁止头的外径均大于所述第一安装孔的内径；
在所述按钮组件处于所述锁止状态时，所述锁止头抵靠于所述活动把手；在所述按钮组件处于所述解锁状态时，所述锁止头与所述活动把手间隔设置。
可选地，所述滑动机构包括滑块组件和传动杆，所述滑块组件的两端分别与所述传动杆和所述第一联动杆连接；
所述手柄本体上设置有滑槽，所述滑块组件滑动连接于所述滑槽；
所述控制手柄还包括延长套管，所述延长套管与所述手柄本体连接，所述传动杆可伸缩地穿设于所述延长套管，所述传动杆远离所述滑块组件的一端与所述连接结构连接；
在所述活动把手处于所述更换工具状态下时，所述第一联动杆带动所述滑块组件沿所述滑槽滑动，所述滑块组件通过所述传动杆带动所述连接结构 外露于所述延长套管。
可选地，所述联动机构还包括第二联动杆，所述第一联动杆包括第一铰接部和第二铰接部；
所述第一铰接部铰接于所述手柄本体，所述第二铰接部与所述第二联动杆的一端铰接，所述第二联动杆的另一端与所述滑块组件铰接。
可选地，所述第一联动杆上设置有限位柱，所述活动把手上对应设置有第一限位槽；
在所述活动把手切换至工作状态的情况下，所述限位柱卡接在所述第一限位槽内。
可选地，所述控制手柄还包括：与所述手柄本体活动连接的棘轮机构，所述棘轮机构与所述滑块组件配合，以锁止或解锁所述活动把手相对于所述固定把手的角度。
可选地，所述滑块组件包括固定连接的滑块和齿条连接件，所述齿条连接件的两端分别与所述传动杆和所述滑块连接；
所述齿条连接件朝向所述棘轮机构的一侧设置有齿条部，所述棘轮机构包括：驱动件、第一转动轴、扭簧和棘轮齿，所述驱动件与所述第一转动轴连接，所述第一转动轴活动连接于所述手柄本体，所述棘轮齿转动连接于所述第一转动轴，所述扭簧套设于所述第一转动轴，所述扭簧的两端分别与所述棘轮齿和所述手柄本体抵接；
所述棘轮机构包括：连接状态和分离状态，在所述连接状态下，所述驱动件可通过所述第一转动轴驱动所述棘轮齿朝向所述齿条部运动，以使所述棘轮齿和所述齿条部啮合连接，受所述扭簧的作用，可锁止所述活动把手相对所述固定把手的角度；在所述分离状态下，所述驱动件可通过所述第一转动轴驱动所述棘轮齿背离所述齿条部运动，以使所述棘轮齿和所述齿条部分离，可解锁所述活动把手相对于所述固定把手的角度。
可选地，所述手柄本体上设置有限位凸起，所述驱动件可通过所述第一转动轴带动所述棘轮齿运动，在所述棘轮齿与所述限位凸起抵接时，所述棘轮齿沿所述限位凸起滑动，以使所述棘轮齿与所述齿条部啮合连接或分离，可锁定或调整所述活动把手相对所述固定把手的角度。
可选地，所述棘轮机构包括：第二转动轴、第三转动轴和连接件，所述第二转动轴活动连接于所述手柄本体，所述第三转动轴固定连接于所述手柄本体；
所述连接件分别与所述第二转动轴和所述第一转动轴连接，所述驱动件连接于所述第二转动轴，且所述驱动件转动连接于所述第三转动轴，在所述驱动件绕所述第三转动轴转动的过程中，可通过所述第二转动轴带动所述连接件运动，所述连接件的运动可通过第一转动轴带动所述棘轮齿运动。
可选地，所述手柄本体上设置有长条形的第二限位槽和第三限位槽，所述第二限位槽和所述第三限位槽的长度方向沿所述齿条部至所述棘轮齿的方向设置；
所述第一转动轴沿所述第二限位槽的槽壁滑动，所述第二转动轴沿所述第三限位槽的槽壁滑动。
第二方面，本发明实施例提供了一种器械，包括末端工具和上述控制手柄，所述控制手柄与所述末端工具可拆卸连接。
可选地，所述控制手柄的连接结构背离滑动机构的一端设置有用于安装所述末端工具的安装槽。
可选地，所述安装槽的顶部设置有用于安装所述末端工具的开口，所述安装槽包括依次连接的类球形槽和U形槽，U形槽的宽度小于类球形槽的直径；
所述末端工具上设置有相互连接的连接杆和连接头，所述连接头的外径大于所述连接杆的外径；
所述连接头可拆卸地嵌设于所述类球形槽内，所述连接杆可拆卸地嵌设于所述U形槽内。
第三方面，本发明实施例提供了一种微创手术机器人，包括上述器械，
以及用于检测所述器械是否进入工作状态的控制适配器、用于向所述器械提供能量的能量适配器和用于为所述器械提供通道的多功能通道器；
所述器械的末端工具依次穿设于所述控制适配器、所述能量适配器和所述多功能通道器。
在本发明实施例中，所述活动把手与所述联动机构连接，所述联动机构与所述滑动机构连接，所述连接结构与所述滑动机构连接，这样，在所述活动把手切换至更换工具状态下的情况下，所述活动把手可以通过所述联动机构带动所述滑动机构沿所述手柄本体活动，所述滑动机构又可以带动所述连接结构外露于所述手柄本体，以通过所述连接结构拆装所述末端工具，便于更换所述末端工具，使得所述末端工具更换操作的过程较为简单，更换速度较快，便于机器人进行手术操作。
上述说明仅是本发明技术方案的概述，为了能够更清楚了解本发明的技术手段，而可依照说明书的内容予以实施，并且为了让本发明的上述和其它目的、特征和优点能够更明显易懂，以下特举本发明的具体实施方式。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明实施例中的一种控制手柄的结构示意图；
图2是本发明实施例中的另一种控制手柄的结构示意图；
图3是本发明实施例中的一种活动把手的结构示意图；
图4是本发明实施例中的一种第一联动杆的结构示意图；
图5是本发明实施例中的一种按钮组件的结构示意图；
图6是本发明实施例中的另一种活动把手的结构示意图；
图7是本发明实施例中图6中A处的放大结构示意图；
图8是本发明实施例中的一种控制手柄的局部剖面结构示意图；
图9是本发明实施例中的一种活动把手处于未握紧状态的结构示意图；
图10本发明实施例中的一种活动把手处于握紧状态的结构示意图；
图11是本发明实施例中的一种活动把手处于更换工具状态下的结构示意图；
图12是本发明实施例中的一种棘轮机构的结构示意图；
图13是本发明实施例中的手柄本体的结构示意图；
图14是本发明实施例中的一种控制手柄的局部结构示意图；
图15是本发明实施例中的又一种控制手柄的局部结构示意图；
图16是本发明实施例中的一种末端工具的结构示意图。
附图标记说明：
