CN116940299A

CN116940299A - Main hand control device for robot and robot

Info

Publication number: CN116940299A
Application number: CN202280017428.XA
Authority: CN
Inventors: 翟明春; 焦伟; 屈萌; 钟元
Original assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Current assignee: Wuhan United Imaging Zhirong Medical Technology Co Ltd
Priority date: 2021-02-26
Filing date: 2022-02-28
Publication date: 2023-10-24
Also published as: CN113017840B; CN113017840A

Abstract

The application provides a master hand control device. The master hand control device comprises an arm assembly, wherein the arm assembly is provided with at least one arm joint mechanism; a wrist assembly movably coupled to the arm assembly, the wrist assembly allowing an operator to perform a corresponding operation, wherein the wrist assembly includes at least one wrist joint mechanism; and a support assembly for providing support to at least one element of the arm assembly and the wrist assembly.

Description

Main hand control device for robot and robot

Cross reference

The present application claims a priority of 202110218291.1 for chinese application No. 26 submitted in 2021, 02 and 202120920702.7 for 29 submitted in 2021, 04 and 29, the contents of which are incorporated herein by reference.

Technical Field

The present disclosure relates to medical devices, and particularly to a main hand control device for a robot and a robot.

Background

The surgical robot can assist a doctor in performing more accurate operations during a surgical operation. In the surgical procedure using the surgical robot, a doctor needs to install a registration probe, a surgical instrument (such as a scalpel, a suture structure) and other end tools to a slave manipulator of the surgical robot according to the current surgical procedure, and then the doctor operates a master control device, and the slave manipulator performs corresponding operations under the control of the master control device. In robotic surgery, a doctor needs to operate a main operation control device for a long time, and the operation of the main operation control device directly affects the operation effect of an end tool. Therefore, there is a need for a master hand manipulator and robot that can be used for a doctor to manipulate and control an end tool, improving the accuracy and efficiency of the manipulation.

Disclosure of Invention

One aspect of the present application provides a master hand manipulation device. The master hand control device comprises an arm assembly, wherein the arm assembly is provided with at least one arm joint mechanism; a wrist assembly movably coupled to the arm assembly, the wrist assembly allowing an operator to perform a corresponding operation, wherein the wrist assembly includes at least one wrist joint mechanism; and a support assembly for providing support to at least one element of the arm assembly and the wrist assembly.

In some embodiments, the at least one arm joint mechanism comprises a first joint mechanism comprising a first power member, a first driving member and a first driven member, the first joint mechanism corresponding to a first rotation axis, the first rotation axis being parallel to the direction of gravity of the wrist assembly.

In some embodiments, the at least one arm joint mechanism includes a connection assembly for connecting the arm assembly and the wrist assembly, wherein a portion of the elements in the at least one arm joint mechanism are sequentially connected in series to form at least a portion of one or more first quadrilateral linkage mechanisms, the connection assembly is sequentially connected in series with a portion of the elements in the arm assembly to form at least a portion of a second quadrilateral linkage mechanism, and the elements in the one or more first quadrilateral linkage mechanisms and the elements in the second quadrilateral linkage mechanism are cooperatively arranged to synchronously rotate about a rotation axis of the at least one joint mechanism, the rotation axis being perpendicular to a direction of gravity of the wrist assembly.

In some embodiments, the at least one arm joint mechanism comprises a second joint mechanism, a first rotation axis corresponding to the second joint mechanism is perpendicular to the gravity direction of the wrist assembly, the second joint mechanism comprises a second power piece, a second driving piece and three second driven pieces which are sequentially connected in series, and the connecting line of the three second driven pieces approximates a parallelogram to form at least one part of one of the one or more first quadrilateral connecting rod mechanisms.

In some embodiments, the second power member is mounted on the first base of the support assembly, and is configured to drive the second driving member to rotate, and one of the three second driven members is movably connected to the base, two non-adjacent second driven members of the three second driven members are substantially parallel, and the second driving member is configured to drive the three second driven members to rotate about the second rotation axis.

In some embodiments, the at least one arm joint mechanism further comprises a third joint mechanism corresponding to a third axis of rotation, the third axis of rotation being perpendicular to the direction of gravity of the wrist assembly.

In some embodiments, the third joint mechanism includes a third power element, a third driving element, and three third driven elements connected in series in sequence, wherein the connecting lines of the three third driven elements connected in series approximate a parallelogram.

In some embodiments, the third power element is mounted on the first base, and is used for driving the third driving element to rotate, and one of the at least three third driven elements is movably connected to the first base, two non-adjacent third driven elements of the three third driven elements are approximately parallel, and the third driving element is used for driving the three third driven elements to rotate around the third rotating shaft.

In some embodiments, the connection assembly includes a first connection member and a second connection member, the first connection member, the second connection member, one of the three second followers, and one of the three third followers being serially connected in sequence with the second quadrilateral linkage.

In some embodiments, the second connector includes a first portion parallel to the direction of gravity of the wrist assembly and connected to the arm assembly, and a second portion perpendicular to the direction of gravity of the wrist assembly and connected to the wrist assembly.

In some embodiments, the plurality of wrist mechanisms in the wrist assembly correspond to a plurality of axes of rotation that intersect at a point.

In some embodiments, the plurality of wrist mechanisms includes a fourth joint mechanism corresponding to a fourth axis of rotation, the fourth axis of rotation being parallel to the direction of gravity of the wrist assembly, the fourth joint mechanism being connected to the connection assembly.

In some embodiments, the plurality of wrist joint mechanisms includes a fifth joint mechanism corresponding to a fifth axis of rotation, the fifth axis of rotation being perpendicular to the direction of gravity of the wrist assembly, the fifth joint mechanism including a balancing assembly for balancing joint gravity distances at the fifth axis of rotation due to the dead weight of the wrist assembly.

In some embodiments, the wrist assembly further comprises a brake assembly comprising a brake controller and a brake, wherein the at least one wrist joint mechanism comprises a fourth joint mechanism connected with the arm assembly, and a fourth rotating shaft corresponding to the fourth joint mechanism is parallel to the gravity direction of the wrist assembly;

the brake is connected with the fourth rotating shaft, and the brake controller is used for controlling the operation of the fourth joint mechanism through the brake.

In some embodiments, the operational state of the brake includes an open state corresponding to a locked state of the fourth joint mechanism and a closed state corresponding to a released state of the fourth joint mechanism, the brake controller is configured to: in response to determining that the wrist assembly satisfies a first condition, a closing command is generated and sent to the brake, the closing command being used to instruct the brake to be in the closed state.

In some embodiments, wherein the brake controller is configured to generate and send a disconnect command to the brake in response to determining that the wrist assembly satisfies a second condition, the disconnect command being configured to instruct the brake to be in the disconnected state.

In some embodiments, the wrist assembly further comprises a fifth joint mechanism, a fifth rotation axis corresponding to the fifth joint mechanism is perpendicular to the direction of gravity of the wrist assembly, the fifth joint mechanism is connected to the fourth joint mechanism through a second base (link 23) in the support assembly, and the first condition comprises a first region or a second region of the second base being within a rotation range of the fourth rotation axis.

In some embodiments, the wrist assembly further comprises a sixth joint mechanism coupled to the fifth joint mechanism, a sixth axis of rotation of the sixth joint mechanism being parallel to the fourth axis of rotation, the first condition comprising: when the sixth rotating shaft moves in the first direction, the second base is positioned in the first area in the rotation range of the fourth rotating shaft; or when the sixth rotating shaft moves in the second direction, the second base is positioned in the second area within the rotation range of the fourth rotating shaft.

In some embodiments, the wrist assembly further comprises a sixth joint mechanism, a sixth axis of rotation corresponding to the sixth joint mechanism is parallel to the direction of gravity of the wrist assembly, the first condition comprises a distance between the sixth axis of rotation and either the first limit or the second limit being less than a first threshold, the second condition comprises a distance between the sixth axis of rotation and either the first limit or the second limit being greater than a second threshold, the second threshold being greater than or equal to the first threshold.

In some embodiments, the first condition includes the master hand-manipulation device being in a singular position.

In some embodiments, further comprising: one or more balancing assemblies, wherein each of the one or more balancing assemblies is configured to balance a moment of weight of the arm assembly and/or the wrist assembly relative to one axis of rotation of the arm assembly or one axis of rotation of the wrist assembly.

In some embodiments, one of the one or more balancing components comprises an elastic member, one end of the elastic member is connected to an arm joint mechanism or a wrist joint mechanism, and an included angle between a moment formed by the elastic member on a rotating shaft of the arm joint mechanism or the wrist joint mechanism and a gravitational moment direction formed by the wrist component and/or the arm component on the rotating shaft is greater than 90 degrees.

In some embodiments, the balancing assembly further comprises a rope and a steering wheel, the elastic member is connected with the arm joint mechanism or the wrist joint mechanism through the rope, one end of the rope is connected with the elastic member, and the other end of the rope bypasses the steering wheel to be connected with the arm joint mechanism or the wrist joint mechanism, so that an included angle is formed between the rope and the axis direction of the elastic member.

In some embodiments, one of the at least one arm joint mechanism includes a power member, a driving member and a driven member, the driven member is configured to rotate around a rotation axis of the arm joint mechanism, the power member and/or the driving member and the wrist assembly are disposed on two sides of the rotation axis, and an included angle between a gravitational moment formed by the power member and/or the driving member on the rotation axis and a gravitational moment direction formed by the gravitational force of the wrist assembly and/or the arm assembly on the rotation axis is greater than 90 degrees.

In some embodiments, one of the one or more arm joint mechanisms includes a follower including a plurality of links connected in series in order to form a parallelogram linkage, one of the links including an extended end in comparison to the parallelogram linkage, a rotational axis of the arm joint mechanism being disposed at the extended end, at least a portion of one of the one or more balancing assemblies being disposed at the extended end.

In some embodiments, the balancing assembly is connected to the spindle or to the parallelogram mechanism.

In some embodiments, the balance assembly comprises an arm balance assembly comprising an elastic member, two ends of the elastic member being respectively connected to the extended end of the driven member and the support base of the articulation mechanism.

In some embodiments, the arm balancing assembly further comprises a rope and a steering wheel, the steering wheel is arranged on the supporting base body of the arm joint mechanism, one end of the elastic piece is connected with the rope, the other end of the elastic piece is connected with the supporting base body of the arm joint mechanism, the other end of the rope is connected with the arm joint mechanism, and the rope bypasses the steering wheel and changes the extending direction, so that an included angle is formed between the rope and the axial direction of the elastic piece.

In some embodiments, the arm joint mechanism is driven by a drive member in driving connection with the extension end, the drive member at least partially balancing the gravitational moment of the wrist assembly and/or the arm assembly relative to the axis of rotation of the arm joint mechanism; one end of the rope far away from the elastic piece is connected with the output shaft of the driving piece.

In some embodiments, the stiffness coefficient of the elastic element and the extension length of the parallelogram link are set to make the potential energy unchanged in the action process of the main hand control device.

In some embodiments, the balancing mechanism assembly includes a wrist balancing assembly, the wrist balancing assembly is disposed on the wrist joint mechanism, the wrist balancing assembly includes an elastic member, two ends of the wrist elastic member are respectively connected with the wrist joint mechanism and a supporting base of the wrist joint mechanism, and an elastic force of the elastic member at least partially balances a gravitational moment of the wrist assembly on a rotating shaft corresponding to the wrist joint mechanism.

In some embodiments, the wrist balance assembly further comprises a rotating wheel and a rope, the rotating wheel and the rotating shaft of the wrist joint mechanism keep rotating synchronously, one end of the elastic piece is connected with the rope, the other end of the elastic piece is connected with the supporting base body of the wrist joint mechanism, and the other end of the rope is wound on the rotating wheel.

In some embodiments, the wheel is a cam, the wrist joint mechanism rotates to any included angle with the gravity direction, and the included angle between the gravity distance of the wrist component on the rotating shaft of the wrist joint mechanism and the moment direction formed by the cam and the elastic piece is greater than 90 degrees.

Another aspect of the application provides a clamping device. The clamping device comprises a base and a clamping assembly, wherein the clamping assembly is rotatably arranged on the base and is configured to be capable of being opened and closed in a working range: and the feedback assembly is connected with the base and the clamping assembly and is used for feeding back the stress state of the end effector to the clamping assembly.

Another aspect of the application provides a master hand-operated device comprising a gripping device as described above.

One of the embodiments of the present disclosure provides a robot, including a robot body, an end effector, and a master hand manipulation device as described above; the end effector is connected with the robot body, the robot body is electrically connected with the communication device, and the master hand control device is electrically connected with the communication device and the end effector.

Drawings

The present specification will be further elucidated by way of example embodiments, which will be described in detail by means of the accompanying drawings. The embodiments are not limiting, in which like numerals represent like structures, wherein:

FIG. 1 is an application scenario diagram of a robot shown according to some embodiments of the present description;

FIG. 2 is a block diagram of a master hand-held device according to some embodiments of the present disclosure;

FIGS. 3-8 are schematic illustrations of exemplary configurations of a master hand-manipulation device according to some embodiments of the present disclosure;

FIG. 9A is a schematic diagram of a wrist assembly of the master hand-manipulation device according to some embodiments of the present disclosure;

FIG. 9B is a schematic view of the range of rotation of the wrist assembly of the master hand-manipulation device according to some embodiments of the present disclosure;

FIG. 10 is a block diagram of a control assembly of the master hand-held device according to some embodiments of the present disclosure;

FIGS. 11-16 are further exemplary structural schematic illustrations of a master hand-manipulation device according to some embodiments of the present disclosure;

17-18 are schematic illustrations of a balancing assembly at an arm assembly of the master hand-manipulandum shown in FIGS. 11-16, according to some embodiments of the present disclosure;

FIG. 19 is a schematic diagram of the balancing assembly shown in FIGS. 17-18, according to some embodiments of the present description;

FIGS. 20-21 are further exemplary structural schematic illustrations of a balancing assembly at the wrist assembly of the master hand-manipulating device shown in FIGS. 11-16, according to some embodiments of the present disclosure;

FIG. 22 is a schematic illustration of the balancing assembly shown in FIGS. 20-21, according to some embodiments of the present description;

FIG. 23 is another exemplary structural schematic diagram of a balancing assembly at a wrist assembly of the master hand-manipulating device according to some embodiments of the present disclosure;

FIGS. 24 and 25 are schematic diagrams of the balancing assembly shown in FIG. 23, shown in accordance with some embodiments of the present description;

FIG. 26 is an exemplary diagram of a workflow of a gripping device in a robot shown in accordance with some embodiments of the present disclosure;

FIGS. 27-29 are exemplary structural schematic diagrams of clamping devices according to some embodiments of the present disclosure;

FIG. 30 is another exemplary structural schematic diagram of a clamping device shown in accordance with some embodiments of the present disclosure;

31-33 are further exemplary structural schematic diagrams of a clamping device according to some embodiments of the present disclosure;

FIG. 34 is a schematic view of an exemplary configuration of a wrist assembly of the gripping device shown in accordance with some embodiments of the present disclosure;

FIG. 35 is a schematic view of an exemplary configuration of a master hand-manipulation device according to some embodiments of the present disclosure; and

fig. 36-40 are further exemplary structural schematic diagrams of clamping devices according to some embodiments of the present disclosure.

Detailed Description

In order to more clearly illustrate the technical solutions of the embodiments of the present specification, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some examples or embodiments of the present specification, and it is possible for those of ordinary skill in the art to apply the present specification to other similar situations according to the drawings without inventive effort. Unless otherwise apparent from the context of the language or otherwise specified, like reference numerals in the figures refer to like structures or operations.

It will be appreciated that "system," "apparatus," "unit" and/or "module" as used herein is one method for distinguishing between different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the words can be replaced by other expressions.

As used in this specification and the claims, the terms "a," "an," "the," and/or "the" are not specific to a singular, but may include a plurality, unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that the steps and elements are explicitly identified, and they do not constitute an exclusive list, as other steps or elements may be included in a method or apparatus.

Based on the continuous advance of technical research and product development of medical robots, surgical robots are one of the important fields in the category of medical robots. Surgical robots are medical devices that integrate many disciplines, such as clinical medicine, biomechanics, mechanics, computer science, microelectronics, etc. The surgical robot assists doctors to implement complex surgical operations in a minimally invasive surgical mode through a clear imaging system and a flexible mechanical arm, and the operations of positioning, cutting, puncturing, hemostasis, suturing and the like in the operation are completed. Under the guidance of the CT imaging equipment, medical staff can perform operation treatment by using the assistance of the operation robot, but the operation on the CT side can lead the medical staff to be exposed in a radiation environment for a long time, and cause great threat to the health, so that the master-slave tele-robot can be adopted to control the image-guided robot to perform operation through remote operation. The current robot often cannot accurately simulate the operation process of medical staff, cannot feed back the force, and the medical staff may increase the risk and uncertainty of operation due to lack of visual perception, and influence the operation efficiency. Meanwhile, the current master hand control device comprises an arm component and a wrist component, wherein the arm component can provide a position degree of freedom, the wrist component can provide a posture degree of freedom, but the change of the position of the arm component can influence the posture of the tail end of the wrist, so that the execution operation of the end effector is influenced.

Fig. 1 is an application scenario diagram of a surgical robotic system according to some embodiments of the present description. As shown in fig. 1, the robotic system 100 may include a robot body 110, a console 120, a communication device 130, and an end effector 140. The robot body 110 is connected to an end effector 140 (e.g., an end of a robot arm provided to the robot body 110). The robot body 110 is electrically connected to the communication device 130, and the console 120 is electrically connected to the communication device 130 and the end effector 140, thereby controlling the end effector 140 to perform a synchronization operation. In some embodiments, the robotic system 100 may include an imaging device, such as an endoscope.

The robot body 110 may provide support for the end effector 140 and/or camera arm in an imaging device. For example, the end effector 140 may be disposed on the robot body 110 for performing a corresponding operation (e.g., piercing, suturing, etc.). In some embodiments, the robot body 110 includes a robotic arm (which may also be referred to as a slave robotic arm) capable of moving an end effector 140 mounted at the end of the slave robotic arm to adjust the motion and/or pose of the end-of-arm functional components of the robotic arm. In some embodiments, the robot body 110 may be located within a scan room (e.g., where a patient is located) during actual use. A control room is arranged adjacent to or at intervals from the scanning room. A console 120 is arranged in the control room, and a doctor realizes the control of the robot body 110 and the end effector 140 in the scanning room through the console 120 in the control room, so that the master-slave teleoperation type operation is completed. In some embodiments, an operator's station of the imaging device is located in the control room and a concrete wall is present between the control room and the scanning room to shield the radiation.

The console 120 may include a master hand manipulation device. The operator may cause the end effector 140 to perform an operation by manipulating the master manipulator. For example, an operator may operate the master manipulator to control the robot body 110 to move the end effector 140 mounted at the end of the slave arm to perform a synchronized operation (e.g., puncturing, suturing, etc.). The master manipulator may comprise a master manipulator arm (alternatively referred to as a master manipulator arm), a gripping device (which may also be referred to as an end manipulator or a gripping control). The main operating arm may provide the gripping device with positional and/or attitude degrees of freedom. In some embodiments, the main operating arm may include an arm assembly, a wrist assembly, a balance assembly, a brake assembly, and the like. The arm assembly may provide positional freedom for the end effector. For example, an arm assembly includes at least one arm joint rotation mechanism (which may also be referred to as an arm joint mechanism) (e.g., 2, 3, 4, etc.), each of which may provide one positional degree of freedom. The arm assembly may provide 2 positional degrees of freedom, 3 positional degrees of freedom, or 4 positional degrees of freedom. The wrist assembly may provide the gripping means with a degree of freedom in posture. For example, the wrist assembly includes at least one wrist joint rotation mechanism (which may also be referred to as wrist joint mechanisms) (e.g., 2, 3, 4, etc.), each of which may provide one degree of freedom in posture. The balancing assembly may be used to balance the moment of the dead weight of the arm assembly and/or the wrist assembly relative to the axis of rotation of the arm assembly or the axis of rotation of the wrist assembly. The wrist assembly may provide 2 degrees of freedom in posture, 3 degrees of freedom in posture, or 4 degrees of freedom in posture. The brake assembly includes a brake controller and a brake. The brake controller may be configured to brake (e.g., lock or release) operation of at least one of the joint mechanisms in the wrist assembly or the arm assembly. For more description of the master hand-manipulated device reference may be made to the detailed description of fig. 2-25.

The clamping device is used for an operator to directly operate and control the end effector 140 to perform corresponding operations, such as performing puncturing, stitching, and the like. For example, the gripping device may send control signals to the slave arm of the robot body 110 according to an operation of the gripping device by an operator, and the control signals may control the end effector 140 to perform a corresponding operation. In some embodiments, the clamping device may be a hollow cylindrical structure to facilitate gripping. In some embodiments, the end effector 140 may be adapted to facilitate use according to the operating habits of medical personnel and according to the configuration of the end effector. For example, the clamping device may be configured as a lancet assembly, a surgical scissors assembly, a needle assembly, etc. according to different end effectors 140 (e.g., lancets, surgical scissors, needles, etc.), and the shape thereof may be configured as a shape corresponding to the functional component or other shapes convenient for operation, which is not limited herein. For more description of the clamping means reference may be made to the detailed description of fig. 26-40.

