WO2023143456A1

WO2023143456A1 - Control apparatus and method, storage medium, medical apparatus and surgical robot

Info

Publication number: WO2023143456A1
Application number: PCT/CN2023/073380
Authority: WO
Inventors: 梁荣; 高广垠; 陈功
Original assignee: 上海微创医疗机器人（集团）股份有限公司
Priority date: 2022-01-27
Filing date: 2023-01-20
Publication date: 2023-08-03

Abstract

The present application relates to a control apparatus and method, a storage medium, a medical apparatus, and a surgical robot. The control apparatus comprises a base unit, a control unit and a detection unit. The base unit is provided with at least one motion trajectory. The control unit is movably arranged on the base unit along at least one motion trajectory. The detection unit is configured to obtain at least one piece of motion information of the control unit moving along the at least one motion trajectory.

Description

操纵装置、方法及存储介质、医疗装置及手术机器人Manipulating device, method and storage medium, medical device and surgical robot

相关申请related application

本申请要求2022年01月27日申请的，申请号为202210103288.X，名称为“操纵装置、方法及存储介质、医疗装置及手术机器人”的中国专利申请的优先权，以及要求2022年01月27日申请的，申请号为202210103284.1，名称为“操纵装置、方法及存储介质、医疗装置及手术机器人”的中国专利申请的优先权，在此将二者的全文引入作为参考。This application claims the priority of the Chinese patent application filed on January 27, 2022, with the application number 202210103288.X, titled "manipulation device, method and storage medium, medical device and surgical robot", and claims the priority of January 2022 Filed on the 27th, the application number is 202210103284.1, and the priority of the Chinese patent application titled "manipulation device, method and storage medium, medical device and surgical robot", the full text of which is hereby incorporated by reference.

技术领域technical field

本申请涉及医疗器械技术领域，特别是涉及一种操纵装置、方法及存储介质、医疗装置及手术机器人。The present application relates to the technical field of medical devices, in particular to a manipulation device, a method, a storage medium, a medical device and a surgical robot.

背景技术Background technique

医疗装置作为手术机器人的一部分，主要作用是便于操作人员在地面上移动手术机器人的机械臂，手术机器人的机械臂通常重量较大，单纯依靠操作人员手动控制医疗装置运动比较费力。As a part of the surgical robot, the medical device is mainly used to facilitate the operator to move the robotic arm of the surgical robot on the ground. The mechanical arm of the surgical robot is usually heavy, and it is laborious to rely solely on the operator to manually control the movement of the medical device.

相关技术中，医疗装置可以集成自动控制功能，利用力传感器检测操作人员对扶手施加的作用力，进而对操作人员的控制意图进行判断，然后利用驱动装置自动控制医疗装置运动。In related technologies, the medical device can be integrated with an automatic control function, using a force sensor to detect the force exerted by the operator on the handrail, and then judge the operator's control intention, and then use the driving device to automatically control the movement of the medical device.

但是，由于医疗装置的运动控制需要依赖于力传感器，操作人员通过扶手对力传感器施加作用力时，力传感器十分容易因受力和应变发生损坏，造成力感知失控等问题，在手术过程中具有不可控的风险。However, since the motion control of medical devices depends on the force sensor, when the operator applies force to the force sensor through the armrest, the force sensor is very easy to be damaged due to force and strain, resulting in problems such as loss of control of force perception. uncontrollable risk.

发明内容Contents of the invention

根据本申请的各种实施例，本申请提供了一种操纵装置，所述操纵装置包括：According to various embodiments of the present application, the present application provides a manipulation device, the manipulation device comprising:

基座单元，具有至少一个运动轨迹；a base unit having at least one motion profile;

操纵单元，所述操纵单元沿着至少一个所述运动轨迹活动设置在所述基座单元上；a manipulation unit, the manipulation unit is movably arranged on the base unit along at least one of the motion tracks;

检测单元，所述检测单元被配置为用于获取所述操纵单元沿着至少一个所述运动轨迹运动的至少一个运动信息。A detection unit configured to acquire at least one motion information of the manipulation unit moving along at least one of the motion trajectories.