421-末端工具，4211-连接头，4212-连接杆，4213-第一螺纹结构，427-控制手柄，4271-手柄本体，711-限位凸起，712-滑槽，714-第二限位槽，715-第三限位槽，4272-活动把手，721-第一安装孔，722-第一限位槽，723-卡槽，4273-联动机构，731-第二安装孔，7311-圆孔，7312-长槽孔，732-第一联动杆，7321-第一铰接部，7322-第二铰接部，7323-限位柱，733-第二 联动杆，4274-滑动机构，741-滑块组件，7411-滑块，7412-齿条连接件，74121-齿条部，742-传动杆，4275-连接结构，743-安装槽，7431-类球形槽，7432-U形槽，4276-按钮组件，744-销轴，7441-第一轴段，7442-第二轴段，745-弹性件，746-销轴帽，747-锁止头，7443-第三轴段，7444-第四轴段，4278-固定把手，4279-延长套管，751-第二螺纹结构，428-棘轮机构，4281-第一转动轴，4282-扭簧，4283-棘轮齿，4284-驱动件，4285-第二转动轴，4286-第三转动轴，4287-连接件。
具体实施例
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”等所区分的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
下面结合附图1-16，以及通过具体的实施例和其应用场景对本发明实施例提供的控制手柄、器械和微创手术机器人进行详细地说明。
如图1所示，示出了本发明实施例的一种控制手柄的结构示意图，如图2所示，示出了本发明实施例的另一种控制手柄的结构示意图，结合图1、2和9，本发明实施例的控制手柄427可以用于控制末端工具421，具体可以包括：手柄本体4271、活动把手4272、联动机构4273、滑动机构4274以及用于安装末端工具421的连接结构4275，滑动机构4274和联动机构4273均活动连接于手柄本体4271，其中，活动把手4272通过联动机构4273与滑动机构4274连接，滑动机构4274远离联动机构4273的一端与连接结构4275连接，连接结构4275与末端工具421可拆卸连接；其中，活动把手4272可活动地与联动机构4273连接，以具有工作状态和更换工具状态，在 所述工作状态下，末端工具421保持与连接结构4275的连接，活动把手4272可以远离或靠近固定把手4278，且活动把手4272相对于固定把手4278运动至最大工作张开角度时，活动把手4272抵靠于手柄本体4271以限制所述最大工作张开角度；在所述更换工具状态下，活动把手4272相对于联动机构4273活动，以脱离手柄本体4271的抵靠，继续向远离固定把手4278的方向运动至更换工具的解锁位置，通过联动机构4273带动滑动机构4274相对于手柄本体4271活动，以带动连接结构4275外露于手柄本体4271，并可以通过连接结构4275拆装末端工具421。
在本发明实施例中，活动把手4272与联动机构4273连接，联动机构4273与滑动机构4274连接，连接结构4275与滑动机构4274连接，这样，在活动把手4272切换至更换工具状态下的情况下，活动把手4272可以通过联动机构4273带动滑动机构4274沿手柄本体4271活动，滑动机构4274又可以带动连接结构4275外露于手柄本体4271，以通过连接结构4275拆装末端工具421，便于更换末端工具421，使得末端工具421更换操作的过程较为简单，更换速度较快，便于机器人进行手术操作。
本发明实施例中的末端工具421可以是手术机器人进行手术操作的工具，控制手柄427可以是手术机器人操作末端工具421的协助道具，末端工具421可以包括但不限于：剪刀、切刀、钳子以及缝合针等手术工具。
本发明实施例中的手柄本体4271内可以设置有容纳腔，可以用于布置联动机构4273、滑动机构4274以及连接结构4275，而且，联动机构4273、滑动机构4274以及连接结构4275均可以在所述容纳腔内活动。具体地，滑动机构4274可以滑动连接于手柄本体4271，并可以带动连接结构4275沿手柄本体4271滑动，这样，在连接结构4275外露于手柄本体4271的情况下，便于更换和安装末端工具421。
具体地，活动把手4272的工作状态可以包括握紧状态和未握紧状态，如图9和图10所示，活动把手4272均处于工作状态，如图9所示，活动把手4272处于未握紧状态，活动把手4272与手柄本体4271抵接，手柄本体4271可以阻挡活动把手4272活动的最大张开角度，避免活动把手4272意外切换至更换工具状态，可以避免末端工具421在手术过程中意外脱落。如图10所示，活动把手4272处于握紧状态，在工作状态下，活动把手4272在握 紧状态和最大张开角度之间活动，由于活动把手4272与联动机构4273连接，联动机构4273与滑动机构4274连接，滑动机构4274与连接结构4275连接，连接结构4275可以安装末端工具421，使得通过对活动把手4272的操作即可控制末端工具421，而且便于手术机器人通过活动把手4272操控末端工具421进行手术。
具体地，活动把手4272相对于联动机构7273运动，可以转换至更换工具状态下，使得活动把手4272可以自由活动，且不受手柄本体4271的限制，在活动把手4272活动的过程中，可以通过联动机构4273、滑动机构4274带动连接结构4275外露于手柄本体4271外，便于将末端工具421安装在连接结构4275上，或者将末端工具421从连接结构4275上拆卸，便于安装和更换末端工具421。如图11所示，沿箭头方向推动活动把手4272，联动机构4273随着活动把手4272一起沿箭头方向运动，滑动机构4274随着联动机构4273一起沿箭头方向运动，连接结构4275随着滑动机构4274一起沿箭头方向运动，并外露于手柄本体4271。
具体地，所述最大工作张开角度为活动把手4272抵靠于手柄本体4271时，活动把手4272与固定把手4278之间的夹角，具体地，如图1所示的θ角值为最大工作张开角度。
可选地，活动把手4272可以为环形结构件。在实际应用中，活动把手4272为环形结构件，便于握持活动把手4272，以使活动把手4272远离或靠近固定把手4278。
如图3所示，活动把手4272的环形部分可以是人手操作的插入部分，插入手指后，可以向前或向后推动活动把手4272。