In some embodiments, the master hand manipulation device may be electrically connected to the communication device 130 and the end effector 140, the communication device 130 being electrically connected to the robot body 110. For example only, the master hand manipulation device may transmit the force received by the clamping device to the robot body 110 through the communication device 130, and the robot body 110 may control the end effector 140 to perform a corresponding operation according to the force information. For another example, the resistance information received by the end effector 140 may be transmitted to the robot body 110; the robot body 110 may transmit corresponding force feedback information to the main hand manipulation device 200 through the communication device 130 according to the resistance information, thereby realizing signal transmission. In some embodiments, the connection between the communication device 130 and the master hand-manipulating device 200 and the robot body 110 may include a wired connection, a wireless connection, or a combination of both. The wired connection may include: connected by electrical, optical, or telephone lines, or the like, or any combination thereof. The wireless connection may include: connected via bluetooth, wi-Fi, wiMax, WLAN, zigBee, a mobile network (e.g., 3G, 4G, 5G, etc.), or any combination thereof.

FIG. 2 is a block diagram of a master hand-held device according to some embodiments of the present disclosure. As shown, the master hand-manipulating device 200 includes an arm assembly 210, a wrist assembly 220, a balance assembly 230, a brake assembly 240, and a clamping device 250.

The arm assembly 210 has a mounting end and a connection end, and the mounting end can be fixedly connected with a support base (or a base, i.e., a first base) of the master manipulator 200. Arm assembly 210 has at least one degree of freedom of movement (e.g., 2, 3, 4, etc.). Arm assembly 210 includes at least one arm joint mechanism. For example, the arm assembly 210 may include a first joint mechanism, a second joint mechanism, and a third joint mechanism. The first articulation mechanism corresponds to a first axis of rotation that is parallel to the direction of gravity of the wrist assembly 220. The second articulation mechanism corresponds to a second axis of rotation that is perpendicular to the direction of gravity of the wrist assembly 220. The third joint mechanism corresponds to a third axis of rotation that is perpendicular to the direction of gravity of the wrist assembly 220. The first joint mechanism, the second joint mechanism and the third joint mechanism are sequentially connected in series.

In some embodiments, the arm assembly 210 may include at least one of a second joint mechanism and a third joint mechanism.

In some embodiments, the partial elements of at least one arm joint mechanism are serially connected in sequence to form one or more first quadrilateral linkages. For example, at least some of the elements of the second articulation mechanism may be serially connected in sequence to form a first quadrilateral linkage (or parallelogram linkage). For another example, at least some of the elements of the third joint mechanism may be serially connected in sequence to form a first quadrilateral linkage (or parallelogram linkage).

In some embodiments, the master hand device 200 may include a connection assembly for connecting the arm assembly 210 and the wrist assembly 220. The connection assembly may be serially connected in sequence with a portion of the elements in the arm assembly 210 (e.g., elements in the second joint mechanism and/or elements in the third joint mechanism) to form a second quadrilateral linkage. In some embodiments, the elements of the one or more first quadrilateral linkages and the elements of the second quadrilateral linkages are arranged in tandem to rotate synchronously about or with a rotational axis (e.g., a second rotational axis) of at least one articulation mechanism that is perpendicular to the direction of gravity of the wrist assembly. For more description of the first quadrilateral linkage and the second quadrilateral linkage in the arm assembly 210, reference may be made to the detailed description in fig. 3-8.

Wrist assembly 220 is movably disposed at the connecting end of arm assembly 210. The wrist assembly 220 is mounted on the arm assembly 210 to facilitate the operator's operation according to the actual conditions. The wrist assembly 220 allows the operator to perform corresponding operations, such as rotation or gripping, etc. Wrist assembly 220 has at least one degree of freedom of movement (e.g., 2, 3, 4, etc.). Wrist assembly 220 includes at least one wrist mechanism. For example, wrist assembly 220 may include a fourth joint mechanism, a fifth joint mechanism, a sixth joint mechanism, and a seventh joint mechanism. The fourth articulation mechanism corresponds to a fourth axis of rotation that is parallel to the direction of gravity of the wrist assembly 220. The fifth joint mechanism corresponds to a fifth axis of rotation that is perpendicular to the direction of gravity of the wrist assembly 220. The sixth joint mechanism corresponds to a sixth axis of rotation that is parallel to the direction of gravity of the wrist assembly 220. The lacquer articulation mechanism corresponds to a seventh axis of rotation that is perpendicular to the direction of gravity of the wrist assembly 220. The fourth joint mechanism, the fifth joint mechanism, the sixth joint mechanism and the seventh joint mechanism are sequentially connected in series. The fourth joint mechanism is coupled to the arm assembly 210. The seventh articulation mechanism is coupled to the clamping device 250.

In some embodiments, wrist assembly 220 may include at least one of a fourth joint mechanism and a seventh joint mechanism.

Balance assembly 230 includes an arm balance assembly and/or a wrist balance assembly. The arm balance assembly and the wrist balance assembly are disposed at rotational joints (e.g., rotational axes) of the arm assembly 210 and the wrist assembly 200, respectively. The balancing assembly 230 is used to balance joint distances of gravity at the revolute joints (e.g., the rotational axis) due to the weight of the arm assembly 210 and/or the wrist assembly 220 during actuation of the master hand manipulator 200. As used herein, "balancing the joint gravity moment caused by the weight of the arm assembly 210 or the wrist assembly 220" refers to providing a moment that is greater than 90 degrees from the weight of the arm assembly 210 or the wrist assembly 220 relative to the direction of the weight moment of a certain axis of rotation to reduce the total moment at that axis of rotation.

The balance assembly 230 is mounted on the arm assembly 210 and/or the wrist assembly 220, or the balance assembly 230 is mounted between the arm assembly 210 and the wrist assembly 220, so that the joint gravity moment caused by the dead weight of the arm assembly 210 and/or the wrist assembly 220 at the rotating joint can be effectively balanced, thereby relieving or avoiding fatigue of a doctor operating for a long time and improving the operation efficiency.

In some embodiments, the movement of arm assembly 210 and/or wrist assembly 220 may be translational, rotational, or other types of movement. Correspondingly, the balancing assembly 230 is also adapted to vary according to the type of movement of the arm assembly 210 and/or the wrist assembly 220. The various embodiments described herein are described with respect to rotation of the joints within arm assembly 210 and rotation of the joints within wrist assembly 220. It will be appreciated that the balance assembly 230 may be suitably modified based on the following embodiments as the arm assembly 210 and/or the wrist assembly 220 perform other types of movements.

In some embodiments, the arm rotation joint of the arm assembly 210 is disposed between the mounting end and the connecting end, and the arm rotation joint rotates to drive the connecting end and the wrist assembly 220 to rotate synchronously. The arm rotation joint has an arm rotation axis, and the axial direction of at least one arm rotation axis is perpendicular to the gravity direction of the wrist assembly 220, so that the gravity of the wrist assembly 2200 forms a certain gravity moment on the arm rotation axis.

The arm balance assembly is disposed on the arm assembly 210. The arm balancing assembly includes an elastic member, two ends of the elastic member are respectively connected with an arm rotation joint (e.g., an arm rotation shaft or a driven member) and a supporting base of the arm rotation joint, and a balancing moment of the arm rotation shaft due to elastic force of the elastic member at least partially balances a gravitational moment of the arm rotation shaft by the wrist assembly 220. The elastic member has the advantages of simple structure, long service life, light weight and stable elastic force, and can effectively balance the weight moment of the wrist assembly 220 on the arm rotating shaft on the premise of not obviously increasing the structural complexity and the overall weight of the main hand control device 200. It will be appreciated that the balancing assembly 230 balances the weight of the wrist assembly 220 through the elastic force of the elastic member. The elastic member may include a spring, rubber, elastic cord, etc. The angle between the moment formed by the elastic member to the axis of rotation of the arm joint mechanism and the direction of the gravitational moment formed by the weight of the wrist assembly 220 and/or the arm assembly 210 to the axis of rotation is greater than 90 degrees, and may be equal to 120 degrees, or equal to 150 degrees, or equal to 180 degrees, for example.

In some embodiments, the arm balancing assembly further includes a rope and a steering wheel, the steering wheel is disposed on the support base of the arm rotation joint, one end of the elastic member is connected with the rope, the other end of the elastic member is connected with the support base of the arm rotation joint, the other end of the rope is connected with the arm rotation joint, and the rope bypasses the steering wheel and changes the extending direction, so that the structure of the main hand control device 200 can be adapted to more complex structures. It will be appreciated that the rope may be a wire rope, a rope or the like. The spring and the steel wire rope are matched to form a zero free length spring, the tension born by the steel wire rope when the spring in the zero free length spring is not stressed by the steel wire rope is also zero, and the part of the steel wire rope between the end, away from the spring, of the steel wire rope and the steering wheel can be regarded as zero length (without being stressed by the tension). When the spring is tensioned, the portion of the wire rope between the end of the wire rope remote from the spring and the steering wheel may be considered as a portion of the length of the spring (subject to some tension).

The structure of the wrist balance assembly is similar to that of the arm balance assembly and will not be repeated here.

In some embodiments, the master hand manipulation device 200 is capable of balancing the weight of the wrist assembly 220 for each arm revolute joint and/or each wrist revolute joint of each axis perpendicular to the direction of gravity, avoiding fatigue of the surgeon due to the self-strength against the weight of the wrist assembly 220 during operation of the master hand manipulation device 200.

In some embodiments, each arm revolute joint comprises a rotary member and a power member (which may also be referred to as a power member). In some embodiments, the rotating member may include a driving member (e.g., a driving wheel) and a driven member (e.g., a driven wheel). The driven piece rotates and sets up in corresponding arm pivot, and power piece is connected with the rotation piece transmission, and power piece is used for driving the rotation piece and winds or rotate along with corresponding arm pivot. The gravitational moment of at least one power member relative to the corresponding arm shaft at least partially balances the gravitational moment of wrist assembly 220 relative to the corresponding arm shaft. For example, the power element and/or the driving element and the wrist assembly 220 are disposed on two sides of the rotation shaft, and the included angle between the gravitational moment formed by the power element and/or the driving element on the rotation shaft and the gravitational moment formed by the gravitational force of the wrist assembly and/or the arm assembly on the rotation shaft is greater than 90 degrees, for example, may be equal to 120 degrees, or equal to 150 degrees, or equal to 180 degrees. By reasonably arranging the positions of the driving members, the gravity of the wrist assembly 220 can be further balanced, and the gravity balance effect of the main hand control device 200 can be further improved. For more description of the balancing assembly 230 and the gravitational moment balancing, reference may be made to the detailed description of fig. 11-25.

The brake assembly 240 may include a brake controller and a brake. In some embodiments, brake assembly 240 may be used to control the operational state of arm assembly 210 and/or wrist assembly 220. In some embodiments, the brake may be provided at any one of the joint mechanisms (e.g., at the axis of rotation of the wrist or arm joint mechanism). For example, a brake may be coupled to a fourth pivot in wrist assembly 220, and a brake controller may be used to control operation of the fourth articulation mechanism via the brake. The fourth joint mechanism is connected to the arm assembly 210, and a fourth rotation axis corresponding to the fourth joint mechanism is parallel to the gravitational direction of the wrist assembly 220. For more description of brake assembly 240, reference may be made to the detailed description of FIGS. 9A-10.

Clamping device 250 the clamping device includes a clamping assembly and a feedback assembly, which may include a transmission member and a power member. The clamping assembly can be opened and closed in the working range. The feedback assembly is used to feedback the force status of the distal instrument to the clamping assembly 250. In some embodiments, the clamp assembly 250 may send control signals to the slave robotic arm via the power pack to control the operation of the end effector. For more description of the clamping device 250, reference may be made to the detailed description of fig. 26-40.

The foregoing description is by way of example only, and it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present application. For example, the master hand-piece 200 may not include the brake assembly 240 or the counterbalance assembly 230. For another example, the master hand-manipulation device 200 may further include a control assembly. The control assembly may include a controller that may obtain the position and speed of each joint mechanism and may calculate and output the torque required by each joint motor.

Fig. 3-6 are schematic structural views of a master hand-held device 300 according to some embodiments of the present disclosure. The master hand manipulation device 300 may be the master hand manipulation device of the console 120 described in fig. 1 or an exemplary embodiment of the master hand manipulation device 200. As shown in FIG. 3, the master hand-manipulating device 300 includes an arm assembly 310 and a wrist assembly 320. In some embodiments, master hand-piece 300 may also include a clamping device, a balancing assembly, a braking assembly, and the like. For more description of the clamping means reference is made to the detailed description of fig. 26-40 of the present application. For more description of the brake assembly, reference is made to the detailed description of the other parts of the application (e.g., FIGS. 9A-10). For more description of the balancing assembly, reference is made to the detailed description of the other parts of the application (e.g., fig. 11-25).

As shown in fig. 3, arm assembly 310 may provide 3 positional degrees of freedom. Specifically, arm assembly 310 may include a first articulation mechanism 311, a second articulation mechanism 312, and a third articulation mechanism 313, each of which may provide one degree of positional freedom. Wrist assembly 320 may provide at least one degree of freedom in posture. For example, wrist assembly 320 may provide 2 degrees of freedom in posture, or 3 degrees of freedom in posture, or 4 degrees of freedom in posture, etc. It should be noted that the 3 degrees of freedom of the arm assembly 310 shown in fig. 3 are for illustration purposes only and do not limit the scope of the present application. For example, arm assembly 310 may include 2 positional degrees of freedom. Further, the arm assembly 310 may include only the first joint mechanism 311 and the third joint mechanism 313, or only the first joint mechanism 311 and the second joint mechanism 312, or only the second joint mechanism 312 and the third joint mechanism 313. As another example, arm assembly 310 may provide 4 or more degrees of freedom.

In some embodiments, master hand-manipulating device 300 also includes a support assembly for providing support to arm assembly 310 and wrist assembly 320 as well as for mounting.

Referring to fig. 4, fig. 4 is a schematic structural view of the first joint mechanism 311 of the master hand-manipulating device 300 shown in fig. 3. As shown, the first joint mechanism 311 corresponds to a first rotation axis (as shown by a dotted line A1, which is an axis on which the first rotation axis is located). Some of the elements in the first articulation mechanism 311 may rotate about or with the first axis of rotation. The axial direction of the first rotation axis is parallel to the gravitational direction of the arm assembly 310. As described herein, a plane parallel to the direction of gravity of arm assembly 310 is also referred to as a vertical plane; the plane perpendicular to the direction of gravity of arm assembly 310 is referred to as the horizontal plane. For example, some of the elements in the first articulation mechanism 311 may rotate about or with the first shaft in a horizontal plane.

The first articulation mechanism 311 may include a power member 3111 (which may also be referred to as a first power member), a drive member 3112 (which may also be referred to as a first drive member), and a follower 3113 (which may also be referred to as a first follower). The power member 3111 may provide power (e.g., mechanical energy) for rotation of elements in the first articulation mechanism 311. The power member 3111 may include an electric motor. In some embodiments, power member 3111 may be mounted to base 331 in the support assembly. Follower 3113 may be movably coupled to base 331. The drive member 3112 is mounted to an output shaft (i.e., motor shaft) of the power member 3111 to receive mechanical energy provided by the power member 3111. The power member 3111 may transmit mechanical energy through an output shaft to the drive member 3112 for rotation about or with the output shaft of the power member 3111. The follower 3113 is drivingly connected to the driver 3112 by a transmission (which may also be referred to as a first transmission). The driving member 3112 may transmit mechanical energy to the driven member 3113 via a first transmission to rotate the driven member 3113. Rotation of the follower 3113 may cause other elements coupled to the follower 3113 (e.g., other articulating mechanisms in the arm assembly 310, a base in the support assembly) to rotate about or with the output shaft of the follower 3113. The output shaft of the driven element 3113 is the rotation shaft of the first articulation mechanism 311. The first transmission means may include gear transmission, screw transmission, chain transmission, rope transmission, etc. In some embodiments, to ensure anti-drivability, the first drive may be a rope drive. For example, the driver 3112 may include a reel (i.e., a drive wheel), and the follower 3113 may include a driven wheel or a driven plate. When the follower 3113 is in the structure of a follower plate, at least a partial region of the edge of the follower plate is in an arc-shaped structure or a fan-shaped structure (i.e., has an outer circumferential surface), the driver 3112 and the follower 3113 are coupled by a rope (e.g., a wire rope), so that the follower 3113 rotates as the driver 3112 rotates. In some embodiments, follower 3113 is a ring-like structure.

The base 332 (i.e., the first base or arm base) in the support assembly is fixed to the follower 3113, following its rotation about or with the first axis of rotation. The base 332 may be used to provide support and mounting for components in other articulating mechanisms.

Referring to fig. 5 and 3, fig. 5 is a schematic structural view of the second joint mechanism 312 of the master hand-operated device 300 shown in fig. 3. As shown in fig. 3 and fig. 5, the second joint mechanism 312 corresponds to a second rotation axis (for example, the dashed line A2 in fig. 3 is the axis of the second rotation axis), and referring to fig. 5, the direction of the second rotation axis is perpendicular to the paper surface. Some of the elements of the second articulation mechanism 312 may rotate about or with the second rotational axis. The axis of the second axis of rotation is perpendicular to the direction of gravity of the arm assembly 310, i.e., some of the elements in the second articulation mechanism 312 may rotate about or with the second axis of rotation in a vertical plane. In some embodiments, the second articulation mechanism may also be similar in structure to the first articulation mechanism 311, e.g., the second axis of rotation of the second articulation mechanism may be parallel to the first axis of rotation of the first articulation mechanism 311.

Second articulation mechanism 312 may include a power member 3121 (which may also be referred to as a second power member), a drive member 3122 (which may also be referred to as a second drive member), and one or more followers (which may also be referred to as a second follower).

Power piece 3121 may provide power (i.e., mechanical energy) for rotation of elements in second articulation mechanism 312. Power piece 3121 may include a motor. In some embodiments, power piece 3121 may be mounted to base 332 in a support assembly. The driving member 3122 is mounted to the output shaft of the power member 3121. Power member 3121 and drive member 3122 can be mounted on both sides of base 332. Power member 3121 can transmit power (i.e., mechanical energy) through the output shaft of power member 3121 to drive member 3122 for rotation about or with the second axis of rotation.

As shown in fig. 5, second articulation mechanism 312 may include three followers 3123, 3124, and 3125. In some embodiments, three followers 3123, 3124, and 3125 are provided in tandem to rotate synchronously about or with the second axis of rotation. For example, three followers 3123, 3124, and 3125 are in turn movably connected in series to form part (e.g., three sides) of the first quadrilateral linkage. Further, one end of the follower 3123 may be movably mounted on the base 332, the other end of the follower 3123 is movably connected with the follower 3124, one end of the follower 3124 is movably connected with the follower 3123, the other end of the follower 3124 is connected with the follower 3125, the follower 3125 is movably connected with the base 332, and the follower 3124 is connected with the first connecting member 341 in the connecting assembly. For more description of the connection assembly reference may be made to fig. 7. As used herein, "two elements are movably connected" means that the two elements can move (e.g., rotate) relative to each other while remaining connected. The articulation means may include articulation, bearing connection, etc. When driven member 3123 rotates with driving member 3122 about or with the second axis of rotation, driven member 3124 and driven member 3125 can be rotated simultaneously about or with the second axis of rotation. During rotation, follower 3123 and follower 3125 remain substantially parallel due to the articulation between adjacent followers and the articulation of the followers with the base. Since the connection lines of the three followers 3123, 3124 and 3125 are similar to a parallelogram (e.g., shown in phantom in fig. 5), the first quadrilateral linkage may also be referred to as a first parallelogram linkage. Follower 3123 may also be referred to as the input of the first parallelogram linkage.

In some embodiments, driven member 3123 is in driving connection with driving member 3122 through a transmission (which may also be referred to as a second transmission). Driving member 3122 can rotate driven member 3123 through a second transmission. Rotation of the follower 3123 may cause other elements coupled to the follower 3123 (e.g., followers 3124, 3125) to rotate about or with the axis of rotation of the follower 3123. The rotation axis of the driven member 3123 is the rotation axis of the second articulation mechanism 312. The second transmission means may include gear transmission, screw transmission, chain transmission, rope transmission, etc. In some embodiments, to ensure anti-drivability, the second drive may be a rope drive. For example, driving member 3122 may include a reel (i.e., a drive wheel) and driven member 3123 may include a driven wheel or plate or a driven bar (also referred to as a link). When driven member 3123 is a plate or rod structure, the driven rod or edge of the driven plate is at least partially arcuate or scalloped (i.e., outer circumferential) in configuration, and driving member 3122 and the outer circumferential surface of driven member 3123 are coupled by a rope (e.g., a wire rope) such that driven member 3123 rotates as driving member 3112 rotates. It should be noted that the description of the second articulation mechanism 312 in fig. 5 is merely illustrative and does not limit the scope of the present application. For example, in some embodiments, driven member 3123 may be directly connected to the output shaft of power member 3121, i.e., second articulation mechanism 312 may not include drive member 3122. In some embodiments, the number of followers of the second articulation mechanism 312 may be only 1, i.e., the second articulation mechanism 312 may provide a first parallelogram linkage.