在其中一个实施例中，所述基座单元包括第一装置基座，所述第一装置基座具有的运动轨迹采用为转动轨迹；所述操纵单元包括第一操纵部件，所述第一操纵部件沿着至少一个所述转动轨迹活动设置在所述第一装置基座上；所述检测单元包括至少一个转向检测机构，所述转向检测机构包括至少一个传感器件，所述传感器件被配置为用于获取所述第一操纵部件沿着至少一个所述转动轨迹转动的至少一个转动信息。In one of the embodiments, the base unit includes a first device base, and the motion trajectory of the first device base is adopted as a rotation trajectory; the manipulation unit includes a first manipulation component, and the first manipulation component The components are movably arranged on the base of the first device along at least one of the rotation tracks; the detection unit includes at least one steering detection mechanism, and the steering detection mechanism includes at least one sensor device, and the sensor device is configured to It is used to acquire at least one piece of rotation information about the rotation of the first manipulation member along at least one of the rotation tracks.

在其中一个实施例中，所述转向检测机构包括第一转向检测机构和第二转向检测机构；In one of the embodiments, the steering detection mechanism includes a first steering detection mechanism and a second steering detection mechanism;

所述第一转向检测机构包括第一传感器件，所述第一传感器件被配置为用于获取所述第一操纵部件沿着第一转动轨迹转动的第一转动信息；The first steering detection mechanism includes a first sensor device configured to acquire first rotation information of the rotation of the first manipulation member along a first rotation track;

所述第二转向检测机构包括第二传感器件，所述第二传感器件被配置为用于获取所述第一操纵部件沿着第二转动轨迹转动的第二转动信息。The second steering detection mechanism includes a second sensor device configured to acquire second rotation information of rotation of the first manipulation member along a second rotation track.

在其中一个实施例中，所述第一转动轨迹为第一定轴转动轨迹，所述第一转动信息为第一转动角度信息；In one of the embodiments, the first rotation trajectory is a first fixed-axis rotation trajectory, and the first rotation information is first rotation angle information;

所述第二转动轨迹为第二定轴转动轨迹，所述第二转动信息为第二转动角度信息。The second rotation track is a second fixed-axis rotation track, and the second rotation information is second rotation angle information.

在其中一个实施例中，所述第一定轴转动轨迹的转动轴线和所述第二定轴转动轨迹的转动轴线相互垂直。In one of the embodiments, the rotation axis of the first fixed-axis rotation trajectory and the rotation axis of the second fixed-axis rotation trajectory are perpendicular to each other.

在其中一个实施例中，所述操纵装置包括：In one of the embodiments, the manipulation device includes:

转动部件，所述转动部件沿着所述第一转动轨迹转动设置在所述第一装置基座上，所述第一操纵部件沿着所述第二转动轨迹转动设置在所述转动部件上。A rotating component, the rotating component is rotatably arranged on the first device base along the first rotating track, and the first manipulation member is rotatably arranged on the rotating member along the second rotating track.

在其中一个实施例中，所述第一传感器件设置在所述第一装置基座上，所述转动部件与所述第一传感器件的检测端连接； In one of the embodiments, the first sensor device is arranged on the base of the first device, and the rotating part is connected to the detection end of the first sensor device;

所述第二传感器件设置在所述转动部件上，所述第一操纵部件与所述第二传感器件的检测端连接。The second sensing device is arranged on the rotating part, and the first manipulating part is connected with the detecting end of the second sensing device.