可选地，控制手柄427还可以包括：按钮组件4276，联动机构4273包括第一联动杆732；第一联动杆732的顶端与手柄本体4271转动连接，活动把手4272通过按钮组件4276与第一联动杆732活动连接，按钮组件4276与第一联动杆732活动连接；按钮组件4276具有锁止状态和解锁状态，在所述锁止状态下，活动把手4272锁止于第一联动杆732，活动把手4272可切换至工作状态；在所述解锁状态下，活动把手4272相对于第一联动杆732活动并打开，以脱离与手柄本体4271的抵靠，且运动至所述更换工具的解锁位置，以使活动把手4272能够切换至所述更换工具状态。
在本发明实施例中，按钮组件4276可以在锁止状态和解锁状态之间切换，通过按钮组件4276即可调整活动把手4272与第一联动杆732之间的相对状态，便于将活动把手4272调整至工作状态或更换工具状态，操作较为方便、快捷。
如图9和图10所示，按钮组件4276均调整至锁止状态，活动把手4272可以调整至工作状态，活动把手4272可以靠近或远离固定把手4278，活动把手4272和固定把手4278之间的夹角不超过最大工作张开角度。如图11所示，按钮组件4276调整至解锁状态，活动把手4272可以调整至更换工具状态，活动把手4272和固定把手4278之间的夹角可以超过最大工作张开角度，以便于活动把手4272通过第一联动杆732和滑动机构4274带动连接机构外露于手柄本体4271，进行拆装末端工具421。
可选地，活动把手4272上可以设置有第一安装孔721，第一联动杆732上可以设置有第二安装孔731，第二安装孔731为沿第一联动杆732的长度方向延伸的长条形结构；按钮组件4276可以穿设于第一安装孔721和第二安装孔731，可以用于连接活动把手4272和联动机构4273；按钮组件4276可解锁且可锁止地与第二安装孔731滑动配合，以具有第一位置和第二位置；在按钮组件4276连同活动把手4272滑动至第一位置时，按钮组件4276可以切换至锁止状态；在按钮组件4276连同活动把手4272滑动至第二位置时，按钮组件4276可以切换至解锁状态。
在本发明实施例中，按钮组件4276穿设于第一安装孔721和第二安装孔731，可以连接活动把手4272和第一联动杆732，而且，按钮组件4276沿第二安装孔731滑动可以在第一位置和第二位置之间切换，按钮组件4276切换至第一位置时，可以切换至锁止状态，便于活动把手4272切换至工作状态；按钮组件4276滑动至第二位置时，可以切换至解锁状态，便于活动把手4272切换至更换工具状态。在本发明实施例中，通过调整按钮组件4276的位置即可调整活动把手4272的使用状态，较为便捷。
具体地，第一安装孔721可以为贯通的通孔，按钮组件4276可以在第一安装孔721内自由活动，具体地，按钮组件4276可以沿第一安装孔721的中心线方向自由活动。第二安装孔731可以是贯通的通孔，按钮组件4276也可以在第二安装孔731内自由活动，具体地，按钮组件4276可以沿 第二安装孔731的长度方向和厚度方向自由活动。进一步地，通过按压按钮组件4276即可调整按钮组件4276的位置。
进一步地，第一安装孔721可以为圆形孔、方形孔或者不规则形状的孔，第一安装孔721可以与按钮组件4276的结构适配，具体可根据按钮组件4276的结构进行设置，本实用新型实施例对此不做具体限定。
如图4所示，第二安装孔731可以包括圆孔7311和长槽孔7312，圆孔7311可以设置在长槽孔7312的顶部，且圆孔7311的内径可以大于长槽孔7312的宽度，按钮组件4276穿设于圆孔7311时可以位于第一位置，按钮组件4276穿设于长槽孔7312时可以位于第二位置。
在本发明实施例中，圆孔7311的内径大于长槽孔7312的宽度，使得圆孔7311和长槽孔7312的尺寸不一致，由于按钮组件4276穿设于圆孔7311时可以位于第一位置，按钮组件4276穿设于长槽孔7312时可以位于第二位置，便于按钮组件4276进行位置切换。
具体地，沿圆孔7311至长槽孔7312的方向可以为第二安装孔731的长度方向，圆孔7311的轴向方向为第二安装孔731的厚度方向，第二安装孔731的宽度方向分别与所述长度方向和厚度方向垂直，长槽孔7312的宽度方向与第二安装孔731的宽度方向一致。
如图2所示，圆孔7311可以靠近手柄本体4271设置，长槽孔7312可以远离手柄本体4271设置，圆孔7311的直径可以大于长槽孔7312的宽度。具体地，长槽孔7312可以为长条形结构。
如图5所示，按钮组件4276可以包括：销轴744和弹性件745，销轴744包括：依次连接的第一轴段7441和第二轴段7442，第二轴段7442的外径可以大于第一轴段7441的外径；第一轴段7441、第二轴段7442可以分别穿设于第一安装孔721和第二安装孔731，弹性件745可以套设于第一轴段7441上，弹性件745的两端可以分别抵靠于活动把手4272和第一联动杆732；第二轴段7442的外径可以大于长槽孔7312的宽度，第一轴段7441的外径可以小于长槽孔7312的宽度；在按钮组件4276处于锁止状态时，弹性件745可以处于压缩状态，第二轴段7442可以穿设于圆孔7311；在按钮组件4276处于解锁状态时，弹性件745可以继续被压缩，以使第二轴段7442可以穿过圆孔7311，第一轴段7441可以穿设于长槽孔7312。
在本发明实施例中，弹性件745套设于第一轴段7441上，且两端分别抵靠于活动把手4272和第一联动杆732。第二轴段7442的外径大于长槽孔7312的宽度，使得第二轴段7442只能穿设于圆孔7311，第一轴段7441的外径小于长槽孔7312的宽度，使得第一轴段7441可以穿设于圆孔7311和长槽孔7312，这样，通过调整弹性件745压缩状态，即可调整第一轴段7441或者第二轴段7442穿设于圆孔7311，便于切换按钮组件4276的使用状态。
具体地，弹性件745可以为拉伸弹簧或者扭簧等结构，本发明实施例对此不作具体限定。
具体地，第一轴段7441和第二轴段7442的外径均可以小于第一安装孔721的内径，以便于将第一轴段7441和第二轴段7442穿设于第一安装孔721。
具体地，圆孔7311靠近手柄本体4271设置，将第二轴段7442穿设在圆孔7311内时，按钮组件4276可以切换至锁止状态，活动把手4272可以切换至工作状态，手柄本体4271可以限位活动把手4272的活动范围，避免活动把手4272切换至更换工具状态。