Referring to fig. 6 and 3, fig. 6 is a schematic structural view of a third joint mechanism 313 of the master hand-operated device 300 shown in fig. 3. As shown in fig. 3 and 6, the third joint mechanism 313 corresponds to a third rotation axis (e.g., the dashed line A3 in fig. 3 is the axis of the third rotation axis). Some of the elements in the third joint mechanism 313 may rotate about or with the third axis of rotation. The axis of the third axis of rotation is perpendicular to the direction of gravity of the arm assembly 310, i.e., some of the elements in the third articulation mechanism 313 may rotate about or with the third axis of rotation in a vertical plane. In some embodiments, the third articulation mechanism may also be similar in structure to the first articulation mechanism 311, e.g., the third rotational axis of the third articulation mechanism may be parallel to the first rotational axis of the first articulation mechanism 311.

The third joint mechanism 313 may include therein a power member 3131 (may also be referred to as a third power member), a driving member 3132 (may also be referred to as a third driving member), and one or more driven members (may also be referred to as a third driven member).

The power member 3131 may power the rotation of elements in the third joint mechanism 313. The power member 3131 may include a motor. In some embodiments, power member 3131 may be mounted to base 332 in a support assembly. For example, power member 3131 of third articulation mechanism 313 and power member 3121 of second articulation mechanism 312 may be mounted on both sides of base 332. A driver 3132 is mounted to the output shaft of power member 3121. In some embodiments, driver 3132 and power piece 3121 may be mounted on both sides of base 332. The driver 3132 of the third articulation mechanism 313 may be mounted on the same side of the base as the power member 3121 of the second articulation mechanism 312. The power member 3131 of the third articulation mechanism 313 may be mounted on the same side of the base as the drive member 3122 of the second articulation mechanism 312. The power member 3131 may transmit power to the driving member 3132 through an output shaft of the power member 3131 to rotate the third rotation shaft.

The third joint mechanism 313 may include three followers 3133, 3134, and 3135. In some embodiments, three followers 3133, 3134, and 3135 are provided in tandem to rotate synchronously about or with the third axis of rotation. For example, three followers 3133, 3134, and 3135 are in turn movably connected in series to form a part of (e.g., three sides of) a quadrangular linkage (i.e., another first quadrangular linkage). Further, a portion (e.g., one end or center) of the follower 3133 may be movably mounted to the base 332, one end of the follower 3133 is movably connected to the follower 3134, one end of the follower 3134 is movably connected to the follower 3133, the other end of the follower 3134 is connected to the follower 3135, and the follower 3135 is connected to the second connector 342 in the connector assembly.

In some embodiments, the follower 3135 has an extended end relative to the first quadrilateral linkage in the third articulation mechanism 313 that can be movably coupled with the second connector 342 of the coupling assembly. A more description of the connection assembly refers to fig. 7. The follower 3133 is substantially parallel to the follower 3135. When follower 3133 rotates with driver 3132 about or with the third axis of rotation, follower 3123 and follower 3135 may be driven to rotate simultaneously about or with the third axis of rotation. During rotation, the followers 3133 and 3135 remain substantially parallel due to the movable connection between adjacent followers and the movable connection of the followers to the base. Since the connection lines of the three followers 3133, 3134, and 3135 are similar to a parallelogram (for example, shown by a broken line in fig. 6), the first quadrilateral linkage may also be referred to as a first parallelogram linkage.

In some embodiments, the follower 3133 is drivingly connected to the driver 3132 via a transmission (which may also be referred to as a third transmission). The driver 3132 may drive the rotation of the follower 3133 through a third transmission manner. Rotation of the follower 3133 may cause other elements (e.g., followers 3134, 3135) coupled to the follower 3133 to rotate about or with the third axis of rotation. The movable connection portion between the driven element 3133 and the base 332 is the rotation axis of the third joint mechanism 313. The follower 3133 may also be referred to as an input of the first parallelogram linkage in the third joint mechanism 313. The third transmission mode can comprise a gear transmission mode, a screw transmission mode, a chain transmission mode, a rope transmission mode and the like. In some embodiments, to ensure anti-drivability, the third drive may be a rope drive. For example, the driver 3132 may include a reel (i.e., a driving wheel), and the follower 3133 may include a driven wheel, or a driven plate, or a driven lever (may also be referred to as a link). If the follower 3133 is in the form of a rod or a plate, the edge of the rod or plate is at least partially formed in an arc-shaped structure or a fan-shaped structure (i.e., an outer circumferential surface), and the driver 3132 and the outer circumferential mill of the follower 3133 are coupled by a rope (e.g., a wire rope) so that the follower 3133 rotates with the rotation of the driver 3132. It should be noted that in some embodiments, the follower 3133 may be directly connected to the output shaft of the power member 3131, i.e., the third joint mechanism 313 may not include the driver 3132. In some embodiments, the number of followers of the third joint mechanism 313 may be only 1, i.e. the third joint mechanism 313 may not provide the first parallelogram linkage.

Referring to fig. 7, fig. 7 is a schematic structural view of a connection assembly of the master hand-operated device 300 shown in fig. 3.

The connection assembly may drivingly connect arm assembly 310 and wrist assembly 320. The connection assembly may include a connector 341 (which may also be referred to as a first connector) and a connector 342 (which may also be referred to as a second connector). The connection 341 may be movably coupled to a follower 3124 in the second articulation mechanism 312. The link 342 may be movably coupled with the follower 3135 in the third joint mechanism 313. Follower 3124, connector 341, connector 342, and follower 3135 are coupled such that when follower 3124 and/or follower 3135 are rotated, connector 341 and connector 342 rotate in unison, thereby effecting rotation of wrist assembly 320. For example, follower 3124, link 341, link 342, and follower 3135 may be serially connected in sequence such that when follower 3124 and/or follower 3135 are rotated, link 341 and link 342 are rotated in synchronization. In some embodiments, the links of follower 3124, link 341, link 342, and follower 3135 are generally parallelograms, so that follower 3124, link 341, link 342, and follower 3135, in series, may form a second quadrilateral linkage, i.e., a second parallelogram linkage. And during the rotation of the respective elements of the second parallelogram linkage, since the link 341, the follower 3124, the follower 3135, and the link 342 are movably connected, two elements that are not adjacent to each other (e.g., a portion of the link 342 and a portion of the follower 3124, or the follower 3135 and the link 341) can be maintained in a parallel state or substantially parallel to each other during the rotation of the elements of the second parallelogram linkage.

In some embodiments, follower 3124 includes two portions (e.g., a square rod-like structure), with both ends of a first portion of follower 3124 being connected to followers 3123 and 3125, respectively, and a second portion of follower 3124 being connected to follower 3125. The intersection of the first and second portions of follower 3124 is the point of connection with connection 341, i.e., the second portion of follower 3124 forms one side of the second parallelogram linkage, and the first portion of follower 3124 overlaps with connection 341.

In some embodiments, the connector 342 comprises two parts (e.g., a right angle type rod mechanism). The first portion of the connecting member 342 is connected to the extending ends of the connecting member 341 and the driven member 3135. For example, the upper and lower ends of the first portion of the connection member 342 are respectively provided with grooves in which rotation shafts are provided. One ends of the connecting member 341 and the driven member 3135 are respectively provided with a circular hole passing through the rotation shaft in the groove so that the first portion of the connecting member 342 is movably connected with the extending ends of the connecting member 341 and the driven member 3135. A second portion of link 342 is connected to wrist assembly 320. Wrist assembly 320 is movably disposed on a second portion of link 342.

Wrist assembly 320 may include a fourth articulation mechanism. The fourth joint mechanism corresponds to the fourth rotating shaft (for example, the dashed line A4 in fig. 7 is the axis of the fourth rotating shaft). The fourth axis of rotation is parallel to the direction of gravity of wrist assembly 320. In some embodiments, the fourth joint mechanism includes a power member 3211, a driver member 3212, and a follower member 3213. The power member 3211 may power rotation of elements in the fourth joint mechanism. The power member 3211 may include a motor. In some embodiments, the power member 3211 may be mounted to a first portion of the connecting member 342. The driving member 3212 is mounted to an output shaft of the power member 3211. The power member 3211 may transmit power to the driving member 3212 through its output shaft to rotate it. The follower 3213 is movably mounted to the second portion of the connector 342. In some embodiments, the follower 3213 is drivingly connected to the driver 3212 by a transmission (which may also be referred to as a fourth transmission) such that the driver 3212 drives the follower 3213 in rotation by the fourth transmission. The other articulation mechanism of wrist assembly 320 is mounted on the output shaft of follower 3213 such that the other articulation mechanism on wrist assembly 320 may rotate about or with the output shaft (i.e., fourth axis of rotation) of follower 3213. The fourth transmission mode can comprise a gear transmission mode, a spiral transmission mode, a chain transmission mode, a rope transmission mode and the like. In some embodiments, to ensure anti-drivability, the fourth drive may be a rope drive. For example, the driver 3212 may include a reel, plate, or like structure, and the follower 3213 may include a driven wheel, or driven plate, or driven rod (which may also be referred to as a link).

In some embodiments, the first, second, third, and fourth transmissions may be the same or different.

In some embodiments, wrist assembly 320 further includes one or more articulation mechanisms, e.g., 2, or 3, etc., in addition to the fourth articulation mechanism. Each articulation mechanism may provide one degree of freedom in posture. Each articulation mechanism may correspond to a single axis of rotation. The axes of rotation of the plurality of articulating mechanisms of wrist assembly 320 may be configured to intersect at a point. Referring to FIG. 8, FIG. 8 is a schematic diagram of the wrist assembly 320 of the master hand-manipulating device 300 of FIG. 3. Wrist assembly 320 further includes a fifth articulation mechanism corresponding to the fifth axis of rotation, a sixth articulation mechanism corresponding to the sixth axis of rotation, and a seventh articulation mechanism corresponding to the seventh axis of rotation. The fourth, fifth, sixth and seventh axes intersect at a point P. Through the design of the above 3 parallelogram linkages (namely, the two first parallelogram linkages and the second parallelogram linkages), as the linkages connected with each other in the first parallelogram linkages and the second parallelogram linkages are movably connected, when the joint mechanism of the master hand control device is rotating, the posture of the wrist can still be kept unchanged, namely, the second part of the connecting piece 342 is always kept in a horizontal state, so that the position change can not influence the posture of the wrist, and the decoupling of the position and the posture is realized. It should be noted that the descriptions of the master hand-operated device in fig. 3-8 are only exemplary, and do not limit the scope of the present application. In some embodiments, the master hand-manipulating device may include at least a first parallelogram linkage and a second parallelogram linkage, and may also achieve decoupling of position and attitude.

The foregoing description is by way of example only, and it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention. For example, the master hand-manipulation device may not include the first articulation mechanism 311 and/or the second articulation mechanism 312, and the connection assembly may further include a third connection member in addition to the connection members 341 and 342, which may connect the driven member 3135 and the connection member 341. For another example, the master hand-manipulation device may not include the first articulation mechanism 311 and/or the third articulation mechanism 313, and the linkage assembly may further include a third linkage in addition to the links 342 and 342, which may connect the follower 3124 and the link 342.

FIG. 9A is a schematic diagram of a wrist assembly of a master hand-manipulation device according to some embodiments of the present disclosure. Wrist assembly 900 may be an exemplary embodiment of a wrist assembly of a master hand manipulation device (e.g., master hand manipulation device 300, master hand manipulation device 200, and master hand manipulation device of console 120 in fig. 1) as shown elsewhere herein.

The master hand-manipulation device may include an arm assembly (e.g., arm assembly 310, arm assembly 1110, etc.). For a detailed description of the arm assembly and the wrist assembly reference may be made to the description elsewhere. In some embodiments, wrist assembly 900 may be similar to wrist assembly 320 or wrist assembly 1120. For example, wrist assembly 900 may include a fourth joint mechanism. The fourth joint mechanism corresponds to a fourth rotating shaft (for example, a dashed line A4 in fig. 9A is an axis of the fourth rotating shaft). The fourth axis of rotation is parallel to the direction of gravity of the wrist assembly 900. As another example, in addition to the fourth joint mechanism, wrist assembly 900 further includes one or more wrist joint mechanisms, e.g., 2, or 3, or 4, etc. Each articulation mechanism may provide one degree of freedom in posture. Each articulation mechanism may correspond to a single axis of rotation. The axes of rotation of the various articulating mechanisms of wrist assembly 900 may be configured to intersect at a point. Further for example, wrist assembly 900 includes a fifth articulation mechanism corresponding to a fifth axis of rotation, a sixth articulation mechanism corresponding to a sixth axis of rotation, and a seventh articulation mechanism corresponding to a seventh axis of rotation. The fourth joint mechanism, the fifth joint mechanism, the sixth joint mechanism and the seventh joint mechanism are sequentially connected in series. The fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft and the seventh rotating shaft are intersected at a point. The fourth rotating shaft is parallel to the sixth rotating shaft, and the fifth rotating shaft is parallel to the seventh rotating shaft and perpendicular to the fourth rotating shaft. For another example, wrist assembly 900 may be provided with a wrist balancing assembly. For more description of the balancing assembly, reference may be made to the detailed description of fig. 11-25. For another example, wrist assembly 900 may be coupled to a gripping device. For more description of the clamping means reference may be made to the detailed description of fig. 26-30.

In some embodiments, the fourth articulation mechanism includes a power member, a driving member, and a driven member (not shown). In some embodiments, the fourth articulation mechanism may be similar or identical to the fourth articulation mechanism in fig. 7. For example, the power member may be mounted to a first portion of the link 942 between the arm assembly and the wrist assembly. A drive member (e.g., a drive wheel) is rotatably mounted to an output shaft of a power member (e.g., a motor). A driven member (e.g., a driven wheel) is movably mounted to a second portion of the link 942. The driven member is in driving connection with the driving member through a transmission mode (also referred to as a fourth transmission mode) so that the driving member drives the driven member to rotate through the fourth transmission mode. The other joint mechanisms of the wrist assembly 900 (e.g., the fifth joint mechanism) are connectable to the output shaft (i.e., the fourth axis of rotation) of the follower through the base 933 (e.g., the horizontal portion, which may also be referred to as the second base of the support assembly or the wrist base) in the wrist assembly 900 such that the other joint mechanisms on the wrist assembly 900 can rotate in a horizontal plane with the base 933 in the wrist assembly 900 about or with the output shaft (i.e., the fourth axis of rotation) of the follower. In some embodiments, the fourth articulation mechanism may be similar or identical to the fourth articulation mechanism of fig. 11-16. In some implementations, the fourth joint mechanism may include a power member, and the other joint mechanisms (e.g., the fifth joint mechanism) of the wrist assembly 900 may be coupled to the output shaft (i.e., the fourth axis of rotation) of the power member through a base 933 (e.g., a horizontal portion) in the wrist assembly 900, such that the other joint mechanisms on the wrist assembly 900 may rotate in a horizontal plane with the base 933 in the wrist assembly 900 about or with the output shaft (i.e., the fourth axis of rotation) of the power member.

The rotation range of the wrist assembly 900 with respect to the fourth rotation axis (which may also be referred to as the rotation range of the fourth rotation axis or the rotation range of the fourth joint mechanism) is a range in which the base 933 (e.g., the horizontal portion of the base 933) rotates about the fourth rotation axis. In some embodiments, the base 933 may be rotated 120 degrees, or rotated 180 degrees, or rotated 360 degrees about the fourth axis of rotation. As shown in fig. 9B, when the base 933 can rotate 360 degrees around the fourth rotation axis, the rotation range of the fourth rotation axis is similar to a circular area. It should be noted that if the other joint mechanism (e.g., the fifth joint mechanism) of the wrist assembly 900 is not disposed at the end of the horizontal portion of the base 933, the length of the horizontal portion of the base 933 is the distance between the position of the horizontal portion of the base 933 where the fifth joint mechanism is disposed and the fourth rotation axis.

The master hand-operated device further comprises a brake assembly comprising a brake controller (not shown) and a brake 951. The brake controller is used to control the operation of one or more joint mechanisms in wrist assembly 900 via brake 951. The brake 951 may include a friction brake (e.g., a disc brake, an outboard pad brake), a non-friction brake (e.g., a magnetic eddy current brake), and so forth. In some embodiments, brake 951 may include a brake member, a transmission member, and an energizing device. The energy supply device can drive the part to supply the energy required by braking. A brake (e.g., a brake pad, a brake shoe, etc.) may generate a force that resists rotation of the fourth shaft. The transmission member may transmit braking energy provided by the energy supply means to the braking member. The braking controller can acquire the rotating speed and the rotating direction of the fourth rotating shaft, and control the energy supply device to provide corresponding braking energy according to the rotating speed and the rotating direction of the fourth rotating shaft, and the braking piece receives the braking energy through the transmission piece and generates force (namely braking force) for preventing the fourth rotating shaft from rotating. In some embodiments, a brake assembly may be used to control the release and locking of a certain articulation mechanism in wrist assembly 900. As shown in fig. 9A, a brake 951 may be coupled to the fourth shaft for controlling locking and release of the fourth joint mechanism. As described herein, release of the articulation mechanism refers to the power member and/or the rotating member (e.g., driving member or driven member) of the articulation mechanism being in a rotatable state; the locked state of the joint mechanism means that a rotating member (e.g., a driving member or a driven member) in the joint mechanism is in a non-rotatable state. In some embodiments, brake 951 may be physically coupled to a power member, a driving member, and/or a driven member of the fourth joint mechanism. In some embodiments, the brake 951 may be physically coupled to a fourth shaft of a fourth articulation mechanism.

The operating state of the brake 951 includes an open state and a closed state. In some embodiments, when the brake 951 is in the off state, the corresponding fourth joint mechanism is in the locked state; when the brake 951 is in the closed state, the corresponding fourth joint mechanism is in the released state.

In some embodiments, in response to determining that wrist assembly 900 satisfies the first condition, the brake controller may generate and send a release instruction to brake 951. The release command is used to indicate that the brake 951 is in a closed state. For example, the release command may instruct the brake 951 to switch from an open state to a closed state.

In some embodiments, in response to determining that wrist assembly 900 satisfies the second condition, the brake controller may generate and send a locking command to brake 951. The locking command is used to indicate that the brake 951 is in a locked state. For example, the locking command may instruct the brake 951 to switch from the closed state to the open state.

In some embodiments, the first condition includes a first region of the horizontal portion of the base 933 within the range of rotation of the fourth axis of rotation; the second condition includes a first region where the horizontal portion of the base 933 is not within the rotation range of the fourth rotation axis. In some embodiments, the first condition includes a first region of the horizontal portion of the base 933 within a range of rotation of the fourth shaft when the sixth shaft is rotated in the first direction; the second condition includes that when the sixth rotation axis rotates in the first direction, the horizontal portion of the base 933 is not in the first region within the rotation range of the fourth rotation axis.

In some embodiments, the first condition includes a second region of the horizontal portion of the base 933 within the range of rotation of the fourth axis of rotation; the second condition includes a second region where the horizontal portion of the base 933 is not within the rotation range of the fourth rotation axis. As described herein, the first region may refer to a region on the right side of the rotation range in which the operator operates the main hand manipulation device to rotate the wrist assembly 900 around or with the fourth rotation shaft with respect to the operator. The second region may refer to a region on the left side of the rotation range in which the operator operates the main hand manipulation device such that the wrist assembly 900 rotates around or with the fourth rotation shaft with respect to the operator. As shown in fig. 9B, if the wrist assembly 900 can rotate 360 degrees around the fourth rotation axis, the rotation range of the fourth rotation axis may be a circular area, and the right area R1 of the dotted line L1 in the circular area is a first area; the left region R2 of the broken line L1 in the circular region is a second region.

In some embodiments, the first condition includes a horizontal portion of the base 933 being in a second region within a range of rotation of the fourth shaft when the sixth shaft is rotated in the second direction; the second condition includes that the horizontal portion of the base 933 is not in the second region within the rotation range of the fourth rotation axis when the sixth rotation axis rotates in the second direction. The first direction may refer to an operator operating the primary hand manipulation device such that the wrist assembly 900 rotates clockwise with the operator as a reference; the second direction may refer to an operator operating the primary hand manipulation device to cause counterclockwise rotational movement of wrist assembly 900 with respect to the operator. Rotation of the shaft in the articulating mechanism may rotate other structures or elements coupled to the shaft as described herein.

In order to make the base 933 be located at the middle position of the rotation range of the fourth rotation shaft (e.g., a position intermediate between the dotted lines L2 and L3 in fig. 9B) as much as possible, when the operator controls the master hand manipulation device, and the sixth rotation shaft rotates leftward, if the base 933 is located at the right region of the rotation range of the fourth rotation shaft, the brake controller controls the brake 951 to be closed, that is, the fourth rotation shaft is in the released state, so that it is possible to rotate the base 933 toward the middle region. Also, when the operator controls the master hand manipulation device such that the sixth shaft is rotated rightward, if the base 933 is in the left region of the fourth shaft rotation range, the brake controller controls the brake 951 to be closed, i.e., the shaft fourth shaft is in the released state, it may be possible to rotate the link 23 toward the middle region.