具体地，长槽孔7312远离手柄本体4271设置，如图11所示，将第一轴段7441穿设在圆孔7311内时，第一轴段7441可以从圆孔7311滑动至长槽孔7312内，按钮组件4276可以切换至解锁状态，活动把手4272可以切换至更换工具状态，活动把手4272可以相对手柄本体4271自由活动，便于调整活动把手4272的位置，以进行拆装末端工具421。
如图5所示，第二轴段7442的外径可以大于长槽孔7312的宽度，并小于圆孔7311的内径，第二轴段7442可以穿设于圆孔7311，但是无法穿设于长槽孔7312，使得按钮组件4276可以稳定维持在锁止状态。第一轴段7441的外径可以小于长槽孔7312的宽度，施加压力至第一轴段7441，弹性件745被压缩，第一轴段7441可以先穿设于圆孔7311，再从圆孔7311滑动至长槽孔7312内，在第二轴段7442和弹性件745的作用下，第一轴段7441可以穿设在长槽孔7312内，使得按钮组件4276可以稳定维持在解锁状态。
如图6所示，活动把手4272上可以设置有用于嵌设第一联动杆732的卡槽723，以使第一安装孔721和第二安装孔731连通；如图5所示，按钮 组件4276还可以包括：销轴帽746和锁止头747；销轴帽746可以与第一轴段7441远离第二轴段7442的一端连接，锁止头747可以与第二轴段7442远离第一轴段7441的一端连接，活动把手4272和第一联动杆732可以设于销轴帽746和锁止头747之间；其中，销轴帽746和锁止头747的外径均可以大于第一安装孔721的内径；在按钮组件4276处于锁止状态时，锁止头747可以抵靠于活动把手4272；在按钮组件4276处于解锁状态时，锁止头747可以与活动把手4272间隔设置。
在本发明实施例中，由于活动把手4272和联动机构4273设于销轴帽746和锁止头747之间，第一联动杆732嵌设在活动把手4272上的卡槽723内，使得销轴帽746和锁止头747分别与活动把手4272的两侧抵接，由于销轴帽746和锁止头747的外径均大于第一安装孔721的内径，使得销轴帽746和锁止头747可以起到阻挡的作用，可以避免第一轴段7441和第二轴段7442从第一安装孔721内脱落，提高活动把手4272和联动机构4273连接的稳定性。
如图5所示，销轴744还可以包括第三轴段7443，第三轴段7443的一端可以与销轴帽746连接，另一端可以与第一轴段7441连接，第三轴段7443可以穿设于第一安装孔721；第三轴段7443的外径可以小于第一安装孔721的内径，并可以大于长槽孔7312的宽度。销轴744还可以包括第四轴段7444，第四轴段7444的一端可以与第二轴段7442连接，另一端可以与锁止头747连接，第四轴段7444可以穿设于第一安装孔721；第四轴段7444的外径可以小于第一安装孔721的内径。
具体地，销轴帽746、第一轴段7441、第二轴段7442、第三轴段7443和第四轴段7444可以为一体式结构，锁止头747上可以设置有穿设孔，所述穿设孔可以与第四轴段7444过盈配合。
如图2所示，滑动机构4274可以包括：滑块组件741和传动杆742，滑块组件741可以与第一联动杆732连接；手柄本体4271上可以设置有滑槽712，滑块组件741可以滑动连接于滑槽712；控制手柄427还可以包括延长套管4279，延长套管4279可以与手柄本体4271连接，如图8和15所示，传动杆742可伸缩地穿设于延长套管4279，传动杆742远离滑块组件741的一端可以与连接结构4275连接；在活动把手4272处于更换工具状态下 时，第一联动杆732可以带动滑块组件741沿滑槽712滑动，滑块组件741可以通过传动杆742带动连接结构4275外露于延长套管4279。
在本发明实施例中，滑块组件741可以滑动连接于滑槽712，可以提高滑块组件741沿手柄本体4271滑动的稳定性。传动杆742可以在延长套管4279内伸缩，并可以带动连接结构4275外露于延长套管4279，进行末端工具421的拆卸。而且，延长套管4279与手柄本体4271连接，可以增加控制手柄427的长度，进而可以增加末端工具421的操作长度，有利于进行手术操作。
具体地，滑块组件741只能在滑槽712内滑动，可以限定滑块组件741的运动轨迹。
具体地，滑动机构4274可以通过销钉与联动机构4273固定，在此情况下，还可以使用销钉代替滑块组件741，即可以通过销钉在滑槽712内滑动实现滑动机构4274与手柄本体4271的滑动连接。
可选地，联动机构4273可以包括：第二联动杆733，第一联动杆732包括第一铰接部7321和第二铰接部7322；第一铰接部7321可以铰接于手柄本体4271，第二铰接部7322可以与第二联动杆733的一端铰接，第二联动杆733的另一端可以与滑块组件741铰接。
在本发明实施例中，第一联动杆732的第一铰接部7321与手柄本体4271铰接，可以提高第一联动杆732相对手柄活动的稳定性和可靠性；第一联动杆732的第二铰接部7322与第二联动杆733铰接，可以提高第一联动杆732带动第二联动杆733活动的稳定性和可靠性；第二联动杆733与滑块组件741铰接，可以提高第二联动杆733带动滑块组件741活动的稳定性和可靠性。
如图2所示，第一联动杆732随着活动把手4272向外运动时，第二联动杆733随着第一联动杆732向外运动，滑块组件741随着第二联动杆733向外运动，传动杆742可以随着滑块组件741向外运动，连接结构4275可以随着传动杆742外露于延长套管4279。
具体地，第一联动杆732和手柄本体4271之间可以通过销钉铰接，第一联动杆732和第二联动杆733之间可以通过销钉铰接，第二联动杆733与滑块组件741之间可以通过销钉铰接。
如图3和4所示，第一联动杆732上设置有限位柱7323，活动把手4272上对应设置有第一限位槽722；在活动把手4272切换至工作状态的情况下，限位柱7323可以卡接在第一限位槽722内。在本发明实施例中，活动把手4272处于工作状态下时，可以进一步提高活动把手4272与第一联动杆732连接的稳定性，便于活动把手4272带动第一联动杆732运动。
具体地，由图9至图10的过程中，活动把手4272逐渐靠近固定把手4278，由于限位柱7323卡接在第一限位槽722内，活动把手4272可以带动第一联动杆732运动。
具体地，固定把手4278可以沿手柄本体4271弯折，在活动把手4272处于工作状态下时，活动把手4272和固定把手4278之间可以成预设夹角θ，预设夹角θ可以小于90°，便于对活动把手4272施加握紧力，以使活动把手4272靠近固定把手4278。