In some embodiments, the first condition includes a distance between the sixth axis of rotation and the first limit or the second limit being less than a first threshold. The first threshold may be 1 millimeter, 2 millimeters, etc.; the second condition includes that a distance between the sixth rotation axis and the first limit or the second limit is greater than a second threshold. The second threshold may be 1 millimeter, 2 millimeters, etc. The first threshold may be greater than or equal to the first threshold. When the brake 951 is in the off state, that is, the fourth rotation shaft (that is, the fourth joint structure) is in the locked state, in other words, the horizontal portion of the base 933 cannot rotate. When the operator manipulates the master hand manipulation device, the brake controller sends a command to control the brake 951 to be closed when the sixth rotating shaft rotates to be close to the left (i.e., the first limit)/the right (i.e., the second limit), i.e., the fourth rotating shaft is in a release state and can rotate. Through the control, the rotation range of the main hand control device can be obviously increased, and a larger operation space is realized. The first limit and the second limit are defined by the specific structure of the master hand control device.

In some embodiments, the first condition includes the master hand-manipulandum being in a singular position. For example, the singular position of the master hand-operated device means that the fourth axis of rotation and the sixth axis of rotation are on the same line. With this arrangement, when the master hand-operated device is moved to the near singular position, the brake controller can control the brake 951 to be closed so as to avoid the singular position by the rotation of the fourth rotation shaft.

FIG. 10 is a block diagram of a control assembly of a master hand-held device according to some embodiments of the present disclosure. The control assembly 1000 may be used with a master hand manipulator (e.g., master hand manipulator 300, master hand manipulator 200, master hand manipulator 1100) as described elsewhere herein.

The control assembly 1000 may include a standard master hand control 1010 and a brake control 1020.

The standard master hand controller is a master controller of the master hand control device, and can read the position and/or speed of each joint, so that the moment required by each joint motor can be calculated and output, and the operation of each joint motor is controlled according to the moment.

The brake controller 1020 can read the motion parameters such as the position, the speed, the rotation direction and the like of each joint mechanism of the master hand control device. The operating state of the brake is controlled by the position and/or the speed of the respective joint mechanism. In some implementations, the brake controller 1020 may obtain the position and/or velocity of each joint mechanism directly from the master hand controller 1010. In some embodiments, the brake controller 1020 may obtain parameter information (e.g., rotational speed, torque, etc.) of the power member from the power member of each of the joint mechanisms, and determine the movement parameters of each of the joint mechanisms, such as position, speed, and direction of rotation, by accounting the parameter information of the power member. The position and/or velocity of each joint may refer to the position and/or velocity of the center of gravity of each joint. The rotation direction may refer to a rotation direction of the rotation shaft. For example, in conjunction with the master hand control device in fig. 9, the brake controller 1020 may read the position of the sixth rotating shaft, determine whether the position of the sixth rotating shaft is close to the left (i.e. the first limit)/the right limit (i.e. the second limit), and if so, the brake controller 120 may issue a release command to control the brake 951 to be closed, so that the fourth rotating shaft is in a release state and can rotate. For another example, the brake controller 1020 may obtain the position of the master hand manipulation device (e.g., the position of the center of gravity of each joint mechanism or the position of the point where multiple axes of the wrist assembly intersect), and the brake controller 1020 may determine whether the master hand manipulation device has moved to the near singular position, and if so, the brake controller may control the brake 951 to close, thereby releasing the fourth rotation shaft, and avoiding the singular position by rotation of the fourth rotation shaft.

For more description of the brake controller, reference may be made to the detailed description in fig. 9A.

Fig. 11-16 are schematic structural views of a master hand-operated device according to some embodiments of the present disclosure. The master hand manipulation device 300 may be an exemplary embodiment of a master hand manipulation device described elsewhere herein (e.g., master hand manipulation device 200 and master hand manipulation devices in console 120).

As shown in fig. 11-16, the master hand manipulation device comprises an arm assembly 1110 and a wrist assembly 1120. The arm assembly 1110 may include three rotational joints, namely, a first rotational joint 10, a second rotational joint 20, and a third rotational joint 30, and the corresponding rotational axes are a first rotational axis, a second rotational axis, and a third rotational axis (A1, A2, and A3 are axes of the first rotational axis, the second rotational axis, and the third rotational axis, respectively). Wherein the element connected with the first rotating shaft rotates in the horizontal plane of the using state, the element connected with the second rotating shaft and the third rotating shaft can rotate in the vertical plane of the using state, and the extending axial direction of the second rotating shaft and the extending axial direction of the third rotating shaft are respectively perpendicular to the gravity direction. It should be noted that the above arm assembly 1110 including three rotating shafts is only exemplary for explaining the balance assembly, and does not limit the protection scope of the present invention. In some embodiments, the arm assembly may include 2 spindles, or 1 spindle, or greater than 3 spindles. In other words, the arm assembly may provide 1 positional degree of freedom, or 2 positional degrees of freedom, or 3 positional degrees of freedom, or greater than 3 positional degrees of freedom.

Referring to fig. 11, a master hand manipulator 1100 may include a support assembly for supporting or securing other elements in the master hand manipulator 1100. The support assembly may include a substrate 601 (which may also be referred to as a first substrate 601). The first base plate 601 is a fixed plate of the entire master manipulator 1100. The first articulation mechanism 10 may include a motor 101 (which may also be referred to as a first motor or first power member), a driver 102 (which may also be referred to as a first driver), and a follower 103 (which may also be referred to as a first follower). In some embodiments, the drive 102 may include a reel, gear, or the like. The follower 103 may include a reel, gear, plate mechanism, or the like. The first articulation mechanism 10 may be similar or identical to the first articulation mechanism 311 of fig. 3-7. For more description of the first articulation mechanism reference may be made to the detailed description in fig. 3-7.

In some embodiments, the follower 103 of the first articulation mechanism 10 is rotatably mounted to the base plate 601 and can rotate about or with the first rotational axis. The motor 101 in the first joint mechanism 10 is fixed to the base plate 601 through a sleeve, the driving member 102 is fixed opposite to an output shaft (which may also be referred to as a motor shaft) of the motor 101, a spiral winding groove (generally circular arc or V-shaped) is arranged on the driving member 102 (for example, a reel), and a driving rope (for example, a wire rope) is wound on the driving member 102 through the winding groove, and both ends of the driving rope are fixed to the driven member 103 of the first joint mechanism 10, respectively. The first articulation mechanism 10 rotates and drives the driver 102 in rotation so that the drive cord may be wound around the helical winding slot, thereby pulling the follower 103 in rotation about or with the first rotational axis relative to the base plate 601.

Further, as shown in fig. 11-16, the support assembly further includes a second substrate 602. The second substrate 602 is disposed on the driven member 103. The second substrate 602 may rotate with the follower 103 about or with the first rotation axis.

In some embodiments, the second articulation mechanism 20 includes a motor 201 (also may be referred to as a second motor), a driver 202 (also may be referred to as a second driver), and a follower 203 (also may be referred to as a second follower). In some embodiments, the motor 201 may rotate the driver 202. The driving member 202 may drive the driven member 203 to rotate about or with the second rotation axis. In some embodiments, the drive 202 may include a reel, gear, or the like. The follower 203 may include a pulley, a gear, a plate-like structure, a rod-like structure, or the like. The second articulating mechanism 20 may be similar or identical to the second articulating mechanism 312 of figures 3-7. For more description of the second articulation mechanism, reference may be made to the detailed description in fig. 3-7.

In some embodiments, the motor 201 in the second articulation mechanism 20 is fixed to the follower 203, and the driver 202 of the second articulation mechanism 20 is fixed to the output shaft of the second motor 201 for rotation with the output shaft (i.e., motor shaft) of the second motor 201. The driving member 202 drives the driven member 203 to rotate together in a driving manner. For example, a spiral winding groove (generally circular arc or V-shaped) is arranged on the driving member 202 (e.g., a reel), and a driving rope (e.g., a wire rope) is wound around the driving member 202 through the winding groove, and both ends of the driving rope are respectively fixed to the driven member 203 of the second joint mechanism 20. The second articulation mechanism 20 rotates and drives the driver 202 in rotation so that the drive cord may be wound around the helical winding slot, thereby pulling the follower 203 in rotation about or with the second axis of rotation relative to the second base 602. By providing the motor 201 on the follower 203, the gravitational moment of the motor 201 with respect to the second axis of rotation may be made to balance the gravitational moment of at least a portion of the wrist assembly 1120 with respect to the second axis of rotation.

In some implementations, the drive between the driver 202 and the follower 201 is a two-stage drive. The second articulation mechanism 20 may further include a large wrap wheel 204 and a small wrap wheel 205, the large wrap wheel 204 and the drive member 202 of the second articulation mechanism 20 being driven by a rope, which is the primary drive of the second articulation mechanism 20. The slave drive member 206 (e.g., from a reel) is secured to the second base plate 602 in the shape of a partial outer torus. The small reel 205 and the slave drive 206 (e.g., from a reel) are driven by a rope, which is a two-stage drive of the second articulation mechanism 20. The two-stage transmission is to obtain a larger joint output torque.

The third joint mechanism 30 includes a motor 301 (may also be referred to as a third motor), a driver 302 (may also be referred to as a third driver), and a follower 303 (may also be referred to as a third follower). In some embodiments, the motor 301 may rotate the driver 302. The driving member 302 may drivingly rotate the driven member 303 about or with the second rotational axis. In some embodiments, the drive 302 may include a reel, gears, or the like. The follower 303 may include a pulley, a gear, a plate-like structure, a rod-like structure, or the like. The third joint mechanism 30 may be similar or identical to the third joint mechanism 313 in fig. 3-7. For more description of the third joint mechanism, reference may be made to the detailed description in fig. 3-7.

In some embodiments, the motor 301 in the third articulation mechanism 30 is disposed on the follower 303, and the driver 302 of the third articulation mechanism 30 is fixed to the output shaft of the third drive motor 301. The end of the second base plate 602 far away from the driven member 103 is provided with an arc-shaped outer circular surface, and the driving member 302 and the arc-shaped outer circular surface of the second base plate 602 transmit the output torque of the motor 301 to the driven member 303 through rope transmission. In some embodiments, the follower 303 is a parallelogram linkage (also referred to as a parallelogram linkage) that is rotatable about or with the third axis of rotation. Referring to the quadrangular bar mechanism (approximately a parallelogram bar mechanism) shown by a broken line in fig. 12, the follower 103 includes a first link 3031, a second link 3032, a third link 3033, and a fourth link 3034, which are sequentially connected in series. The first link 3031 is movably coupled to the follower 203 and the third link 3033 may be coupled to the wrist assembly 1120. The first link 3031 is substantially parallel to the third link 3033 and the second link 3032 is substantially parallel to the fourth link 3034. The first link 3031 includes an extension end with respect to the parallelogram linkage. The extension end of the first link 3031 is provided with the motor 301. The third rotating shaft is arranged at the extending end. The third link 3033 includes an extended end with respect to the parallelogram linkage, and the wrist assembly 1120 may be disposed at the extended end of the third link 3033. By providing the motor 301 on the follower 303, the gravitational moment of the motor 301 with respect to the third axis of rotation may be made to balance the gravitational moment of at least a portion of the wrist assembly 1120 with respect to the third axis of rotation.

In some embodiments, as shown in FIGS. 11-16, wrist assembly 1120 also has a fourth articulation mechanism 40 therein. The fourth articulation mechanism 40 includes a motor 401 (which may also be referred to as a fourth motor), a driver (which may also be referred to as a fourth driver), and a follower. In some embodiments, the motor 401 may rotate the drive member. The driving member is configured to drive the driven member to rotate the other joint mechanism of the wrist assembly 1120, which is connected to the fourth joint mechanism 40, around or along with the fourth rotation axis (the axis of the fourth rotation axis is shown by a dotted line A4). In some embodiments, the drive may include a reel, gear, or the like. The follower includes a reel, a gear, etc. In some embodiments, fourth articulating mechanism 40 may be similar or identical to fourth articulating mechanism 314 of fig. 3-7. For more description of the fourth joint mechanism, reference may be made to the detailed description in fig. 3-7.

As shown in fig. 16, the fourth follower may include a plurality of reels, for example, reels 4021 and 4022 and/or a driven wheel provided at the fourth rotation shaft. The motor 401 in the fourth articulation mechanism 40 is fixed to the driven member 203, and the mechanical energy provided by the motor 401 can be transmitted to the fourth rotational shaft of the fourth articulation mechanism 40 via a rope that is wound around the reels 4021 and 4022, respectively. In some embodiments, the fourth drive further comprises a drive (e.g., a reel) disposed on the output shaft of the motor 401. The ropes connect the reels 4021, 4022 on the output shaft of the motor 401, and the driven wheel provided at the fourth rotation shaft, respectively, so as to transmit torque from the motor 401 to the fourth rotation shaft of the fourth joint mechanism 40. By providing the motor 401 on the follower 203, the gravitational moment of the motor 401 with respect to the fourth axis of rotation may be made to balance the gravitational moment of at least a portion of the wrist assembly 1120 with respect to the fourth axis of rotation.

In some embodiments, as shown in FIGS. 11-16, the weight of wrist assembly 1120 may be balanced with a motor, i.e., the weight of wrist assembly 1120 relative to a rotational axis may be balanced with the weight of the motor relative to the rotational axis. For example, the motor and wrist assembly 1120 may be disposed on opposite sides of a particular axis of rotation such that the angle between the motor's gravitational torque to the particular axis of rotation and the direction of the wrist assembly 1120's gravitational torque to the particular axis of rotation is greater than 90 degrees (e.g., 100 degrees, 150 degrees, 180 degrees), and the motor's gravitational torque to the particular axis of rotation may counteract (i.e., balance) the gravitational torque of at least a portion of the wrist assembly 1120 to the particular axis of rotation. As used herein, the motor and the wrist element being located at two sides of a certain rotation axis may refer to a first area of the motor located in a rotation range corresponding to the rotation axis, and a second area of the wrist element located in a rotation range corresponding to the rotation axis, where a boundary line between the first area and the second area has an intersection point with the rotation axis.

In some embodiments, for the second axis of rotation, the wrist assembly 1120 is disposed below the second axis of rotation, and the second motor 201 and the fourth motor 401 are disposed above the second axis of rotation, and the moment of gravity of the second motor 201 and the fourth motor 401 on the second axis of rotation is directly opposite to the moment of gravity of the wrist assembly 200 on the second axis of rotation, and the moment of gravity of the second motor 201 and the fourth motor 401 on the second axis of rotation can offset a part of the moment of gravity of the wrist assembly 1120 on the second axis of rotation, that is, balance a part of the moment of gravity of the wrist assembly 1120. In some embodiments, for the third axis of rotation, the third motor 301 is disposed to the right of the third axis of rotation by a parallelogram linkage, and the wrist assembly 1120 is disposed to the left of the third axis of rotation, so that the gravitational moment of a portion of the wrist assembly 1120 on the third axis of rotation can also be balanced.

In some embodiments, the weight moment of wrist assembly 1120 may be balanced by employing a balancing assembly. The balancing assembly may include an elastic member (e.g., an elastic cord, a spring, etc.). One end of the elastic member is connected to a joint mechanism in the wrist assembly (also referred to as a wrist joint mechanism) or a joint mechanism in the arm assembly (also referred to as an arm joint mechanism) (e.g., a follower or a rotation shaft). The angle between the moment (i.e. tension moment) formed by the elastic element on the rotation axis of the arm joint mechanism or the wrist joint mechanism and the direction of the gravitational moment formed by the wrist component and/or the arm component with respect to the rotation axis is greater than 90 degrees (e.g. 120 degrees, 150 degrees or 180 degrees).

For example, fig. 17-18 are schematic illustrations of a balancing assembly at an arm assembly of the master hand-manipulandum shown in fig. 11-16, according to some embodiments of the present disclosure.

As shown in fig. 17, for the second rotation axis, a balancing assembly (also referred to as a first balancing assembly) may be provided to balance the gravitational moment of the wrist assembly 1120 to the second rotation axis. The first counterbalance assembly may include an elastic member 1710 (which may also be referred to as a first elastic member), a rope 1720 (which may also be referred to as a first rope), and a diverting pulley 1730 (which may also be referred to as a first diverting pulley). For example, one end of the elastic member 1710 is fixed to the driven member 103 of the first articulation mechanism 10, the other end is fixedly connected to a rope 1720 (e.g., a wire rope), and the rope 1720 is fixed to the driven member 203 (i.e., the driven member 203) of the second articulation mechanism 20 around a reversing wheel 1730 such that the rope 1720 forms an angle with the axial direction of the elastic member 1710. The driven member 203 rotates around the second rotation axis, and the tension of the elastic member 1710 acts on the driven member 203, so that the tension moment formed by the elastic member 1710 on the second rotation axis is approximately opposite to the gravity moment formed by the gravity force of the wrist member 1120 on the second rotation axis, and thus the tension moment can be used to balance the gravity moment of the wrist member 1120. It should be noted that in some embodiments, the first balancing assembly may include only the resilient member 1710. One end of the elastic member 1710 may be fixed to the follower 103 of the first joint mechanism 10, and the other end may be directly fixed to the follower 203 of the second joint mechanism.

As shown in fig. 18, for the third rotation axis, a balancing assembly (also referred to as a second balancing assembly) may be provided to balance the gravitational moment of the wrist assembly 1120 to the third rotation axis. The second counterbalance assembly may include an elastic member 1810 (which may also be referred to as a second elastic member), a rope 1820 (which may also be referred to as a second rope), and a diverter wheel 1830 (which may also be referred to as a second diverter wheel). For example, the second base plate 602 has a hook 1840 thereon, and the output shaft of the third motor 301 (i.e., the extended end of the first link 3031) further has a pull wire column 1850 thereon, one end of the elastic member 1810 is fixed to the hook 1840, and the other end is fixed to the pull wire column 1850 by a rope 430 (e.g., a wire rope), and the rope 430 passes around the steering wheel 440, thereby changing the direction such that the rope 40 forms an angle with the axial direction of the elastic member 1810. So that the pulling force of the elastic member 1810 can be applied to the motor 301. Further, the tension of the elastic member 1810 and the gravity of the wrist assembly 200 tend to move in opposite directions or substantially opposite directions relative to the third rotation axis, so that the tension of the elastic member 1810 can be used to balance a part of the gravitational moment of the wrist assembly 1120. It should be noted that in some embodiments, the second balancing assembly may include only the resilient member 1810. One end of the elastic member 1810 may be fixed to the hook 1840 and the other end may be fixed to the wire drawing post 1850.

The installation position and rigidity coefficient of the first elastic member 1710 and the second elastic member 1810 are determined by the following method. For example, FIG. 19 is a schematic diagram of the balancing assembly shown in FIGS. 17-18, according to some embodiments of the present description. As shown in fig. 19, the rigidity coefficient of the first elastic member 1710 is K1, the distance between the second reversing wheel 1730 and the second rotating shaft is a, and one end of the elastic member 1710 rotates along with the driven member 103 of the first joint mechanism 10, and is x from the second rotating shaft. The rigidity coefficient of the second elastic member 1810 is K2, the distance between the driving member 302 of the third joint mechanism 30 and the second rotating shaft is b, and one end of the second elastic member 1810 rotates along with the connecting rod 3031 and is y from the second rotating shaft. The included angle between the fourth link 3034 and the vertical direction is θ2, the included angle between the first link 3031 and the vertical direction is θ3, the center of gravity of the wrist assembly 1120 at the zero position is defined as m1, and the centers of gravity of the other links (i.e., the second link 3032, the first link 3031 and the fourth link 3034) are respectively at m2, m3 and m 4. Where L1 is the distance from the center of gravity m1 to the third rotation axis, L2 is the distance between the second link 3032 and the fourth link 3034 (also can be understood as the distance from the center of gravity m2 to the second rotation axis), L3 is the distance from the center of gravity m3 to the second rotation axis, L4 is the distance from the center of gravity m4 to the second rotation axis, and L5 is the length of the second link 3032, i.e., the distance between the second rotation axis and the third rotation axis (also can be understood as the distance from the center of gravity m3 to the third rotation axis).

The potential energy of the entire master hand-held device 1100 is:

E＝m ₃ gl ₃ cosθ ₃ +m ₄ gl ₄ cosθ ₂ +m ₂ g(l ₂ cosθ ₃ +l ₄ cosθ ₂ )+m ₁ g(l ₁ cosθ ₃ +l ₅ cosθ ₂ )+1/2K ₁ (a ² +x ² -2axcosθ ₃ )+1/2K ₂ (b ² +y ² -2bycosθ ₂ ) 。

if balance is to be ensured, that is, the potential energy of the entire master hand control device 10 is unchanged, that is, the potential energy is not affected by θ2 and θ3, the relationship between the stiffness coefficients k1 and k2 of the first elastic member 1710 and the second elastic member 1810 and the mounting positions x and y can be obtained, see the following formula:

the stiffness coefficients k1 and k2 of the first resilient member 1710 and the second resilient member 1810 and the relationship of the mounting positions x and y can be set by the above, thereby ensuring balance of the entire master hand operation device 1100. It should be noted that the above first balancing assembly and second balancing assembly may also be mounted to the second joint mechanism 312 and the second joint mechanism 313 of the master hand-operated device 300 to balance gravity. The specific construction of the balance assemblies mounted to the second articulation mechanism 312 and the second articulation mechanism 313 of the master hand device 300 is generally similar or identical to the first balance assembly and the second balance assembly mounted to the master hand device 1100, and the specific details thereof will not be discussed in detail herein.