具体地，在实际应用中，末端工具421可以为钳子或者剪刀等夹具，握紧活动把手4272，使得活动把手4272靠近固定把手4278，可以操控钳子和剪刀进行夹持或者剪切等手术操作。
如图12所示，控制手柄427还可以包括：与手柄本体4271活动连接的棘轮机构428，棘轮机构428可以与滑块组件741配合，以锁止或解锁活动把手4272相对于固定把手4278的角度。
在本发明实施例中，棘轮机构428与滑块组件741配合，可以锁止活动把手4272相对于固定把手4278的角度，这样，可以避免在手术过程中因疲劳造成活动把手4272相对固定把手4278活动，提高手术操作过程中的安全性。而且，棘轮机构428与滑块组件741配合，还可以解锁活动把手4272相对于固定把手4278的角度，便于调整活动把手4272的位置。
具体地，在活动把手4272处于工作状态时，可以使用棘轮机构428和滑块组件741配合锁止活动把手4272相对于固定把手4278的角度，以避免末端工具421的使用状态在手术过程中出现变化，提高手术的安全性。在活动把手4272需要切换至更换工具状态时，可以先使用棘轮机构428和滑块组件741配合解锁活动把手4272相对于固定把手4278的角度，以便于调整活动把手4272的位置。
如图12所示，滑块组件741可以包括固定连接的滑块7411和齿条连接 件7412，齿条连接件7412的两端可以分别与传动杆742和滑块7411连接；齿条连接件7412朝向棘轮机构428的一侧设置有齿条部74121，棘轮机构428包括：驱动件4284、第一转动轴4281、扭簧4282和棘轮齿4283，驱动件4284与第一转动轴4281连接，第一转动轴4281活动连接于手柄本体4271，棘轮齿4283可以转动连接于第一转动轴4281，扭簧4282可以套设于第一转动轴4281，扭簧4282的两端可以分别与棘轮齿4283和手柄本体4271抵接；棘轮机构428可以包括：连接状态和分离状态，在所述连接状态下，驱动件4284可通过第一转动轴4281驱动棘轮齿4283朝向齿条部74121运动，以使棘轮齿4283可以与齿条部74121啮合连接，受扭簧4282的作用，可以锁止活动把手4272相对固定把手4278的角度；在所述分离状态下，驱动件4284可以通过第一转动轴4281驱动棘轮齿4283背离齿条部74121运动，以使棘轮齿4283和齿条部74121分离，可解锁活动把手4272相对固定把手4278的角度。
在本发明实施例中，滑块组件741的齿条连接件7412上设有齿条部74121，棘轮机构428包括棘轮齿4283，驱动件4284可以通过第一转动轴4281驱动棘轮齿4283朝向齿条部74121运动或者背离齿条部74121运动，使得棘轮齿4283可以与齿条部74121啮合连接或者分离，可以实现滑块组件741与棘轮机构428的配合。
具体地，由于扭簧4282套设在第一转动轴4281上，且棘轮齿4283转动连接于第一转动轴4281，这样，在扭簧4282的扭力作用下，驱动件4284对第一转动轴4281的驱动力消失时，棘轮齿4283可以一直保持与齿条部74121啮合连接，可以锁定活动把手4272相对于固定把手4278的角度，避免末端工具421的使用状态改变。
如图13所示，手柄本体4271上设置有限位凸起711，驱动件4284可以通过第一转动轴4281带动棘轮齿4283运动，在棘轮齿4283与限位凸起711抵接时，棘轮齿4283可以沿限位凸起711滑动，以使棘轮齿4283可以与齿条部74121啮合连接或分离，可以锁定或调整活动把手4272相对固定把手4278的角度。
具体地，传动杆742和齿条连接件7412之间可以直接连接，或者，传动杆742和齿条连接件7412之间还可以通过连接杆连接，本发明实施例对 此不作具体限定。
在本发明实施例中，在扭簧4282和限位凸起711的作用下，便于调整棘轮齿4283相对齿条部74121啮合连接或分离，进而便于调整活动把手4272相对固定把手4278的角度。
具体地，在需要对棘轮机构428解锁活动把手4272相对手柄本体4271的角度时，驱动件4284可以驱动第一转动轴4281转动，在第一转动轴4281带动棘轮齿4283活动至与限位凸起711抵接的情况下，限位凸起711可以对棘轮齿4283产生作用力，以抵消扭簧4282的弹力，使得棘轮齿4283的活动方向改变，棘轮齿4283沿限位凸起711向下运动，与齿条部74121分离。在需要棘轮机构428锁定活动把手4272相对手柄本体4271的角度时，驱动件4284可以驱动第一转动轴4281沿限位凸起711向上运动，使得棘轮齿4283和齿条部74121啮合连接。
可选地，棘轮机构428可以包括：第二转动轴4285、第三转动轴4286和连接件4287，第二转动轴4285可以活动连接于手柄本体4271，第三转动轴4286可以固定连接于手柄本体4271；连接件4287可以分别与第二转动轴4285和第一转动轴4281连接，驱动件4284可以连接于第二转动轴4285，且驱动件4284可以转动连接于第三转动轴4286，在驱动件4284绕第三转动轴4286转动的过程中，可以通过第二转动轴4285带动连接件4287运动，连接件4287的运动可以通过第一转动轴4281带动棘轮齿4283运动。
在本发明实施例中，连接件4287分别与第一转动轴4281和第二转动轴4285连接，驱动件4284与第二转动轴4285连接，第一转动轴4281和棘轮齿4283连接，在第一转动轴4281、连接件4287和第二转动轴4285的作用下，可以实现驱动件4284和棘轮齿4283的联动，便于实现驱动件4284驱动棘轮齿4283运动。
如图12所示，棘轮齿4283背离齿条部74121的一侧可以设有凸起部，扭簧4282的一端可以与所述凸起部抵接，另一端可以与第三转动轴4286抵接。
可选地，手柄本体4271上可以设置有第二限位槽714和第三限位槽715，第二限位槽714和第三限位槽715的长度方向可以沿齿条部74121至棘轮齿4283的方向设置；第一转动轴4281可以沿第二限位槽714的槽壁滑 动，第二转动轴4285可以沿第三限位槽715的槽壁滑动。
在本发明实施例中，第一转动轴4281可以在第二限位槽714内活动，使得第二限位槽714可以限制第一转动轴4281的活动范围，可以提高第一转动轴4281活动连接于手柄本体4271的稳定性和可靠性。第二转动轴4285可以在第三限位槽715内活动，使得第三限位槽715可以限制第二转动轴4285活动范围，可以提高第二转动轴4285活动连接于手柄本体4271的稳定性和可靠性。
本发明实施例所述的控制手柄至少包括以下优点：
在本发明实施例中，所述活动把手与所述联动机构连接，所述联动机构与所述滑动机构连接，所述连接结构与所述滑动机构连接，这样，在所述活动把手切换至更换工具状态下的情况下，所述活动把手可以通过所述联动机构带动所述滑动机构沿所述手柄本体活动，所述滑动机构又可以带动所述连接结构外露于所述手柄本体，以通过所述连接结构拆装所述末端工具，便于更换所述末端工具，使得所述末端工具更换操作的过程较为简单，更换速度较快，便于机器人进行手术操作。
第二方面，本发明实施例还公开了一种器械，可以包括末端工具421和上述控制手柄427，控制手柄427可以与末端工具421可拆卸连接。
具体地，控制手柄427包括连接结构4275，末端工具421可以与连接结构4275可拆卸连接。末端工具421的一端设置有用于与连接结构4275可拆卸连接的连接头4211，另一端设置有用于执行手术操作的剪刀、镊子、钳子等工具。
如图14和15所示，控制手柄427的连接结构4275背离滑动机构4274的一端可以设置有用于安装末端工具421的安装槽743。在实际应用中，在连接结构4275上设置安装槽743，便于将末端工具421固定在连接结构4275上。
具体地，滑动机构4274包括传动杆742，连接结构4275的一端与传动杆742连接，另一端设有安装槽743。传动杆742可伸缩地穿设于延长套管4279内，可以带动连接结构4275外露于延长套管4279外，便于将末端工具421安装或拆卸于安装槽743。
如图15所示，安装槽743的顶部可以设置有用于安装末端工具421的 开口，安装槽743可以包括依次连接的类球形槽7431和U形槽7432，U形槽7432的宽度可以小于类球形槽7431的直径；如图16所示，末端工具421上可以设置有相互连接的连接杆4212和连接头4211，连接头4211的外径可以大于连接杆4211的外径；连接头4211可拆卸地嵌设于类球形槽7431内，连接杆4211可拆卸地嵌设于U形槽7432内。
在本发明实施例中，由于类球形槽7431的直径大于U形槽7432的宽度，这样，将连接头4211嵌设在类球形槽7431内，将连接杆4211嵌设在U形槽7432内，可以将末端工具421固定在安装槽743内。而且，还可以将连接头4211从类球形槽7431内拆卸，将连接杆4211从U形槽7432内拆卸，便于更换末端工具421。
具体地，安装槽743的顶部可以设置有开口，连接头4211可以从开口处放入或拿出类球形槽7431；连接杆4211可以从开口处放入或拿出U形槽7432。
具体地，类球形槽7431可以是近似于球形、只包括球形一部分的槽，连接头4211的尺寸和类球形槽7431的尺寸适配，连接头4211的形状可以是球形或者类球形。
具体地，连接杆4211的尺寸和U形槽7432的尺寸适配，连接杆4211可以是圆柱体结构或者立方体结构。
如图15和16所示，末端工具421上可以设置有第一螺纹结构4213，控制手柄427的延长套管4279的内壁上可以设置有对应的第二螺纹结构751，在将连接头4211嵌设在类球形槽7431内，将连接杆4211嵌设在U形槽7432内后，将第一螺纹结构4213与第二螺纹结构751螺纹拧紧即可完成末端工具421和控制手柄427的连接。
本发明实施例所述的器械至少包括以下优点：
在本发明实施例中，所述活动把手与所述联动机构连接，所述联动机构与所述滑动机构连接，所述连接结构与所述滑动机构连接，这样，在所述活动把手切换至更换工具状态下的情况下，所述活动把手可以通过所述联动机构带动所述滑动机构沿所述手柄本体活动，所述滑动机构又可以带动所述连接结构外露于所述手柄本体，以通过所述连接结构拆装所述末端工具，便于更换所述末端工具，使得所述末端工具更换操作的过程较为简 单，更换速度较快，便于机器人进行手术操作。
第三方面，本发明实施例还公开了一种微创手术机器人，可以包括上述器械，以及用于检测器械是否进入工作状态的控制适配器、用于向器械提供能量的能量适配器和用于为所述器械提供通道的多功能通道器；器械的末端工具可以依次穿设于控制适配器、能量适配器和多功能通道器。
具体地，控制适配器可以检测医生是否存在，还可以为器械的控制手柄提供支撑。能量适配器可以为器械提供旋转和单级或双极能源。多功能通道器可以指向人体腹腔，以使得末端工具从多功能通道器穿过之后可以进入人体腹腔。
本发明实施例所述的微创手术机器人至少包括以下优点：
在本发明实施例中，所述活动把手与所述联动机构连接，所述联动机构与所述滑动机构连接，所述连接结构与所述滑动机构连接，这样，在所述活动把手切换至更换工具状态下的情况下，所述活动把手可以通过所述联动机构带动所述滑动机构沿所述手柄本体活动，所述滑动机构又可以带动所述连接结构外露于所述手柄本体，以通过所述连接结构拆装所述末端工具，便于更换所述末端工具，使得所述末端工具更换操作的过程较为简单，更换速度较快，便于机器人进行手术操作。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本发明实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
上面结合附图对本发明的实施例进行了描述，但是本发明并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本发明的启示下，在不脱离本发明宗旨和权 利要求所保护的范围情况下，还可做出很多形式，均属于本发明的保护之内。

Claims (18)

  1. 一种控制手柄，用于控制末端工具，其特征在于，所述控制手柄包括：手柄本体(4271)、活动把手(4272)、固定把手(4278)、联动机构(4273)、滑动机构(4274)以及用于安装所述末端工具(421)的连接结构(4275)，所述滑动机构(4274)和所述联动机构(4273)均活动连接于所述手柄本体(4271)，其中，
    所述活动把手(4272)通过所述联动机构(4273)与所述滑动机构(4274)连接，所述滑动机构(4274)远离所述联动机构(4273)的一端与所述连接结构(4275)连接，所述连接结构(4275)与所述末端工具(421)可拆卸连接；