In some implementations, a balancing assembly may be used to balance its own weight within wrist assembly 1120. Figures 20-21 are schematic illustrations of a balancing assembly at the wrist assembly of the master hand-manipulating device shown in figures 11-16 according to some embodiments of the present disclosure. In particular, as shown in FIGS. 20-21, wrist assembly 1120 includes a wrist joint mechanism having a wrist axis of rotation (i.e., a fifth axis of rotation) that is oriented perpendicular to the direction of gravitational force of wrist assembly 1120. Balance assembly 230 the balance assembly comprises a wrist balance assembly (also referred to as a third balance assembly) disposed on the wrist joint mechanism, the wrist balance assembly comprising a rope 520 (also referred to as a third rope) and an elastic member 530 (also referred to as a third elastic member), the reversing wheel 510 being mounted on the fifth shaft to rotate in synchronization with the fifth shaft, one end of the elastic member 530 being connected to the rope 520, the other end of the elastic member 530 being connected to a supporting base 603 (also referred to as a third base plate or a base) of the wrist joint mechanism, the other end of the rope 520 being connected to a driven member 510 of the wrist joint mechanism, the balance moment of the wrist balance spring to the wrist shaft at least partially balancing moment of the wrist assembly 1120 to the wrist shaft, optionally the driven member 510 being a wheel, such as a round wheel or a cam, it should be noted that the third balance assembly may comprise only the elastic member 530, one end of the elastic member being directly connected to the fifth shaft, the other end of the elastic member being fixedly connected to the supporting base 603, the third balance assembly may also be mounted on the assembly 320 of the master hand control device 300 to perform a weight balance to the master device 300, the detailed balance assembly is not being mounted on the master device 300 or the master device, as discussed herein.

Fig. 22 is a schematic diagram of the balancing assembly shown in fig. 20-21, according to some embodiments of the present description. As shown in fig. 22, in some embodiments, the profile of the cam 510 and the stiffness coefficient K of the spring 530 are determined in the following manner.

The equivalent weight of the load of the fifth rotating shaft is mg, the distance from the center of gravity of the load to the fifth rotating shaft is L, the deflection angle of the center of gravity of the load is a (i.e., the included angle between the line between the center of gravity of the load and the fifth rotating shaft and the vertical line passing through the fifth rotating shaft), the radius of the elastic member 530 acting through the rope 520 and the driven member 510 is r (i.e., the radius of the driven member 510), the distance from the center of the driven member 510 to the fixed point between the elastic member 530 and the supporting base 603 is h, the free length of the elastic member 530 is s, the tensile force of the elastic member is F,

the conditions for fully compensating the weight are:

mgLsina＝Fr。

wherein the tension of the elastic member 530 may be expressed as:

from this, the relationship between the radius r of the follower 510 and other parameters can be obtained:

by reasonably setting the rigidity coefficient K of the elastic member 530 and the mounting position h, the effect of complete compensation can be achieved. The effect of the complete compensation may be that the pulling force provided by the elastic member 530 is equal to the pulling moment of the fifth rotation axis and the gravitational force of the wrist assembly 1120 to the gravitational moment of the fifth rotation axis, and the directions are opposite. In some embodiments, the tension provided by the elastic member 530 may be less than the gravitational torque of the wrist assembly 1120 relative to the fifth axis, e.g., the tension may be 90%, 80%, 50% or the like, to achieve a partial compensation effect. In some embodiments, the angle between the pulling force provided by the elastic member 530 and the direction of the pulling moment of the fifth rotation axis and the gravitational moment of the wrist assembly 1120 to the fifth rotation axis may be smaller than 180 degrees and larger than 90 degrees, so as to achieve a partial compensation effect.

The deflection angle of the load center of gravity changes as the load rotates about or with the fifth axis of rotation, thereby changing the sina value in the formula in the range of 0 to 1. In some embodiments, the stiffness coefficient of the resilient member 530 and the magnitude of h may be determined by designing the profile of the follower 510 such that the shape change of the profile resembles a sinusoidal function, such that sina is approximately equal in magnitude to the profile dimension r of the follower 510. In some embodiments, the load center of gravity corresponds to a certain deflection angle a at each rotational position, and the line between the load center of gravity and the fifth rotation axis at each position corresponds to a radius r at the intersection of the contours of the follower 510, such that s ina is equal to the radius r. In some embodiments, the deflection angle a of the load center of gravity may be divided into a plurality of ranges. A corresponds to the same radius r of follower 510 in each range.

FIG. 23 is a schematic illustration of a balancing assembly at a wrist assembly of a master hand-manipulating device according to some embodiments of the present disclosure. In some embodiments, zero free length springs may be used for gravity balancing. Wrist balance assembly includes elastic member 2310, lanyard 2320 and reverser wheel 2330. One end of the elastic member 2310 is fixedly mounted to the support base 2303 in the support assembly. The other end of the elastic member 2310 is connected to one end of the rope 2320. The other end of the cable 2320 is connected to the articulation mechanism of the wrist assembly (e.g., fifth shaft or follower 2340) around a reversing wheel 2330. The balancing moment of the elastic member 2310 on the wrist rotation axis (i.e., the fifth rotation axis) at least partially balances the gravitational moment of the wrist assembly 1120 on the wrist rotation axis. The follower 2340 is a rotating wheel, for example, a circular wheel or a cam. For more description of the joint structure of the wrist assembly and the fifth axis of rotation reference is made to the detailed description elsewhere in the present application, for example, fig. 20-21.

Fig. 24 and 25 are schematic diagrams of the balancing assembly shown in fig. 23, according to some embodiments of the present description. As shown in fig. 24 and 25, using a zero free length spring, the profile (e.g., radius) of the follower 2340 and the stiffness coefficient K of the spring 2310 are determined in the following manner.

The equivalent weight of the load of the fifth rotating shaft is mg, the distance from the center of gravity of the load to the fifth rotating shaft is L, the deflection angle of the center of gravity of the load is a, the radius of action of the elastic member 2310 and the driven member 2340 through the rope 2320 is r, the distance from the center of the circle of the driven member 2340 to the fixed point of the elastic member 2310 and the reversing wheel 2330 is h, the free length of the elastic member 2310 is s, the pulling force of the elastic member 2310 is F,

the conditions for fully compensating the weight are:

mgLsina＝Fr。

wherein the tension of the elastic member 2310 may be expressed as:

from this, the relationship between the radius r of the follower 2340 and the other parameter K is:

by properly setting the rigidity coefficient K of the elastic member 2310 and the installation position (h) of the reversing wheel 2330, the effect of complete compensation can be achieved. In some embodiments, the tension provided by the elastic member 2310 may be less than the gravitational torque of the wrist assembly relative to the fifth axis, e.g., the tension may be 90%, 80%, 50% or the like, to achieve a partial compensation effect. In some embodiments, the angle between the pulling force provided by the elastic member 2310 and the direction of the pulling moment of the fifth rotation axis and the gravitational moment of the wrist assembly 1120 to the fifth rotation axis may be smaller than 180 degrees and larger than 90 degrees, so as to achieve a partial compensation effect.

Fig. 26 is an exemplary diagram of a workflow of a gripping device in a robot shown in accordance with some embodiments of the present disclosure. The robot may include a slave arm, a master hand manipulation device, and a controller. The master hand manipulation device comprises an arm assembly, a wrist assembly and a clamping device 2600 arranged on the wrist assembly. The clamp 2600 includes a clamp assembly 2610 and a feedback assembly, which may include a transmission 2620 and a power member 2630. For more details on the arm assembly, the wrist assembly, and the clamping device 2600, reference is made to the detailed description elsewhere in this disclosure. For example, a more detailed description of an arm assembly may be found with reference to FIGS. 3-8 or FIGS. 11-25. For more description of the wrist assembly reference is made to the detailed description of 9-10. For more description of the clamping means reference may be made to the detailed description of fig. 27-29.

The clamp assembly 2610 may be opened and closed within a working range. In some embodiments, the feedback assembly may send control signals to the slave arm and/or feedback the slave arm's force state through the transmission 2520 and the power member 2630. From the connection of the robotic arm to the end effector, the feedback assembly may feedback the force state of the end effector to the clamp assembly 2610 so that an operator may sense the force state of the end effector. For example, when the clamping assembly 2610 is subjected to an external force (e.g., an operator applies a force to the clamping assembly 2610 to cause the clamping assembly 2610 to close), the force may be transmitted to the power member 2630 via the transmission member 2620, the power member 2630 may transmit the force (e.g., torque) to a driver of the master manipulator through a wrist assembly and an arm assembly of the master manipulator, and the driver of the master manipulator (e.g., a motor) may acquire parameter information of the force and convert the parameter information into an electrical signal and output the electrical signal to the controller, and the controller may parse the corresponding parameter information from the electrical signal and control the slave manipulator to perform a corresponding operation. In some embodiments, the controller may directly obtain the parameter information of the applied force from the power member 2630 and control the mechanical arm to perform a corresponding operation.

For another example, when the slave arm drives the end effector to perform a certain operation (e.g., suturing), the controller can receive the force parameter of the slave arm, and the controller drives the power member 2630 to rotate according to the received force parameter. In some embodiments, the controller may acquire mechanical parameters such as clamping force, lateral moment, etc. of the slave manipulator through mechanical sensors provided on the slave manipulator, and then the controller controls the power member 2630 (e.g., a motor) to make corresponding rotations, and the rotations of the power member 2630 may be transmitted to the clamping assembly 2610 through the transmission member 2620 (e.g., by providing resistance force), thereby feeding back the parameters such as clamping force of the slave manipulator to the clamping assembly 2610 directly operated by the surgeon. The clamping force signal and the lateral moment signal detected from the mechanical arm are transmitted to the controller after being processed, the controller transmits the resolved force to the driver of the main hand control device in the form of instructions or signals, and the driver of the main hand control device drives the power piece 2630 to rotate through executing the change of current.

In some embodiments, clamp device 2600 may further include other power members and transmission members other than transmission member 2620 and power member 2630, through which clamp assembly 2610 may send control signals to slave robotic arms.

Further, the power part 2630 is also in communication connection with the slave mechanical arm, so that stable operation of the processes of master-slave control, pose detection, moment feedback and the like can be ensured. For example, the power member 2630 may directly transmit force information of the clamp assembly 2610 to the controller; or the controller may directly return feedback information to the power member 2630. In some embodiments, the power element 2630 is communicatively coupled to a controller that receives a rotational signal from an encoder in the power element 2630, processes the rotational signal to generate a control command, and sends the control command to the slave manipulator, which performs motion control according to the control command.

In some embodiments, the feedback assembly may generate feedback information based on the force state of the end effector, and apply resistance to the clamp device 2600 based on the feedback information in order for an operator of the clamp assembly 2610 to sense the resistance, i.e., sense the force state of the end effector. The feedback information may include, among other things, the magnitude, direction, etc., of the resistance experienced by the end effector. In some embodiments, the end effector may be a surgical knife that when in contact with or pressed against the skin of a patient, the body tissue may exert a reactive force, i.e., resistance, against the surgical knife. In some embodiments, the resistance is detected by a sensor disposed on the end effector. For more description of the end gripping device, reference may be made to the detailed description of FIGS. 26-40.

In some embodiments, the clamping device controls the end effector (e.g., a lancet) to operate, the end effector may encounter a resistance that may be fed back to the slave robotic arm and/or master manipulator device, which may control the feedback assembly to apply a resistance to the clamping assembly 2610 that is commensurate with the resistance. Thus, when the medical staff performs operation, the stress state of the end effector can be sensed through the resistance fed back by the feedback assembly, so that the condition of operating the end effector can be simulated truly.

Fig. 27-29 are schematic illustrations of exemplary configurations of clamping devices according to some embodiments of the present disclosure. The grip device 2700 may be applied to a master hand manipulator (e.g., master hand manipulator 1100, master hand manipulator 300, master hand manipulator 200) as described anywhere in the present disclosure. For example, the grip device 2700 may be mounted to a wrist assembly of a master hand manipulator (e.g., master hand manipulator 1100, master hand manipulator 300, master hand manipulator 200).

As shown in fig. 27, the clamping device 2700 includes a base 2710, a clamping component 2720, and a feedback component 2730. The base 2710 may be variously shaped to provide support for other elements in the clip device 2700. In some embodiments, the base 2710 is cylindrical and has a fixing slot formed on one side. The clamping assembly 2720 is rotatably disposed on the base 2710 and can be opened and closed within a working range. As used herein, the clamping assembly being openable and closable within an operating range means that the clamping assembly has at least one element (e.g., two or three) that is movable toward and away from a reference under an external force to thereby be opened and closed within a range. For example, the clamping assembly may comprise two elements that are movable towards and away from each other under the influence of an external force to open and close over a range. The clamping assembly 2720 may be disposed at any position of the end or middle of the base 2710. As shown in fig. 27, the grip assembly 2720 is provided at the middle of the base 2710, but the installation position of the grip assembly 2720 is not limited thereto. Feedback assembly 2730 is connected to base 2710 and clamp assembly 2720. The feedback assembly 2730 can output an adjustable amount of rotational resistance to the clamping assembly 2720. In some embodiments, the feedback assembly 2730 may convert the rotational signal of the clamping assembly 2720 into an electrical signal output, for example, to an end effector of a slave robotic arm.

As shown in fig. 28, the clamping assembly 2720 may include two finger cuffs (e.g., finger cuff 2721a and finger cuff 2721 b) (may also be referred to as a first finger cuff and a second finger cuff) and two connection plates (e.g., connection plates 2722a and 2722 b) (may also be referred to as a first connection plate and a second connection plate), the two finger cuffs being disposed in one-to-one correspondence with the two connection plates. One end of any connecting plate is rotatably connected with the base 2710, and the other end is connected with the fingerstall. It should be noted that the number of finger cuffs and the number of connection plates in the clamping assembly 2720 shown in fig. 28 are only illustrative, and do not limit the scope of the present application. In some embodiments, the number of finger cuffs and connection plates may be greater than 2, for example, 3, or 4, or 5. In some embodiments, the number of finger cuffs and connection plates may be 1.

In some embodiments, any one of the finger cuffs may be a ring-shaped member, and may be cylindrical. In some embodiments, any one of the finger cuffs may be in the form of a strip. As shown, finger cuffs 2721a and 2721b are cylindrical bodies with circular cross sections, and the interiors of finger cuffs 2721a and 2721b are hollow and open at both ends.

The clamping assembly 2720 also includes rotational shafts (e.g., rotational shafts 2723a and 2723 b) (which may also be referred to as first rotational shaft and second rotational shaft). The rotating shafts are arranged in one-to-one correspondence with the connecting plates. One ends of the connection plates 2722a and 2722b are rotatably connected to the base 2710 through rotation shafts 2723a and 2723b, respectively.

Wherein, the base 2710 is provided with a mounting hole for the rotating shaft to pass through, and the mounting hole is communicated with the fixed groove. For any one of the connecting plates, one end of the connecting plate (for example, the connecting plate 2722a or 2722 b) is rotatably inserted into the fixing groove and is provided with a fixing hole relative to one of the rotating shafts (for example, the rotating shaft 2723a or 2723 b), one end of the connecting plate (for example, the connecting plate 2722a or 2722 b) is fixedly sleeved on the rotating shaft (for example, the rotating shaft 2723a or 2723 b) through the fixing hole, and the other end of the connecting plate is connected to the outer wall of the corresponding finger cuff (for example, the finger cuff 2721a or 2721 b) along the axial direction of the corresponding finger cuff (for example, the finger cuff 2721a or 2721 b).

As shown in fig. 28, the number of finger cuffs, connecting plates and rotating shafts in the clamping assembly 2720 is two, and the finger cuffs, the connecting plates and the rotating shafts are arranged in a one-to-one correspondence manner. It should be noted that, in fig. 28, the arrangement of the connecting plate, the finger stall and the rotating shaft is only exemplary, and does not limit the scope of the present application. In some embodiments, the number of the finger sleeves and the connecting plates can be 2 or more than 2, the number of the rotating shafts can be 1, a plurality of connecting plates can be stacked, and one ends of the connecting plates are sleeved on the same rotating shaft through fixing holes.

In some embodiments, the connection plates 2722a and 2722b are toothed with the rotational connection end of the base 2710, and the two connection plates are engaged with each other and rotate synchronously.

Wherein, two connecting plates are symmetrically arranged on the base 2710.

Through setting up connecting plate and base 2710 rotation link and being tooth form structure to make the meshing between two connecting plates, realized the linkage between connecting plate and the dactylotheca, can open and shut two dactylotheca, avoid any single rotation in two dactylotheca.

In some embodiments, the clamping assembly 2720 further includes a pressure plate (e.g., pressure plates 2724a and 2724 b) through which the two finger cuffs are detachably connected to the connection plates, respectively.

The connecting plate is detachably connected to the fingerstall through the pressing plate, so that all parts can be manufactured independently, and the fingerstall can be connected with the connecting plate and the pressing plate in a subsequent assembly mode.

In some embodiments, the side of the pressure plate (e.g., 2724 b) remote from the inner wall of the finger cuff is grooved, which runs through the pressure plate (e.g., 2724 b) in the axial direction of the finger cuff (e.g., 2721 b).

The section of the inner wall of the groove can be arc-shaped, -shaped and the like.

Wherein, the pressure plate (e.g. 2724 b) and the connecting plate (e.g. 2722 b) can be detachably connected to the fingerstall (e.g. 2721 b) in a snap-fit manner, and can also be connected to the fingerstall (e.g. 2721 b) through screw threads. For example, as shown in fig. 28, two through holes are spaced apart from one side of any one of the two finger cuffs (for example, 2721 b) close to the other finger cuff (for example, 2721 a), two threaded holes are formed in the connecting plate (for example, 2722 b) corresponding to the finger cuff, the threaded holes are arranged in one-to-one correspondence with the through holes, two countersunk holes are formed in the pressing plate (for example, 2724 b) corresponding to the finger cuff (for example, 2721 b) corresponding to the through holes, the countersunk holes are arranged in one-to-one correspondence with the through holes, the small-diameter section of the countersunk hole is close to the inner wall of the finger cuff (for example, 2721 b) relative to the large-diameter section, each finger cuff in the clamping assembly 2720 is also corresponding to two screws (for example, 2725), the screw thread ends of the screws are rotatably arranged in one-to-one correspondence with the countersunk holes and are connected to the threaded holes in threaded holes, and the heads of the connecting screws are arranged in the large-diameter section of the countersunk holes.

Further, the counter bore is formed by opening the bottom inner wall of the inner wall groove of the pressing plate to the direction of the other finger stall.

By arranging the countersunk holes, the fingers of the human hand are prevented from touching the connecting screws in the process of inserting the finger stall.

The feedback assembly 2730 includes a transmission member and a power member. The power member is secured to the base 2710 and is connected to the web of the clamp assembly 2720 by a transmission. In some embodiments, the number of driving members and the number of power members in feedback assembly 2730 may be equal to the number of finger cuffs (or webs). In some embodiments, the number of driving members in the feedback assembly 2730 may be equal to the number of finger stalls (or connection plates), the number of power members in the feedback assembly 2730 may be less than the number of driving members, for example, when the number of finger stalls is 2, the number of driving members may be 2, the number of power members is 1, and the number of driving members is set in a one-to-one correspondence with the finger stalls (or connection plates). In some embodiments, the number of driving members and power members in feedback assembly 2730 may be less than the number of finger cuffs (or webs), e.g., when the number of finger cuffs is 2, the number of driving members is 1, and the number of power members is 1.

As shown in fig. 28, the number of driving parts in the feedback assembly 2730 may be 2, the number of power parts is 2, and the driving parts and the power parts are arranged in one-to-one correspondence with the finger stall (or the connecting plate). The transmission member and the power member disposed in correspondence thereto may be referred to as a set of feedback members. The two groups of feedback components are respectively arranged at two ends of the base 2710 and are symmetrically arranged, and the output shafts of the power components in the two groups of feedback components are coaxially arranged.

As one embodiment, one of the sets of feedback members is illustrated as including a transmission member 2731 and a power member 2732 for outputting resistance to the finger cuff 2721b or the connection plate 2722 b. The transmission member 2731 may include a first pulley 281, a second pulley 282, and a transmission belt 283, the first pulley 281 and the second pulley 282 being respectively fixed to one end of one of the connection plates (e.g., 2722 a) and an output shaft of the power member (e.g., 2732 a), the first pulley 281 and the second pulley 282 being drivingly connected by the transmission belt 283.

The first belt wheel 281 is coaxially disposed with the rotating shaft 2723b, the first belt wheel 281 is fixedly sleeved on the rotating shaft 2723b, and the second belt wheel 282 is coaxially disposed with the output shaft of the power member 2732.

By providing the first pulley 281, the second pulley 282, and the drive belt 283, the resistance provided by the power member (e.g., 2732) is transmitted through the second pulley 282, the drive belt 283, and the first pulley 281 to the rotating shaft 2723b connected to the first pulley 281, and the rotating shaft 2723b transmits the resistance to the finger cuff 2721b. The resistance may be an electromagnetic force between the output shaft of the power member 2732 and the stator, and when the stator is energized, the electromagnetic force is applied to the rotation of the output shaft of the power member 2732, and the electromagnetic force is opposite to the rotation direction of the output shaft of the power member 2732, so that a resistance for preventing the rotation of the rotating shaft is formed, and the magnitude of the resistance may be changed by adjusting parameters (e.g., current, voltage) of the energization; the resistance can also be generated between the second pulley 282 and the driving belt 283, the output shaft of the power member 2732 drives the second pulley 282 to rotate, so that the second pulley 282 slides relative to the driving belt 283, and relative friction force is generated in the sliding process, and the magnitude of the friction force can be adjusted through the rotating speed of the power member 2732.

The driving belt 283 may be a synchronous belt or a wire rope. Referring to fig. 28, a drive belt 283 is provided for the wire rope. When the belt 283 is a wire rope, referring to fig. 29, the belt 283 may be provided in an "8" shape similar to the belt 293 in fig. 29. When the drive belt 283 is a wire rope, there may be relative friction between the drive belt 283 and the first pulley 281 and the second pulley 282. When the belt 283 is a timing belt, there is no relative slip between the belt 283 and the first and second pulleys 281 and 282.

Fig. 30 is another exemplary structural schematic diagram of a clamping device according to some embodiments of the present disclosure. The clamping device 3000 may be applied to a master hand manipulator (e.g., master hand manipulator 300, master hand manipulator 200) as described anywhere in the present disclosure. For example, the clamping device 3000 may be mounted to a wrist assembly of a master hand manipulator (e.g., master hand manipulator 300, master hand manipulator 200).

As shown in fig. 30, the clamping device 3000 includes a base 3010, a clamping assembly 3020, and a feedback assembly 3040. The base 3010, clamp assembly 3020 and feedback assembly 3040 are the same or similar to the base 2710, clamp assembly 2720 and feedback assembly 2730. For example, the clamp assembly 3020 includes finger cuffs (e.g., finger cuff 3021a (may also be referred to as a first finger cuff) and finger cuff 3021b (may also be referred to as a second finger cuff)), connection plates (e.g., connection plate 3022a (may also be referred to as a first connection plate) and connection plate 3022b (may also be referred to as a second connection plate)) and rotation shafts (e.g., rotation shafts 3023a (may also be referred to as a first rotation shaft) and rotation shafts 3023b (may also be referred to as a second rotation shaft)). For another example, the feedback assembly 3040 may include a transmission member and a power member. The number of driving members and driving members may be the same as the number of finger stalls, e.g., 2. For more description of the base 3010, clamp assembly 3020, and feedback assembly 3040, reference is made to the detailed description of FIGS. 27-29.

Taking as an illustration a transmission corresponding to the finger cuff 3021a, unlike the holding device 2700, the transmission includes a first gear 3014 and a second gear 3015, the first gear 3014 being connected to the connection plate 3022a as shown in fig. 30. The second gear 3015 is fixedly sleeved on the output shaft of the power member 3042, and the first gear 3014 and the second gear 3015 are meshed for transmission.

The first gear 3014 is fixedly sleeved on the rotating shaft 3023a and is coaxially arranged with the rotating shaft 3023a, and the second gear 3015 is coaxially arranged with the output shaft of the power member 3042.

By providing the first gear 3014 and the second gear 3015, connection of the rotation shaft 3023a and the output shaft of the power member 3042 is achieved, and resistance provided by the power member 3042 is transmitted to the rotation shaft 3023a via the first gear 3014 and the second gear 3015, and is transmitted to the finger cuff 3021a via the rotation shaft 3023 a.

The power member 3042 may be an electric motor, a hydraulic motor, or the like. In some embodiments, the power member 3042 is a motor with an encoder, the encoder can convert the output shaft of the power member 3042 and the rotation signal of the rotating shaft 3023a into an electrical signal for output, and the motor can output a rotation resistance with adjustable magnitude to the rotating shaft 3023 a. The transmission corresponding to finger cuff 3021b is identical or similar in structure to the transmission corresponding to finger cuff 3021a and will not be repeated here.

The power member 3042 of the feedback assembly 3040 may be fixedly connected to the base 3010 or detachably connected to the base 3010.

In some embodiments, the feedback assembly 3040 further includes a clamp 3043, the clamp 3043 being connected to the base 3010 and removably connected to the power member 3042.

Further, the clamping member 3043 includes a first clamping ring 3043a and a second clamping ring 3043b, the cross sections of the first clamping ring 3043a and the second clamping ring 3043b are semicircular and are sleeved on the housing of the power member 3042, one end of the first clamping ring 3043a is connected to the base 3010, and the second clamping ring 3043b is opposite to the second clamping ring 3043b and is connected to the first clamping ring 3043a through screw threads.

In some embodiments, the first clamp ring 3043a is integrally formed with the base 3010.

By providing the first and second clamp rings 3043a, 3043b, the second and first clamp rings 3043b, 3043a clamp the housing of the power member 3042, detachable connection of the power member 3042 to the base 3010 is achieved while also effectively securing the power member 3042 to the base 3010.

Fig. 31-33 are further exemplary structural schematic diagrams of clamping devices according to some embodiments of the present disclosure. The clamping device 3300 may be applied to a master hand manipulator (e.g., master hand manipulator 300, master hand manipulator 200, master hand manipulator 1100) as described anywhere in the present disclosure. For example, the clamping device 3300 may be mounted to a wrist assembly of a master hand manipulator (e.g., master hand manipulator 300, master hand manipulator 200, master hand manipulator 1100).

As shown in fig. 31-33, the clamping device 3300 includes a base 3310, a clamping control assembly 3320 (also referred to as a clamping assembly), and a feedback assembly. The feedback assembly includes a transmission member and a power member. The driving member is composed of a set of coaxially nested rotating shafts, and the opening, closing and rotating movements of the clamping control assembly 3320 are coaxially and independently driven by the driving member. The power piece is a motor, and the transmission piece is connected with the motor. The clamp control assembly 3320 sends control signals to the slave robotic arm via the motor and/or feeds back the slave robotic arm's force status. It will be appreciated that the base 3310 is a support for the entire clamping mechanism 3300, facilitating assembly between the various components of the clamping mechanism 3300 and installation of the clamping mechanism 3300 with other mechanisms. The motor and the transmission piece are used as feedback components, so that the clamping device 3300 and the slave mechanical arm can realize bidirectional transmission of control signals and feedback signals, and the device has the advantages of simple structure and stable performance.

Further, the control actions of the clamp control assembly 3320 include opening and closing and rotation. Opening and closing means that elements in the clamp control assembly 3320 can move toward and away from the axis of rotation of the drive member; rotation means that the elements in the clamp control assembly 3320 may rotate about or with the axis of rotation of the drive member. Correspondingly, the transmission member includes a first transmission mechanism 3340 and a second transmission mechanism 3360, and the first transmission mechanism 3340 and the rotation shaft of the second transmission mechanism 3360 are coaxially nested, so that the volume of the clamping device 3300 can be obviously reduced in a coaxial nested manner. Further, the feedback assembly further includes a first motor 3330 and a second motor 3350, which correspond to the transmission mechanism, the first motor 3330 is in transmission connection with the first transmission mechanism 3340, and the second motor 3350 is in transmission connection with the second transmission mechanism 3360. The clamping control component 3320 is a part directly operated by a doctor in the minimally invasive surgery process, the clamping control component 3320 is movably arranged on the base 3310, the clamping control component 3320 can be opened and closed in a working range, and the corresponding opening and closing actions of the slave mechanical arm are controlled in the opening and closing process of the clamping control component 3320. It is understood that the operating range of the clamp control assembly 3320 refers to the limit (i.e., the maximum) of the clamp control assembly 3320. In some embodiments, the clamp control assembly 3320 may operate within a range of 0 ° -90 °. In some embodiments, the clamp control assembly 3320 may operate within a range of between 0 ° and 180 °. In some embodiments, the clamp control assembly 3320 may operate within a range of 0 ° -360 °.

As shown in fig. 31-32, the first motor 3330 is fixedly disposed on the base 3310, the first motor 3330 and the clamp control assembly 3320 are in driving connection through a first driving mechanism 3340, and the first motor 3330 can also be connected with a slave mechanical arm. In some embodiments, the first motor 3330 and the first transmission mechanism 3340 function to transmit a force applied to the clamp control assembly 3320 (e.g., a force to open or close the clamp control assembly 3320) to the slave robotic arm to control the slave robotic arm to perform a corresponding operation. When the clamping control assembly 3320 is opened and closed in the working range, the first motor 3330 is driven to rotate forward or reversely through the first transmission mechanism 3340, so that the corresponding opening and closing actions are controlled to be executed by the slave mechanical arm. In some embodiments, the first motor 3330 and the first transmission 3340 function to feed back mechanical parameters such as clamping force from the robotic arm to the clamping control assembly 3320 that the surgeon directly operates. For example, the first motor 3330 can generate a corresponding clamping moment according to a clamping force from the mechanical arm, and the first motor 3330 drives the clamping control assembly 3320 to generate an opening trend or a closing trend through the first transmission mechanism 3340 when outputting the corresponding clamping moment. When the clamping control assembly 3320 is opened or closed, the surgeon can directly feel the mechanical parameters such as the clamping force of the slave manipulator, and at this time, the surgeon continues to control the normal clamping of the slave manipulator through the master manipulator 3300.

The slave robotic arm not only creates a certain clamping force on the end effector (e.g., surgical instrument) during surgery, but also creates a lateral moment during rotation or touching of the patient's tissue organ. The doctor accurately perceives the lateral moment born by the mechanical arm in the process of rotating or touching the tissue and the organ, and is beneficial to the doctor to control the whole process and the details of the operation. In some embodiments, the second motor 3350 and the second transmission mechanism 3360 function to transmit a force applied to the clamp control assembly 3320 (e.g., a force to rotate the clamp control assembly 3320) to the slave robotic arm to control the slave robotic arm to perform a corresponding operation. Further, the clamping control assembly 3320 can rotate within a working range, the second motor 3350 is in transmission connection with the clamping sleeve 3321 in the clamping control assembly 3320 through a second transmission mechanism 3360, and the second motor 3350 is connected with the slave mechanical arm. When the clamping control assembly 3320 rotates within the working range, the second motor 3350 is driven to rotate forward or backward by the second transmission mechanism 3360, so as to control the slave mechanical arm to execute corresponding opening and closing actions. In some embodiments, the second motor 3350 and the second transmission 3360 function to feed back mechanical parameters such as clamping force from the robotic arm to the clamping control assembly 3320 that the surgeon directly operates. For example, the second motor 3350 can output a turning moment according to a lateral moment applied by the mechanical arm during the operation, and the second motor 3350 drives the two clamping plates 3322 to rotate through the second transmission mechanism 3360 and the clamping sleeve 3321. The surgeon can directly feel the tendency of rotation from the robotic arm. Integrating the first motor 3330, the first transmission 3340, the second motor 3350, and the second transmission 3360 onto the base 3310 makes the clamping device 3300 more compact.

In the clamping device 3300, the clamping force and the lateral moment of the slave mechanical arm can be fed back to the clamping control assembly 3320 through the first motor 3330, the first transmission mechanism 3340, the second motor 3350 and the second transmission mechanism 3360, and then a doctor performing an operation can accurately sense the clamping force and the lateral moment of the slave mechanical arm. The doctor can judge the execution state of the operation through the change of the clamping force and the change of the lateral moment, so that the doctor can conveniently adjust the clamping force and the lateral moment applied by the main hand control device 3300 at any time, the operation action can be more efficiently executed, the more real operation experience is realized, the parts in the slave mechanical arm are ensured to work in the normal load, and the service life of the minimally invasive surgery robot is prolonged.

The first transmission mechanism 3340 is a key structure for realizing transmission connection between the clamping control assembly 3320 and the first motor 3330, the first transmission mechanism 3340 can transmit opening and closing actions of the clamping control assembly 3320 to the first motor 3330 so as to drive the first motor 3330 to correspondingly rotate, and can also transmit torque output by the first motor 3330 according to mechanical parameters such as clamping force of a mechanical arm to the clamping control assembly 3320 so as to enable the clamping control assembly 3320 to generate opening or closing trends, so that medical staff can accurately sense the clamping force of the mechanical arm. Optionally, the clamp control assembly 3320 may be capable of outputting linear motion, oscillation, or rotation during the opening and closing process. Correspondingly, the first transmission mechanism 3340 can convert the linear motion, swing or rotation output by the clamping control assembly 3320 into the rotation of the first motor 3330, and meanwhile, the first transmission mechanism 3340 can convert the rotation of the first motor 3330 into the linear motion, swing or rotation output by the clamping control assembly 3320.

As shown in fig. 31-33, the clamp control assembly 3320 is capable of outputting linear motion during opening and closing; correspondingly, the first transmission mechanism 3340 includes a linear portion movably disposed on the base 3310, and a rotating portion rotatably disposed on the base 3310, wherein the linear portion can move linearly relative to the base 3310. The linear part is in transmission connection with the rotating part, the rotating part is driven to rotate when the linear part moves, and the linear part is driven to move when the rotating part rotates. The clamping control assembly 3320 is connected with the linear part, the clamping control assembly 3320 drives the linear part to move when opening and closing in a working range, and the rotating part is in transmission connection with the first motor 3330. The first transmission mechanism 3340 including the straight portion and the rotating portion is stable in transmission performance, and can allow flexible arrangement of portions within the clamping device 3300, thereby optimizing the overall structure of the clamping device 3300. In other embodiments of the present invention, the clamping control assembly 3320 can output swing during the opening and closing process, and correspondingly, the straight line portion in the above embodiment may be replaced by a swing portion, so long as the transmission connection between the clamping control assembly 3320 and the first motor 3330 can be achieved.

As shown in fig. 31-33, the rotating portion of the first transmission mechanism 3340 includes a first shaft 3342, the first shaft 3342 is rotatably disposed on the base 3310, and the first shaft 3342 is in transmission connection with the first motor 3330. The first shaft 3342 is provided with a threaded section provided with threads, the linear part comprises a nut 3341, the nut 3341 is sleeved on the threaded section of the first shaft 3342, the nut 3341 drives the first shaft 3342 to rotate when moving along the axial direction of the first shaft 3342, and the nut 3341 is driven to move along the axial direction of the first shaft 3342 when the first shaft 3342 rotates. The nut 3341 is connected to the clamp control assembly 3320. The nut 3341 and the first shaft 3342 are mutually driven in a threaded connection mode, and the device has the advantages of being stable in performance, simple in structure and convenient to maintain. As one implementation, the first shaft 3342 is rotatably mounted on the base 3310 by a first bearing 3380; the nut 3341 and the clamp control assembly 3320 are relatively fixed along the rotation circumferential direction of the first shaft 3342. In some embodiments, the first drive 3340 may also be of the type having a gear in driving engagement with the first motor 3330 and a rack in driving engagement with the clamp control assembly 3320, the gear being in toothed engagement with the rack.

In some embodiments, the first shaft 3342 and the first motor 3330 are in driving connection by means of a coupling, a gear set, a chain drive, a belt drive, or the like. In some embodiments, as shown in fig. 31-33, the first transmission mechanism 3340 further includes a gear set 3343 (may also be referred to as a first gear set) (e.g., a bevel gear set), the first shaft 3342 is in transmission connection with the first motor 3330 through the gear set 3343, and the installation axis of the first motor 3330 is perpendicular to the extending direction of the first shaft 3342. The gear set 3343 can prevent the excessive size of the clamping device 3300 along the extending direction of the first shaft 3342, or the gear set 3343 can prevent the excessive size of the clamping device 3300 along the mounting axial direction of the first motor 3330, so as to balance the overall size of the clamping device 3300. As one implementation, an encoder (may also be referred to as a first encoder) is disposed on the first motor 3330, the encoder can detect a rotation angle of the first shaft 3342, the encoder can be electrically connected to the slave arm, and the slave arm can perform a corresponding operation according to data detected by the encoder.

The clamp control assembly 3320 is part of the surgeon's direct manipulation, for example, the clamp control assembly 3320 may be manipulated directly by the surgeon's hand or may be manipulated (e.g., foot-operated) in conjunction with other parts of the surgeon. Some embodiments of the invention provide a clamp control assembly 3320 that is exemplified by direct surgeon hand manipulation. As shown in fig. 31-33, the clamping control assembly 3320 includes a clamping sleeve 3321, two clamping pieces 3322, and two clamping links 3323, wherein the clamping sleeve 3321 is disposed on the base 3310, and one end of each of the two clamping pieces 3322 is movably connected (e.g., hinged) to the clamping sleeve 3321. One end of each of the two clamping links 3323 is movably connected (e.g., hinged) to one of the two clamping pieces 3322, and the other end of each of the two clamping links 3323 is hinged to one of the two nuts 3341, so that when the two clamping pieces 3322 open and close in the working range, the nut 3341 is driven to do linear motion along the axial direction of the first shaft 3342, and the first motor 3330 is driven to rotate; correspondingly, when the first motor 3330 outputs a corresponding moment according to the mechanical parameters of the slave mechanical arm, the first transmission mechanism 3340 can drive the two clamping pieces 3322 to generate an opening trend or a closing trend, so as to transmit the clamping force of the slave mechanical arm to the medical staff operating the clamping pieces 3322.

In some embodiments, the clamp control assembly 3320 further includes at least two clamp finger cuffs (not shown) disposed on the two clamp tabs 3322, respectively. The clamping finger cuff allows the surgeon to more stably manipulate the two clamping tabs 3322 with the fingers. In some embodiments, the insertion of the surgeon's thumb and index finger into the two gripping finger cuffs controls the opening and closing of the two gripping tabs 3322. In some embodiments, one end of the clamping sleeve 3321 is disposed on the base 3310 and one end of each of the two clamping tabs 3322 is hingedly disposed on the other end of the clamping sleeve 3321. The clamping sleeve 3321 is of a hollow structure, one end of the first shaft 3342 matched with the nut 3341 penetrates through the clamping sleeve 3321, and the other end of the first shaft 3342 is in transmission connection with the first motor 3330. The hollow clamping sleeve 3321 capable of accommodating the first shaft 3342 and the nut 3341 can effectively reduce the overall size of the clamping device 3300 while ensuring the structural strength thereof.

As shown in fig. 31-33, the clamping sleeve 3321 is rotatably disposed on the base 3310 with its own axis as a center, and the two clamping pieces 3322 can drive the clamping sleeve 3321 to rotate under the operation of medical staff (such as a doctor), and simultaneously, when the two clamping pieces 3322 rotate under the operation of the doctor, the second motor 3350 can be driven to rotate correspondingly.

For example, the clamping sleeve 3321 is rotatably mounted on the base 3310 through the bushing 3385, and the first shaft 3342 is mounted on a side of the clamping sleeve 3321, which is away from the bushing 3385, through the first bearing 3380, so that the first shaft 3342 is prevented from rotating when the clamping sleeve 3321 rotates while the first shaft 3342 is rotatably supported, and the accuracy of the clamping force and the revolving force feedback process is ensured.

As shown in fig. 32-33, the second transmission mechanism 3360 includes a second shaft 3361 and a gear set 3362 (i.e., a second gear set), one end of the second shaft 3361 is fixedly disposed on the clamping sleeve 3321, and the second shaft 3361 and the clamping sleeve 3321 keep coaxial rotation. The other end of the second shaft 3361 is rotatably disposed on the base 3310, the second shaft 3361 is in transmission connection with the second motor 3350 through a gear set 3362, and the installation axial direction of the second motor 3350 is perpendicular to the extending direction of the second shaft 3361. The gear set 3362 can prevent the excessive size of the clamping device 3300 along the extending direction of the second shaft 3361, or the gear set 3343 can prevent the excessive size of the clamping device 3300 along the mounting axial direction of the second motor 3350, so as to balance the overall size of the clamping device 3300. As one implementation, the second motor 3350 and the first motor 3330 are mounted side by side. Further, one end of the second shaft 3361 is fixedly connected with one end of the clamping sleeve 3321, the first shaft 3342 is in a hollow structure, the first shaft 3342 is sleeved on the second shaft 3361, and the first shaft 3342 is fixed relative to the base 3310 along the axial direction (for example, through a first bearing 3380). The second shaft 3361, the first shaft 3342, the clamping sleeve 3321, and the base 3310, which are nested inside-out, are more compact. As one possible way, the clamping sleeve 3321 is integrally formed with the second shaft 3361.