    其中，所述活动把手(4272)可活动地与所述联动机构(4273)连接，以具有工作状态和更换工具状态，在所述工作状态下，所述末端工具(421)保持与所述连接结构(4275)的连接，所述活动把手(4272)远离或靠近所述固定把手(4278)，且所述活动把手(4272)相对于所述固定把手(4278)运动至最大工作张开角度时，所述活动把手(4272)抵靠于所述手柄本体(4271)以限制所述最大工作张开角度；在所述更换工具状态下，所述活动把手(4272)相对于所述联动机构(4273)活动，以脱离与所述手柄本体(4271)的抵靠，继续向远离所述固定把手(4278)的方向运动至更换工具的解锁位置，通过所述联动机构(4273)带动所述滑动机构(4274)相对于所述手柄本体(4271)活动，以带动所述连接结构(4275)外露于所述手柄本体(4271)，并通过所述连接结构(4275)拆装所述末端工具(421)。
  2. 根据权利要求1所述的控制手柄，其特征在于，所述控制手柄(427)还包括按钮组件(4276)，所述联动机构(4273)包括第一联动杆(732)；
    所述第一联动杆(732)的顶端与所述手柄本体(4271)转动连接，所述活动把手(4272)通过所述按钮组件(4276)与所述第一联动杆(732)活动连接，所述按钮组件(4276)与所述第一联动杆(732)活动连接；
    所述按钮组件(4276)具有锁止状态和解锁状态，在所述锁止状态下，所述活动把手(4272)锁止于所述第一联动杆(732)，所述活动把手(4272)可切换至所述工作状态；在所述解锁状态下，所述活动把手(4272)相对于所述第一联动杆(732)活动并打开，以脱离与所述手柄本体(4271)的抵靠，且运动至所述更换工具的解锁位置，以使所述活动把手(4272)能够切 换至所述更换工具状态。
  3. 根据权利要求2所述的控制手柄，其特征在于，所述活动把手(4272)上设置有第一安装孔(721)，所述第一联动杆(732)的下端设置有第二安装孔(731)，所述第二安装孔(731)为沿所述第一联动杆(732)的长度方向延伸的长条形结构；
    所述按钮组件(4276)穿设于所述第一安装孔(721)和所述第二安装孔(731)，用于连接所述活动把手(4272)和所述联动机构(4273)；所述按钮组件(4276)可解锁且可锁止地与所述第二安装孔(731)滑动配合，以具有第一位置和第二位置；
    在所述按钮组件(4276)连同所述活动把手(4272)滑动至所述第一位置时，所述按钮组件(4276)与所述第二安装孔(731)锁止，所述按钮组件(4276)切换至所述锁止状态；在所述按钮组件(4276)连同所述活动把手(4272)滑动至所述第二位置时，所述按钮组件(4276)与所述第二安装孔(731)解锁，所述按钮组件(4276)切换至所述解锁状态。
  4. 根据权利要求3所述的控制手柄，其特征在于，所述第二安装孔(731)包括圆孔(7311)和长槽孔(7312)，所述圆孔(7311)设置于所述长槽孔(7312)的顶部，且所述圆孔(7311)的内径大于所述长槽孔(7312)的宽度，所述按钮组件(4276)穿设于所述圆孔(7311)时位于所述第一位置，所述按钮组件(4276)穿设于所述长槽孔(7312)时位于所述第二位置。
  5. 根据权利要求4所述的控制手柄，其特征在于，所述按钮组件(4276)包括销轴(744)和弹性件(745)，所述销轴(744)包括：依次连接的第一轴段(7441)和第二轴段(7442)，所述第二轴段(7442)的外径大于所述第一轴段(7441)的外径；
    所述第一轴段(7441)、所述第二轴段(7442)分别穿设于所述第一安装孔(721)和所述第二安装孔(731)，所述弹性件(745)套设于所述第一轴段(7441)上，所述弹性件(745)的两端分别抵靠于所述活动把手(4272)和所述第一联动杆(732)；
    所述第二轴段(7442)的外径大于所述长槽孔(7312)的宽度，所述第一轴段(7441)的外径小于所述长槽孔(7312)的宽度；
    在所述按钮组件(4276)处于所述锁止状态时，所述弹性件(745)处于压缩状态，所述第二轴段(7442)穿设于所述圆孔(7311)；在所述按钮组件(4276)处于解锁状态时，所述弹性件(745)继续被压缩，以使所述第二轴段(7442)穿过所述圆孔(7311)，所述第一轴段(7441)穿设于所述长槽孔(7312)。
  6. 根据权利要求5所述的控制手柄，其特征在于，所述活动把手(4272)上设置有用于嵌设所述第一联动杆(732)的卡槽(723)，以使所述第一安装孔(721)和所述第二安装孔(731)连通；
    所述按钮组件(4276)还包括所述销轴帽(746)和锁止头(747)；所述销轴帽(746)与第一轴段(7441)远离第二轴段(7442)的一端连接，所述锁止头(747)与第二轴段(7442)远离第一轴段(7441)的一端连接，所述活动把手(4272)和所述第一联动杆(732)设于所述销轴帽(746)和所述锁止头(747)之间；
    其中，所述销轴帽(746)和所述锁止头(747)的外径均大于所述第一安装孔(721)的内径；
    在所述按钮组件(4276)处于所述锁止状态时，所述锁止头(747)抵靠于所述活动把手(4272)；在所述按钮组件(4276)处于所述解锁状态时，所述锁止头(747)与所述活动把手(4272)间隔设置。
  7. 根据权利要求2所述的控制手柄，其特征在于，所述滑动机构(4274)包括滑块组件(741)和传动杆(742)，所述滑块组件(741)的两端分别与所述传动杆(742)和所述第一联动杆(732)连接；
    所述手柄本体(4271)上设置有滑槽(712)，所述滑块组件(741)滑动连接于所述滑槽(712)；
    所述控制手柄(427)还包括延长套管(4279)，所述延长套管(4279)与所述手柄本体(4271)连接，所述传动杆(742)可伸缩地穿设于所述延长套管(4279)，所述传动杆(742)远离所述滑块组件(741)的一端与所述连接结构(4275)连接；