As shown in fig. 32, an encoder 3370 (may also be referred to as a second encoder) is rotatably provided at one end of the base 3310, the encoder 3370 is capable of detecting the rotation angle of the second shaft 3361, the encoder 3370 is connected to a slave arm, and the slave arm is capable of performing a corresponding turning operation based on data detected by the encoder 3370. As one implementation, the encoder 3370 may also be provided on the second motor 3350. It should be noted that, when the clamping control assembly 3320 rotates around the shaft, the nut 3341 is driven to rotate around the first shaft 3342, so as to drive the first shaft 3342 to rotate, thereby changing the clamping state of the slave mechanical arm. In order to maintain the gripping state of the slave manipulator unchanged, as one possible way, the first motor 3330 needs to compensate for the gripping state of the slave manipulator according to the angle of pivoting of the grip control assembly 3320; as another implementation manner, the nut 3341 includes an outer nut layer and an inner nut layer, the inner nut layer is sleeved on the threaded section of the first shaft 3342, the outer nut layer and the clamping piece 3322 are hinged, the outer nut layer and the inner nut layer are relatively fixed along the extending direction of the first shaft 3342, the outer nut layer can move relative to the inner nut layer along the rotating circumferential direction of the first shaft 3342 (for example, the outer nut layer and the inner nut layer form a bearing structure), and further the driving of the first shaft 3342 and the first motor 3330 by the rotation of the clamping control assembly 3320 is directly avoided, and the clamping state of the slave mechanical arm is kept unchanged.

In some embodiments, the base 3310 is a hollow housing and the first motor 3330, the second motor 3350, the gear set 3343, the gear set 3362, a portion of the first shaft 3342, and a portion of the second shaft 3361 are each housed within the base 3310.

As shown in fig. 32-33, the first transmission mechanism 3340 is in transmission connection with the first motor 3330, and the second transmission mechanism 3360 is in transmission connection with the second motor 3350, and besides a gear set (for example, a bevel gear set), a worm gear set and a spur gear set can be used for realizing transmission. The mounting positions of the first motor 3330 and the second motor 3350 in the base 3310 are different by adopting different gear sets for transmission, and the mounting positions of the two motors are only required to be adjusted according to different transmission modes, so that the mounting positions of the first motor 3330 and the second motor 3350 in the base 3310 are adjusted or reasonably arranged by adopting different gear sets for transmission. Further, in another embodiment, the first transmission mechanism 3340 is in transmission connection with the first motor 3330, and the second transmission mechanism 3360 is in transmission connection with the second motor 3350 by a flexible transmission shaft, such as a steel wire flexible shaft. In some embodiments, the first transmission 3340 may be in driving connection with the first motor 3330, and the second transmission 3360 may be in driving connection with the second motor 3350, or may be different.

As shown in fig. 32-33, two clamping pieces 3322 are hinged on the clamping sleeve 3321 and can rotate around the hinged hole, and the two clamping pieces 3322 can realize opening and closing actions under the drive of fingers of an operator. One end of each of the two clamping links 3323 is hinged to an intermediate position of one of the two clamping pieces 3322, and the other end is hinged to the nut 3341. The nut 3341 is coupled with the threaded portion of the first shaft 3342 to perform a screwing motion. The second shaft 3361 is integrally formed with the clamping sleeve 3321, and the first shaft 3342 is sleeved on the second shaft 3361 and can rotate around the second shaft 3361. Thus, the opening and closing actions of the two clamping pieces 3322 drive the nut 3341 to move back and forth on the first shaft 3342 through the two clamping connecting rods 3323, so that the first shaft 3342 rotates. The first shaft 3342 is drivingly connected to an output shaft of the first motor 3330 through a gear set 3343, and the first motor 3330 is fixed to the base 3310. Thus, rotation of the first shaft 3342 may cause rotation of the first motor 3330 via engagement of the gear set 3343. Similarly, the first motor 3330 can rotate the first shaft 3342 by engaging the gear set 3343, so that the nut 3341 moves back and forth on the first shaft 3342 to drive the hinged clamping piece 3322 to realize the opening and closing movement.

Further, as shown in fig. 32 to 33, an inner ring at one end of the clamp sleeve 3321 is fitted with the first bearing 3380, and an outer ring is fitted with the bush 3385. The end of the second shaft 3361 remote from the clamping sleeve 3321 mates with the second shaft 3390 and the outer race of the second shaft 3390 mates with the base 3310 so that the clamping sleeve 3321 may rotate about the axis of the base 3310 (i.e., either the first shaft or the second shaft). The second shaft 3361 is drivingly connected to the second motor 3350 through a gear set 3362. The pivoting motion of the clamping sleeve 3321 can be transferred to the second motor 3350 through the second shaft 3361 and the gear set 3362, and the rotation of the second motor 3350 can be transferred to the clamping sleeve 3321 through the gear set 3362 and the second shaft 3361 to pivot. The encoder 3370 is fixed to the base 3310, and an inner ring thereof is fixed to the first shaft 3342 to be able to detect the rotation angle of the first shaft 3342 (the holder sleeve 3321) on the base 3310. In the pose detection mode, the opening and closing motion of the two clamping pieces 3322 is transmitted to the first motor 3330 for rotation, and is detected by an encoder of the first motor 3330. The rotational movement of the clamping sleeve 3321 may detect the angle of rotation thereof by an encoder 3370 engaged with the first shaft 3342. In the force feedback mode, the first motor 3330 outputs a required torque through the torque mode and feeds back the required torque to at least one of the two clamping plates 3322 through the first transmission mechanism 3340, and the second motor 3350 outputs a required torque through the torque mode and feeds back the required torque to at least one of the two clamping plates 3322 through the second transmission mechanism 3360.

The foregoing description is by way of example only, and it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present application. For example, the number of grip tabs in the grip device 3300 may be greater than 2.

FIG. 34 is a schematic view of an exemplary configuration of a wrist assembly of the gripping device shown in accordance with some embodiments of the present disclosure. As shown in fig. 34, the master manipulator can be connected to the slave manipulator to control the slave manipulator to perform the minimally invasive surgery. As shown in FIG. 34, the main hand manipulation device includes a wrist assembly 3400 and a gripping device 3450. The gripping device 3450 may be gripping devices (e.g., gripping device 3600, gripping device 3300, gripping device 3000, gripping device 2700) as described elsewhere in the present disclosure. The gripping device is disposed on the wrist assembly 3400. As shown in FIG. 34, wrist assembly 3400 may include a plurality of axes of rotation (shown in phantom in FIG. 34) that intersect at a point, and wrist assembly 3400 may have a plurality of degrees of freedom, e.g., including at least three degrees of freedom. As shown in fig. 34, the first rotation axis J70, the second rotation axis J60, and the third rotation axis J50 are three rotation joints, respectively, and may also be referred to as rotation axes of joint mechanisms (e.g., the first rotation joint 3420, the second rotation joint 3430, and the third rotation joint 3440) intersect at one point. The clamping device 3300 may be mounted on the first rotary joint 3420 for rotation about the J70 axis.

Fig. 35 is a schematic view of an exemplary configuration of a master hand-manipulandum shown in accordance with some embodiments of the present disclosure. Fig. 35 shows a typical tandem master manipulator 3500 with multiple degrees of freedom, three for position information detection, three for attitude information detection, and one for gripping motion detection. Master hand manipulator 3500 may include arm assembly 3510, wrist assembly 3520, and gripping device 3530. The clamping device 3530 may be any clamping device (e.g., clamping device 2700, clamping device 3000, clamping device 3300, clamping device 3600) as shown elsewhere in the present disclosure. Arm assembly 3510 may be any of the arm assemblies shown elsewhere in the present application (e.g., arm assembly 310, arm assembly 1100, etc.). Wrist assembly 3520 can be any of the wrist assemblies shown elsewhere in this application (e.g., wrist assembly 320, wrist assembly 1120, wrist assembly 900, etc.).

Fig. 36-40 are further exemplary structural schematic diagrams of clamping devices according to some embodiments of the present disclosure. Clamping device 3600 the clamping device 3600 may be configured to receive an interaction force from a robotic arm and an end effector (e.g., a surgical instrument) and/or to feedback to an operator a clamping force from the robotic arm to the end effector (e.g., the surgical instrument). In particular, as shown in fig. 36-40, the clamping device 3600 includes a base 3610, a clamping assembly 3620, and a feedback assembly. The feedback assembly may include a transmission 3630 and a power member 3640. The base 3610 is a supporting structure of the entire clamping device 3600, and the clamping assembly 3620, the transmission member 3630 and the power member 3640 are respectively mounted on the base 3610 and form a certain positional relationship. The clamping assembly 3620 is movably disposed on the base 3610, and the clamping assembly 3620 can be opened and closed within a working range, such as a doctor's two fingers driving the clamping assembly 3620 to open or close. The transmission member 3630 is rotatably disposed on the base 3610, the transmission member 3630 is in transmission connection with the clamping assembly 3620, and the transmission member 3630 is a transmission structure between the clamping assembly 3620 and the power member 3640. The power member 3640 is fixedly arranged on the base 3610, the power member 3640 is in transmission connection with the transmission member 3630, the power member 3640 can also be connected with the slave mechanical arm, and the slave mechanical arm can be driven to perform corresponding loosening or clamping actions when the power member 3640 acts.

In some embodiments, the clamping assembly 3620 is opened and closed within the working range and drives the power member 3640 through the transmission member 3630, thereby controlling the slave mechanical arm to perform the corresponding opening and closing actions. In some embodiments, the power member 3640 may generate a corresponding clamping moment according to the clamping force of the slave mechanical arm, output the corresponding clamping moment, and drive the clamping assembly 3620 to generate an opening trend or a closing trend through the transmission member 3630, so as to realize feedback of the clamping force of the slave mechanical arm to the clamping device 3600, and further enable a doctor to intuitively feel the clamping force of the slave mechanical arm on the surgical instrument. The clamping assembly 3620, the transmission piece 3630 and the power piece 3640 are sequentially connected in a transmission mode, clamping force of the slave mechanical arm can be fed back to the clamping assembly 3620 through the power piece 3640 and the transmission piece 3630, and then a doctor performing surgery can accurately sense the clamping force of the slave mechanical arm. The doctor can judge the execution state of operation through the change of clamping force, and the clamping force applied through main hand controlling device 3600 is convenient for the doctor to the operation action is carried out to the higher high efficiency, also has a more true operation to experience, has guaranteed simultaneously that spare part in the slave arm works in normal load, is favorable to prolonging surgical robot's life.

The sequential driving connection of the clamping assembly 3620, the driving member 3630 and the power member 3640 is a precondition for ensuring that the clamping device 3600 controls the motion of the slave mechanical arm, and is also a guarantee for feeding back the clamping force from the mechanical arm to the clamping device 3600. Alternatively, clamp assembly 3620, transmission 3630, and power member 3640 may be designed according to the actual operating conditions. Such as clamping assembly 3620, transmission member 3630 and power member 3640 disposed in series in a straight line direction, or clamping assembly 3620, transmission member 3630 and power member 3640 disposed in series in a fold line/arc direction, or transmission member 3630 and power member 3640 disposed at opposite ends of clamping assembly 3620, respectively. The following embodiments will be described with reference to "the transmission member 3630 and the power member 3640 are disposed at a distance from the base 3610, and the clamping assembly 3620 is disposed between the transmission member 3630 and the power member 3640"; it will be appreciated that other types of arrangements may be reasonably modified based on the various embodiments described below.

The clamp assembly 3620 is a part directly operated by a doctor and is also a structure for feeding back a clamping force to the doctor. As shown in fig. 37-40, clamp assembly 3620 includes a first web 3621, a second web 3622, a first finger cuff 3623, and a second finger cuff 3624. The first connecting plate 3621 and the second connecting plate 3622 are respectively rotatably disposed on the base 3610, the first finger cuff 3623 and the second finger cuff 3624 are respectively disposed on the first connecting plate 3621 and the second connecting plate 3622, the first finger cuff 3623 and the second finger cuff 3624 respectively allow two fingers of a doctor to be inserted, such as thumb and index finger/middle finger of the doctor to be inserted, and when the two fingers of the doctor are opened or closed, the first connecting plate 3621 and the second connecting plate 3622 correspondingly perform opening or closing actions. And simultaneously, the first connecting plate 3621 and the second connecting plate 3622 are opened or closed in a rotating manner, so that the action process of the fingers of a doctor can be more adapted. And the first connecting plate 3621 of the two connecting plates is in transmission connection with the transmission piece 3630, and the first connecting plate 3621 and the second connecting plate 3622 keep synchronous rotation with the same angle and opposite directions, so that stable relative position relationship between the first connecting plate 3621 and the second connecting plate 3622 is ensured. In other embodiments, the clamping assembly 3620 may include only one connecting plate rotatably disposed on the base 3610, and the rotation direction and rotation angle of the connecting plate under the driving of the external force together correspond to the open/close state and the open/close degree of the slave mechanical arm.

In some embodiments, a transmission structure is disposed between the first connecting plate 3621 and the second connecting plate 3622 to ensure a relatively stable positional relationship therebetween. As shown in fig. 38 and 36, one end of the first connecting plate 3621 and one end of the second connecting plate 3622 are rotatably disposed on the base 3610, respectively, and one end of the first connecting plate 3621 near the rotation center (i.e., the first connecting plate 3621 and the second connecting plate 3622 are disposed at the position of the base 3610) and one end of the second connecting plate 3622 near the rotation center are driven by a tooth surface coupling manner. In some implementations, the tooth-surface coupling between first web 3621 and second web 3622 has a tooth-surface modulus ratio of 1:1, such that symmetrical motion can be created. In some embodiments, a parallel four bar mechanism may also be formed with the first and second connection plates 3621, 3622 as adjacent edges. So long as a relatively stable positional relationship between the first connection plate 3621 and the second connection plate 3622 can be ensured.

In some embodiments, the drive connection is achieved between clamp assembly 3620 and drive member 3630, and between drive member 3630 and power member 3640 by way of a rope drive, gear drive, chain drive, belt drive, or screw drive, among others. In some embodiments, as shown in fig. 37-40, the end of the first web 3621 remote from the center of rotation is provided with a circular arc segment 3625 bent toward the center of rotation or the second web 3622, the circular arc segment 3625 being in driving engagement with the driving member 3630 by means of a rope. The arc section 3625 can ensure that the first connecting plate 3621 always avoids collision or abutting with the transmission member 3630 in the rotating process, and smooth opening and closing of the first connecting plate 3621 and the second connecting plate 3622 are ensured. As one possible way, a first stud 3626 is provided on the circular arc segment 3625 to pretension the drive line and thereby ensure a stable driving relationship between the first link plate 3621 and the driving member 3630.

In some embodiments, as shown in fig. 37-40, the transmission 3630 includes an intermediate wheel 3632 and a driving wheel 3642, the intermediate wheel 3632 is rotatably disposed on the base 3610, the intermediate wheel 3632 is in transmission connection with the clamping assembly 3620, and the driving wheel 3642 is fixedly connected with the output shaft of the power member 3640. Intermediate wheel 3632 is in driving connection with driving wheel 3642. In some embodiments, the transmission ratio between the intermediate wheel and the drive wheel is less than 1, thereby allowing force feedback to be achieved using a smaller gauge power member 3640 (e.g., a motor). In some embodiments, the ratio of the radii of the intermediate wheel and the drive wheel is between 1.5 and 3, and the corresponding gear ratio between the intermediate wheel and the drive wheel is approximately between 0.3 and 0.7.

In some embodiments, the transmission member 3630 includes a transmission shaft 3631 and an intermediate wheel 3632, the transmission shaft 3631 is rotatably disposed on the base 3610, and the intermediate wheel 3632 is fixedly disposed on the transmission shaft 3631. The drive shaft 3631 is provided with a thread groove 3633, the thread groove 3633 allows the drive rope to be wound, and the drive shaft 3631 is in rope drive connection with the clamping assembly 3620 through the thread groove 3633. Specifically, the first rope 3650 is adopted to realize transmission between the circular arc section 3625 on the first connecting plate 3621 and the thread groove 3633 of the transmission shaft 3631, one end of the first rope 3650 is firstly fixed at one end of the circular arc section 3625, then the other end of the first rope 3650 bypasses the thread groove 3633 for a plurality of circles and is then fixed at the other end of the circular arc section 3625, and the first stud 3626 is used for pre-tightening the first rope 3650. The steel wire rope transmission has the advantages of stability, accuracy, compact structure and small volume. It should be noted that, the transmission member 3630 is in transmission connection with the power member 3640 through the intermediate wheel 3632.

The intermediate wheel 3632 is fixedly arranged at one end of the transmission shaft 3631. The transmission 3630 further includes a first position sensor 3635, the first position sensor 3635 is disposed at the other end of the transmission shaft 3631 away from the intermediate wheel 3632, the first position sensor 3635 is configured to detect a rotational angle of the transmission shaft 3631, and the first position sensor 3635 is configured to be connectable with a controller in the surgical robot. As one possible way, a magnetic encoder is used as the first position sensor 3635, and a magnet is fixed at the end of the drive shaft 3631 remote from the intermediate wheel 3632, so as to be rotatable therewith. The encoder chip is secured to an encoder mount that is secured to base 3610.

The power part 3640 is connected with the slave mechanical arm, the power part 3640 can drive the slave mechanical arm to perform opening or closing actions, and the power part 3640 can also feed back the clamping force of the slave mechanical arm to the clamping assembly 3620 through the transmission part 3630. Alternatively, the type of power member 3640 may be electric, hydraulic, or pneumatic. The power member 3640 includes a motor 3641, the motor 3641 is fixedly disposed on the base 3610, and a driving wheel 3642 is fixedly disposed on a rotating shaft of the motor 3641. The driving wheel 3642 is in driving connection with the driving piece 3630 in a rope driving mode. The motor 3641 can also be connected to a slave arm. The motor 3641 has the advantages of accurate action and compact structure. As an achievable way, the driving wheel 3642 is in transmission connection with the intermediate wheel 3632 through a second rope 3660, and the second stud 3634 is installed on the intermediate wheel 3632 or the driving wheel 3642, so as to ensure accurate transmission of the second rope 3660.

In some embodiments, the housing of the motor 3641 is fixedly disposed on the base 3610, and the housing of the motor 3641 is embedded in the base 3610, which can further make the overall structure of the clamping device 3600 more compact. Further, power element 3640 also includes a second position sensor disposed on the shaft of motor 3641, which can be connected to a controller in the surgical robot. Such as by mounting a relative encoder at the end of motor 3641 for better motion control. The use of the first position sensor 3635 in combination with the second position sensor can enhance the safety of the clamping device 3600. Under the set transmission relation, the detection data of the first position sensor 3635 and the second position sensor are in a certain relation; when the detected data of the first position sensor 3635 and the second position sensor deviate from the set relationship, it is considered that the transmission between the power member 3640 and the intermediate wheel 3632 is abnormal. The clamping device 3600 may be adaptively adjusted, shut down, or alert. In some embodiments, the motor 3641 is mounted to the base 3610 by a bracket or support block.

In the above embodiment, the clamping device 3600 is driven by two stages of steel wire ropes, and the opening and closing movement of the clamping sheet is transmitted to the rotation movement of the intermediate wheel 3632, and thus to the driving wheel 3642, and then to the shaft of the motor 3641. Similarly, in the force feedback mode, the torque generated by the motor 3641 is transmitted to the driving wheel 3642 via the motor shaft, then to the intermediate wheel 3632, and finally to the two clamping plates, and the feedback force applied by the motor 3641 can be equally divided to the two clamping plates due to the coupling of the two clamping plates via the gears, so that the two fingers of the operator can feel the feedback force applied. In actual operation, the intermediate wheel 3632, the drive wheel 3642, the arc segment 3625, and other dimensions may be adjusted to adjust the transmission ratio, thereby adjusting the range of force feedback from the motor 3641. The clamping force and the feedback force are respectively transmitted through the transmission piece 3630, and meanwhile, the force feedback device controls the motor 3641 to rotate, so that the clamping force and the feedback force applied by fingers can be ensured to be accurate.

The clamping device in the above embodiment may be used in a master hand control device, where the clamping assembly 3620, the transmission member 3630 and the power member 3640 are sequentially connected in a transmission manner, and the clamping force of the slave mechanical arm can be fed back to the clamping assembly 3620 through the power member 3640 and the transmission member 3630, so that a doctor performing an operation can accurately sense the clamping force of the slave mechanical arm. The doctor can judge the execution state of operation through the change of clamping force, and the clamping force applied through main hand controlling device 3600 is convenient for the doctor to the operation action is carried out to the higher high efficiency, also has a more true operation to experience, has guaranteed simultaneously that spare part works in normal load from the arm, is favorable to prolonging surgical robot's life.

While the basic concepts have been described above, it will be apparent to those skilled in the art that the foregoing detailed disclosure is by way of example only and is not intended to be limiting. Although not explicitly described herein, various modifications, improvements, and adaptations to the present disclosure may occur to one skilled in the art. Such modifications, improvements, and modifications are intended to be suggested within this specification, and therefore, such modifications, improvements, and modifications are intended to be included within the spirit and scope of the exemplary embodiments of the present invention.

Meanwhile, the specification uses specific words to describe the embodiments of the specification. Reference to "one embodiment," "an embodiment," and/or "some embodiments" means that a particular feature, structure, or characteristic is associated with at least one embodiment of the present description. Thus, it should be emphasized and should be appreciated that two or more references to "an embodiment" or "one embodiment" or "an alternative embodiment" in various positions in this specification are not necessarily referring to the same embodiment. Furthermore, certain features, structures, or characteristics of one or more embodiments of the present description may be combined as suitable.

Furthermore, the order in which the elements and sequences are processed, the use of numerical letters, or other designations in the description are not intended to limit the order in which the processes and methods of the description are performed unless explicitly recited in the claims. While certain presently useful embodiments have been discussed in the foregoing disclosure, by way of various examples, it is to be understood that such details are merely illustrative and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover all modifications and equivalent arrangements included within the spirit and scope of the embodiments of the present disclosure. For example, while the system components described above may be implemented by hardware devices, they may also be implemented solely by software solutions, such as installing the described system on an existing server or mobile device.

Likewise, it should be noted that in order to simplify the presentation disclosed in this specification, and thereby aid in understanding one or more embodiments, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of the preceding description of the embodiments of the present specification. This method of disclosure, however, is not intended to imply that more features than are presented in the claims are required for the present description. Indeed, less than all of the features of a single embodiment disclosed above.

In some embodiments, numbers describing the components, number of attributes are used, it being understood that such numbers being used in the description of embodiments are modified in some examples by the modifier "about," approximately, "or" substantially. Unless otherwise indicated, "about," "approximately," or "substantially" indicate that the number allows for a 20% variation. Accordingly, in some embodiments, numerical parameters set forth in the specification and claims are approximations that may vary depending upon the desired properties sought to be obtained by the individual embodiments. In some embodiments, the numerical parameters should take into account the specified significant digits and employ a method for preserving the general number of digits. Although the numerical ranges and parameters set forth herein are approximations that may be employed in some embodiments to confirm the breadth of the range, in particular embodiments, the setting of such numerical values is as precise as possible.

Each patent, patent application publication, and other material, such as articles, books, specifications, publications, documents, etc., referred to in this specification is incorporated herein by reference in its entirety. Except for application history documents that are inconsistent or conflicting with the content of this specification, documents that are currently or later attached to this specification in which the broadest scope of the claims to this specification is limited are also. It is noted that, if the description, definition, and/or use of a term in an attached material in this specification does not conform to or conflict with what is described in this specification, the description, definition, and/or use of the term in this specification controls.

Finally, it should be understood that the embodiments described in this specification are merely illustrative of the principles of the embodiments of this specification. Other variations are possible within the scope of this description. Thus, by way of example, and not limitation, alternative configurations of embodiments of the present specification may be considered as consistent with the teachings of the present specification. Accordingly, the embodiments of the present specification are not limited to only the embodiments explicitly described and depicted in the present specification.

Claims

A master hand-held device, comprising:

An arm assembly having at least one arm joint mechanism;

a wrist assembly movably coupled to the arm assembly, the wrist assembly allowing an operator to perform a corresponding operation, wherein the wrist assembly includes at least one wrist joint mechanism; and

a support assembly for providing support to at least one element of the arm assembly and the wrist assembly.
The master hand manipulation device of claim 1, wherein the at least one arm joint mechanism comprises:

the first joint mechanism comprises a first power piece, a first driving piece and a first driven piece, the first joint mechanism corresponds to a first rotating shaft, and the first rotating shaft is parallel to the gravity direction of the wrist assembly.
The master hand manipulation device of claim 1, further comprising:

a connecting component for connecting the arm component and the wrist component, wherein,

the connecting assembly and the partial elements in the arm assembly are sequentially connected in series to form at least one part of a second quadrilateral connecting rod mechanism, and the elements in the one or more first quadrilateral connecting rod mechanisms and the elements in the second quadrilateral connecting rod mechanism are arranged in linkage so as to synchronously rotate around a rotating shaft of the at least one joint mechanism, wherein the rotating shaft is perpendicular to the gravity direction of the wrist assembly.
The master hand-piece of claim 3, further comprising:

the at least one arm joint mechanism comprises a second joint mechanism, a first rotating shaft corresponding to the second joint mechanism is perpendicular to the gravity direction of the wrist assembly, the second joint mechanism comprises a second power piece, a second driving piece and three second driven pieces which are sequentially connected in series, and the connecting line of the three second driven pieces approximates to a parallelogram to form at least one part of one of the one or more first quadrilateral connecting rod mechanisms.
The master hand-piece of claim 4, wherein,

the second power member is mounted on the first base of the support assembly for driving the second driving member to rotate, and

one of the three second driven parts is movably connected to the base, two non-adjacent second driven parts of the three second driven parts are approximately parallel, and the second driving part is used for driving the three second driven parts to rotate around the second rotating shaft.
The master hand manipulation device of claim 5, wherein the at least one arm joint mechanism further comprises:

and the third joint mechanism corresponds to a third rotating shaft, and the third rotating shaft is perpendicular to the gravity direction of the wrist assembly.
The master hand-piece of claim 6, wherein,

the third joint mechanism comprises a third power piece, a third driving piece and three third driven pieces which are sequentially connected in series, and the connecting line of the three third driven pieces which are sequentially connected in series is similar to a parallelogram.
The master hand-held device according to claim 7, wherein,

the third power member is mounted on the first base for driving the third driving member to rotate, and

one of the at least three third driven parts is movably connected to the first base, two non-adjacent third driven parts of the three third driven parts are approximately parallel, and the third driving part is used for driving the three third driven parts to rotate around the third rotating shaft.
The master hand-piece of claim 8, wherein the connection assembly comprises:

the first connecting piece, the second connecting piece, one of the three second driven pieces and one of the three third driven pieces are sequentially connected in series with the second quadrilateral connecting rod mechanism.
The master hand manipulation device of claim 9, wherein the second connector comprises a first portion that is parallel to the direction of gravity of the wrist assembly and is connected to the arm assembly, and a second portion that is perpendicular to the direction of gravity of the wrist assembly and is connected to the wrist assembly.
A master hand manipulation device according to claim 3, wherein the plurality of wrist mechanisms in the wrist assembly correspond to a plurality of axes of rotation that intersect at a point.
The master hand manipulation apparatus of claim 11, wherein the plurality of wrist joint mechanisms comprises a fourth joint mechanism corresponding to a fourth rotation axis, the fourth rotation axis being parallel to a gravitational direction of the wrist assembly, the fourth joint mechanism being coupled to the connection assembly.
The master hand manipulation apparatus of claim 11, wherein the plurality of wrist joint mechanisms comprises a fifth joint mechanism corresponding to a fifth rotation axis perpendicular to a gravitational direction of the wrist assembly, the fifth joint mechanism comprising a balancing assembly for balancing a gravitational distance at the fifth rotation axis due to a dead weight of the wrist assembly.
The master hand manipulation device of claim 1, further comprising:

a brake assembly including a brake controller and a brake, wherein,

the at least one wrist joint mechanism comprises a fourth joint mechanism connected with the arm component, and a fourth rotating shaft corresponding to the fourth joint mechanism is parallel to the gravity direction of the wrist component;

The brake is connected with the fourth rotating shaft, and the brake controller is used for controlling the operation of the fourth joint mechanism through the brake.
The master hand manipulation apparatus of claim 14, wherein the operational state of the brake comprises an open state corresponding to a locked state of the fourth joint mechanism and a closed state corresponding to a released state of the fourth joint mechanism, the brake controller to:

in response to determining that the wrist assembly satisfies a first condition, a closing command is generated and sent to the brake, the closing command being used to instruct the brake to be in the closed state.
The master hand-piece of claim 14, wherein the brake controller is configured to:

in response to determining that the wrist assembly satisfies a second condition, a disconnection instruction is generated and sent to the brake, the disconnection instruction being used for indicating that the brake is in the disconnected state.
The master hand manipulation apparatus of claim 15, wherein the wrist assembly further comprises a fifth joint mechanism, a fifth axis of rotation of the fifth joint mechanism being perpendicular to the direction of gravity of the wrist assembly, the fifth joint mechanism being coupled to the fourth joint mechanism by a second base in the support assembly, the first condition comprising the second base being in a first or second region of the range of rotation of the fourth axis of rotation.
The master hand manipulation apparatus of claim 15, wherein the wrist assembly further comprises a sixth joint mechanism coupled to the fifth joint mechanism, a sixth axis of rotation of the sixth joint mechanism being parallel to the fourth axis of rotation, the first condition comprising:

when the sixth rotating shaft moves in the first direction, the second base is positioned in the first area in the rotation range of the fourth rotating shaft; or alternatively, the process may be performed,

when the sixth rotating shaft moves in the second direction, the second base is located in the second area in the rotation range of the fourth rotating shaft.
The master hand manipulation device of claim 15, wherein the wrist assembly further comprises a sixth joint mechanism, a sixth axis of rotation corresponding to the sixth joint mechanism being parallel to a direction of gravity of the wrist assembly, the first condition comprising a distance between the sixth axis of rotation and a first limit or a second limit being less than a first threshold, the second condition comprising a distance between the sixth axis of rotation and the first limit or the second limit being greater than a second threshold, the second threshold being greater than or equal to the first threshold.
The master hand-piece of claim 15, wherein the first condition comprises the master hand-piece being in a singular position.
The master hand manipulation device of claim 1, further comprising:

one or more balancing assemblies, wherein each of the one or more balancing assemblies is configured to balance a moment of weight of the arm assembly and/or the wrist assembly relative to one axis of rotation of the arm assembly or one axis of rotation of the wrist assembly.
The master hand-piece of claim 21, wherein,

one balance component in the one or more balance components comprises an elastic component, one end of the elastic component is connected to an arm joint mechanism or a wrist joint mechanism, and an included angle between a moment formed by the elastic component on a rotating shaft of the arm joint mechanism or the wrist joint mechanism and a gravity moment direction formed by the gravity of the wrist component and/or the arm component on the rotating shaft is larger than 90 degrees.
The master hand manipulation apparatus of claim 22, wherein the balancing assembly further comprises a rope and a steering wheel, the elastic member is connected to the arm joint mechanism or the wrist joint mechanism through the rope, one end of the rope is connected to the elastic member, and the other end of the rope is connected to the arm joint mechanism or the wrist joint mechanism by bypassing the steering wheel such that the rope forms an angle with an axial direction of the elastic member.
The master hand-piece of claim 21, wherein,

one of the at least one arm joint mechanism comprises a power piece, a driving piece and a driven piece, wherein the driven piece is used for rotating around a rotating shaft of the arm joint mechanism,

the power piece and/or the driving piece and the wrist component are arranged on two sides of the rotating shaft, and an included angle between a gravity moment formed by the power piece and/or the driving piece on the rotating shaft and a gravity moment formed by the gravity of the wrist component and/or the arm component on the rotating shaft is larger than 90 degrees.
The master hand-piece of claim 21, further comprising:

one of the one or more arm joint mechanisms comprises a driven member (132) comprising a plurality of links connected in series in order to form a parallelogram linkage, one of the links comprising an extension end compared to the parallelogram linkage, a shaft of the arm joint mechanism disposed in the extension end, at least a portion of one of the one or more balancing assemblies disposed in the extension end.
The master hand manipulation apparatus of claim 25, wherein the balance assembly is connected to the spindle or to the parallelogram mechanism.
The master hand manipulation apparatus of claim 26, wherein the balancing assembly comprises an arm balancing assembly comprising an elastic member having both ends respectively connected with the extended end of the driven member and the support base of the joint mechanism.
The master hand manipulation apparatus of claim 27, wherein the arm balancing assembly further comprises a rope and a steering wheel, the steering wheel is disposed on the support base of the arm joint mechanism, one end of the elastic member is connected to the rope, the other end of the elastic member is connected to the support base of the arm joint mechanism, the other end of the rope is connected to the arm joint mechanism, and the rope bypasses the steering wheel and changes an extending direction such that the rope forms an angle with an axial direction of the elastic member.
A primary hand manipulation device according to claim 28, wherein the arm joint mechanism is driven by a drive member in driving connection with the extension end, the drive member being at least partially balancing the moment of gravity of the wrist assembly and/or the arm assembly relative to the axis of rotation of the arm joint mechanism; one end of the rope far away from the elastic piece is connected with the output shaft of the driving piece.
The master hand manipulation apparatus of claim 29, wherein the stiffness coefficient of the elastic member and the extension length of the parallelogram link are configured to maintain constant potential energy during actuation of the master hand manipulation apparatus.
The master hand manipulation apparatus of claim 21, wherein the balancing mechanism assembly comprises a wrist balancing assembly disposed on the wrist joint mechanism, the wrist balancing assembly comprises an elastic member, two ends of the wrist elastic member are respectively connected with the wrist joint mechanism and a supporting base of the wrist joint mechanism, and an elastic force of the elastic member at least partially balances a weight moment of the wrist assembly on a rotating shaft corresponding to the wrist joint mechanism.
The master hand manipulation apparatus of claim 31, wherein the wrist balancing assembly further comprises a rotating wheel and a rope, the rotating wheel and the rotating shaft of the wrist joint mechanism are kept to rotate synchronously, one end of the elastic member is connected with the rope, the other end of the elastic member is connected with the supporting base body of the wrist joint mechanism, and the other end of the rope is wound around the rotating wheel.
The master hand manipulation apparatus of claim 32, wherein the wheel is a cam, the wrist joint mechanism rotates to any angle with respect to the direction of gravity, and the angle between the gravity distance of the wrist assembly on the rotation axis of the wrist joint mechanism and the moment direction formed by the cam and the elastic member is greater than 90 degrees.
A clamping device, comprising:

and (2) a base:

the clamping assembly is rotationally arranged on the base and is configured to be capable of being opened and closed in a working range: and

and the feedback assembly is connected with the base and the clamping assembly and is used for feeding back the stress state of the end effector to the clamping assembly.
The clamping device of claim 34, wherein the clamping assembly comprises at least two finger cuffs and at least two connection plates, one end of each of the at least two connection plates being movably connected to the base and the other end of the connection plate being connected to the finger cuffs.
The clamping device of claim 35, wherein the clamping assembly further comprises at least two platens, each of the at least two platens being nested within one of the at least two finger cuffs, a portion of the finger cuff being between the platen and the web.
The clamping device of claim 36, wherein the at least two finger cuffs are arranged in one-to-one correspondence with the at least two connection plates, the at least two connection plates are tooth-shaped with the base connection end, and the at least two connection plates are mutually tooth-shaped and synchronously rotate.
The clamping device of claim 35, wherein the feedback assembly comprises at least one driving member and at least one driving member, the at least one driving member being secured to the base and connected to at least one connection plate of the clamping assembly by the at least one driving member, the feedback assembly outputting rotational resistance to the clamping assembly by the at least one driving member and the at least one driving member.
The clamping device of claim 38, wherein the at least one transmission member comprises a first pulley, a second pulley, and a drive belt, the first pulley and the second pulley being secured to one end of the at least one connecting plate and an output shaft of the at least one power member, respectively, the first pulley and the second pulley being drivingly connected by the drive belt.
The clamping device of claim 38, wherein the at least one transmission member comprises a first gear and a second gear, the first gear and the second gear being fixed to the at least one connection plate and the output shaft of the power member, respectively, and the first gear and the second gear meshing.
The clamping device of claim 38, wherein the feedback assembly comprises at least two sets of power members and transmission members, the sets of at least two sets of power members and transmission members being identical to the number of finger cuffs in the clamping assembly and being arranged in a one-to-one correspondence.
The clamping device of claim 34, wherein the feedback assembly comprises a transmission member and a power member, the opening and closing and rotational movements of the clamping assembly being coaxially and independently transmitted through the transmission member; the power piece is connected with the transmission piece, and the clamping assembly sends control signals to the slave mechanical arm through the power piece and/or receives the stress state of the slave mechanical arm fed back by the feedback assembly.
The grip control device of claim 42, wherein the drive includes a first drive mechanism and a second drive mechanism, the first drive mechanism being coaxially nested with a rotational axis of the second drive mechanism.
The clamping device of claim 43, wherein the power member comprises a first motor drivingly connected to the first drive mechanism and a second motor drivingly connected to the second drive mechanism.
The clamping device of claim 44, wherein the first transmission mechanism comprises a first shaft, a nut and a first gear set, the first shaft is rotatably arranged on the base, the first shaft is in transmission connection with the first motor through the first gear set, the first shaft is provided with a threaded section provided with threads, the nut is sleeved on the threaded section of the first shaft, the nut drives the first shaft to rotate when moving along the axial direction of the first shaft, and the nut drives the nut to move along the axial direction of the first shaft when rotating; the nut is connected with the clamping assembly.
The clamping device of claim 44, wherein the nut comprises an outer nut layer and an inner nut layer, the outer nut layer and the inner nut layer being coaxially nested, the outer nut layer and the inner nut layer being rotatable relative to one another.
The clamping device of claim 44, wherein the clamping assembly comprises a clamping sleeve, two clamping pieces and two clamping connecting rods, the clamping sleeve is rotatably arranged on the base, and one ends of the two clamping pieces are respectively hinged to the clamping sleeve; one end of each clamping connecting rod is hinged to one clamping piece, and the other end of each clamping connecting rod is hinged to the nut.
The clamping device of claim 47, wherein the clamping sleeve is a hollow mechanism, and an end of the first shaft that mates with the nut is threaded into the clamping sleeve.
The clamping device of claim 48, wherein the second transmission mechanism comprises a second shaft and a second gear set, one end of the second shaft is fixedly arranged on the clamping sleeve, and the second shaft and the clamping sleeve keep coaxial rotation; the second shaft penetrates through the first shaft along the axial direction of the first shaft and is rotatably arranged on the base, and the second shaft can coaxially rotate relative to the first shaft; the second shaft is in transmission connection with the second motor through the second gear set.
The clamp apparatus of claim 49, wherein at least one of the first gear set and the second gear set specifically includes a bevel gear set, a straight gear set, a worm gear set.
A clamping device according to claim 43, wherein rotary encoders are provided on each of the first and second motors.
The clamping device of claim 34, wherein the feedback assembly comprises a transmission part and a power part, the power part is connected with the transmission part, the power part is connected with the remote instrument, the clamping assembly is opened and closed in a working range and is driven by the transmission part to further control the slave mechanical arm to execute corresponding opening and closing actions, the power part generates corresponding clamping moment according to the clamping force of the slave mechanical arm, and the power part outputs corresponding clamping moment and drives the clamping assembly to generate an opening trend or a closing trend through the transmission part.
The clamp apparatus of claim 53, wherein the clamp assembly includes a first jaw, a second jaw, a first finger cuff, and a second finger cuff; the first clamping piece and the second clamping piece are respectively and rotatably arranged on the base, and the first fingerstall and the second fingerstall are respectively arranged on the first clamping piece and the second clamping piece; the first clamping piece is in transmission connection with the transmission piece.
The clamping device of claim 53, wherein one end of the first clamping piece and one end of the second clamping piece are respectively rotatably arranged on the base, and the one end of the first clamping piece close to the rotation center and the one end of the second clamping piece close to the rotation center are driven by a tooth surface coupling manner; the one end that first clamping piece kept away from center of rotation sets up the circular arc section that bends to center of rotation, the circular arc section through rope drive's mode with the driving medium transmission cooperation.
The clamping device of claim 52, wherein the transmission member comprises an intermediate wheel and a drive wheel, the intermediate wheel is rotatably arranged on the base, the intermediate wheel is in transmission connection with the clamping assembly, and the drive wheel is fixedly connected with the output shaft of the power member; the intermediate wheel is in transmission connection with the driving wheel, and the transmission ratio between the intermediate wheel and the driving wheel is smaller than 1.
The clamp apparatus of claim 55, wherein the drive member further comprises a drive shaft rotatably disposed to the base, the intermediate wheel fixedly disposed to the drive shaft; the transmission shaft is provided with a thread groove which allows the transmission rope to be wound, and is in transmission connection with the clamping assembly in a rope transmission mode through the thread groove; the middle wheel is fixedly arranged at one end of the transmission shaft; the transmission piece further comprises a first position sensor, the first position sensor is arranged at one end, far away from the middle wheel, of the transmission shaft, the first position sensor is used for detecting the rotation angle of the transmission shaft, and the first position sensor can be connected with a controller in the surgical robot.
The clamping device of claim 55, wherein the power member comprises a motor fixedly disposed on the base, the drive wheel fixedly disposed on a shaft of the motor; the driving wheel is in transmission connection with the middle wheel.
The clamp apparatus of claim 57, wherein the housing of the motor is fixedly disposed to the base, the housing of the clamp motor being embedded within the base; the power piece also comprises a second position sensor, the second position sensor is arranged on the rotating shaft of the motor, and the second position sensor is connected with a controller in the surgical robot.
The clamp apparatus of any one of claims 52-58, wherein the transmission member and the power member are disposed in spaced relation to the base, and the clamp assembly is disposed between the transmission member and the power member.
A master hand manipulation device comprising a gripping apparatus according to any one of claims 34 to 59.
A robot comprising a robot body, an end effector, and a master hand-piece according to any one of claims 1-33 and 60; the end effector is connected with the robot body, the robot body is electrically connected with the communication device, and the master hand control device is electrically connected with the communication device and the end effector.