    在所述活动把手(4272)处于所述更换工具状态下时，所述第一联动杆(732)带动所述滑块组件(741)沿所述滑槽(712)滑动，所述滑块组件(741)通过所述传动杆(742)带动所述连接结构(4275)外露于所述延长 套管(4279)。
  8. 根据权利要求7所述的控制手柄，其特征在于，所述联动机构(4273)还包括第二联动杆(733)，所述第一联动杆(732)包括第一铰接部(7321)和第二铰接部(7322)；
    所述第一铰接部(7321)铰接于所述手柄本体(4271)，所述第二铰接部(7322)与所述第二联动杆(733)的一端铰接，所述第二联动杆(733)的另一端与所述滑块组件(741)铰接。
  9. 根据权利要求2所述的控制手柄，其特征在于，所述第一联动杆(732)上设置有限位柱(7323)，所述活动把手(4272)上对应设置有第一限位槽(722)；
    在所述活动把手(4272)切换至工作状态的情况下，所述限位柱(7323)卡接在所述第一限位槽(722)内。
  10. 根据权利要求7所述的控制手柄，其特征在于，所述控制手柄还包括：与所述手柄本体(4271)活动连接的棘轮机构(428)，所述棘轮机构(428)与所述滑块组件(741)配合，以锁止或解锁所述活动把手(4272)相对于所述固定把手(4278)的角度。
  11. 根据权利要求10所述的控制手柄，其特征在于，所述滑块组件(741)包括固定连接的滑块(7411)和齿条连接件(7412)，所述齿条连接件(7412)的两端分别与所述传动杆(742)和所述滑块(7411)连接；
    所述齿条连接件(7412)朝向所述棘轮机构(428)的一侧设置有齿条部(7221)，所述棘轮机构(428)包括：驱动件(4284)、第一转动轴(4281)、扭簧(4282)和棘轮齿(4283)，所述驱动件(4284)与所述第一转动轴(4281)连接，所述第一转动轴(4281)活动连接于所述手柄本体(4271)，所述棘轮齿(4283)转动连接于所述第一转动轴(4281)，所述扭簧(4282)套设于所述第一转动轴(4281)，所述扭簧(4282)的两端分别与所述棘轮齿(4283)和所述手柄本体(4271)抵接；
    所述棘轮机构(428)包括：连接状态和分离状态，在所述连接状态下，所述驱动件(4284)可通过所述第一转动轴(4281)驱动所述棘轮齿(4283) 朝向所述齿条部(7221)运动，以使所述棘轮齿(4283)和所述齿条部(7221)啮合连接，受所述扭簧(4282)的作用，可锁止所述活动把手(4272)相对所述固定把手(4278)的角度；在所述分离状态下，所述驱动件(4284)可通过所述第一转动轴(4281)驱动所述棘轮齿(4283)背离所述齿条部(7221)运动，以使所述棘轮齿(4283)和所述齿条部(7221)分离，可解锁所述活动把手(4272)相对于所述固定把手(4278)的角度。
  12. 根据权利要求11所述的控制手柄，其特征在于，所述手柄本体(4271)上设置有限位凸起(711)，所述驱动件(4284)可通过所述第一转动轴(4281)带动所述棘轮齿(4283)运动，在所述棘轮齿(4283)与所述限位凸起(711)抵接时，所述棘轮齿(4283)沿所述限位凸起(711)滑动，以使所述棘轮齿(4283)与所述齿条部(7221)啮合连接或分离，可锁定或调整所述活动把手(4272)相对所述固定把手(4278)的角度。
  13. 根据权利要求11所述的控制手柄，其特征在于，所述棘轮机构(428)包括：第二转动轴(4285)、第三转动轴(4286)和连接件(4287)，所述第二转动轴(4285)活动连接于所述手柄本体(4271)，所述第三转动轴(4286)固定连接于所述手柄本体(4271)；
    所述连接件(4287)分别与所述第二转动轴(4285)和所述第一转动轴(4281)连接，所述驱动件(4284)连接于所述第二转动轴(4285)，且所述驱动件(4284)转动连接于所述第三转动轴(4286)，在所述驱动件(4284)绕所述第三转动轴(4286)转动的过程中，可通过所述第二转动轴(4285)带动所述连接件(4287)运动，所述连接件(4287)的运动可通过第一转动轴(4281)带动所述棘轮齿(4283)运动。
  14. 根据权利要求13所述的控制手柄，其特征在于，所述手柄本体(4271)上设置有长条形的第二限位槽(714)和第三限位槽(715)，所述第二限位槽(714)和所述第三限位槽(715)的长度方向沿所述齿条部(7221)至所述棘轮齿(4283)的方向设置；
    所述第一转动轴(4281)沿所述第二限位槽(714)的槽壁滑动，所述第二转动轴(4285)沿所述第三限位槽(715)的槽壁滑动。
  15. 一种器械，其特征在于，包括末端工具(421)和权利要求1-14任一项所述的控制手柄(427)，所述控制手柄(427)与所述末端工具(421)可拆卸连接。
  16. 根据权利要求15所述的器械，其特征在于，所述控制手柄的连接结构(4275)背离滑动机构(4274)的一端设置有用于安装所述末端工具(421)的安装槽(743)。
  17. 根据权利要求16所述的器械，其特征在于，所述安装槽的顶部设置有用于安装所述末端工具(421)的开口，所述安装槽(743)包括依次连接的类球形槽(7431)和U形槽(7432)，U形槽(7432)的宽度小于类球形槽(7431)的直径；
    所述末端工具(421)上设置有相互连接的连接杆(4212)和连接头(4211)，所述连接头(4211)的外径大于所述连接杆(4212)的外径；
    所述连接头(4211)可拆卸地嵌设于所述类球形槽(7431)内，所述连接杆(4212)可拆卸地嵌设于所述U形槽(7432)内。
  18. 一种微创手术机器人，其特征在于，包括权利要求15-17任一项所述的器械，以及用于检测所述器械是否进入工作状态的控制适配器、用于向所述器械提供能量的能量适配器和用于为所述器械提供通道的多功能通道器；
    所述器械的末端工具(421)依次穿设于所述控制适配器、所述能量适配器和所述多功能通道器。
PCT/CN2022/127081 2021-10-28 2022-10-24 控制手柄、器械和微创手术机器人 WO2023071995A1 (zh)

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