在其中一个实施例中，所述第一转向检测机构包括转动座和第一转动件，所述转动座和所述第一转动件分别设置在所述第一装置基座和所述转动部件上，所述转动座上开设有第一转动孔，所述第一转动件沿着所述第一转动轨迹转动设置在所述第一转动孔内，所述转动部件通过所述转动座或第一转动件与所述第一传感器件的检测端连接；In one of the embodiments, the first steering detection mechanism includes a rotating seat and a first rotating member, and the rotating seat and the first rotating member are respectively arranged on the base of the first device and the rotating member , the first rotating hole is opened on the rotating seat, the first rotating member is rotated and arranged in the first rotating hole along the first rotating track, and the rotating member passes through the rotating seat or the first rotating hole. The rotating part is connected to the detection end of the first sensor device;

所述第一操纵部件包括第一持握部和第二持握部，所述第一持握部设置在所述转动部件上，所述第二持握部沿着所述第二转动轨迹相对于所述第一持握部转动，并与所述第二传感器件的检测端连接。The first manipulation part includes a first grip part and a second grip part, the first grip part is arranged on the rotating part, and the second grip part is opposite to each other along the second rotation track. Rotate on the first holding part and connect with the detection end of the second sensor device.

在其中一个实施例中，所述第一操纵部件包括连接套，所述连接套设置在所述转动部件上，所述第一持握部通过所述连接套与所述转动部件连接；In one of the embodiments, the first manipulation part includes a connecting sleeve, the connecting sleeve is arranged on the rotating part, and the first grip part is connected to the rotating part through the connecting sleeve;

所述第一操纵部件包括固定套的转动套，所述固定套设置在所述转动部件上，所述转动套与所述固定套转动连接，所述第二持握部通过所述转动套和所述固定套与所述转动部件转动连接。The first manipulating part includes a rotating sleeve of a fixed sleeve, the fixed sleeve is arranged on the rotating part, the rotating sleeve is rotationally connected with the fixed sleeve, and the second holding part passes through the rotating sleeve and the rotating sleeve. The fixed sleeve is rotatably connected with the rotating component.

在其中一个实施例中，所述第一转向检测机构包括第一阻尼结构，所述第一阻尼结构被配置为用于向所述转动部件沿着所述第一转动轨迹的转动施加阻力；In one of the embodiments, the first steering detection mechanism includes a first damping structure configured to apply resistance to the rotation of the rotating component along the first rotation track;

所述第二转向检测机构包括复位结构，所述复位结构被配置为用于向所述第一操纵部件沿着所述第二转动轨迹的转动施加回复力。The second steering detection mechanism includes a reset structure configured to apply a restoring force to the rotation of the first manipulation member along the second rotation trajectory.

在其中一个实施例中，所述第一阻尼结构包括设置在所述第一装置基座和所述转动部件之间的第一弹性件；In one of the embodiments, the first damping structure includes a first elastic member arranged between the base of the first device and the rotating part;

所述复位结构包括设置在所述转动部件和所述第一操纵部件之间的第二弹性件。The reset structure includes a second elastic member arranged between the rotating part and the first operating part.

在其中一个实施例中，所述第一转向检测机构包括第一阻尼结构，所述第一阻尼结构包括弹簧，所述弹簧套装在所述第一转动件上，所述弹簧的两端分别与所述转动座和所述第一转动件摩擦接触；In one of the embodiments, the first steering detection mechanism includes a first damping structure, the first damping structure includes a spring, the spring is sleeved on the first rotating member, and the two ends of the spring are respectively connected to the The rotating seat is in frictional contact with the first rotating member;

所述第二转向检测机构包括复位结构，所述复位结构包括扭簧，所述扭簧的两端分别与所述固定套和所述转动套连接。The second steering detection mechanism includes a reset structure, the reset structure includes a torsion spring, and the two ends of the torsion spring are connected to the fixed sleeve and the rotating sleeve respectively.

在其中一个实施例中，所述第一转向检测机构包括第一限位结构，所述第一限位结构被配置为用于限制所述转动部件沿着所述第一转动轨迹转动的转动角度范围；In one of the embodiments, the first steering detection mechanism includes a first limit structure, and the first limit structure is configured to limit the rotation angle of the rotation component along the first rotation track. scope;

所述第二转向检测机构包括第二限位结构，所述第二限位结构被配置为用于限制所述第一操纵部件沿着所述第二转动轨迹转动的转动角度范围。The second steering detection mechanism includes a second limit structure configured to limit the rotation angle range of the first manipulation member along the second rotation track.

在其中一个实施例中，所述第一转向检测机构包括第一限位结构，所述第一限位结构包括开设在所述第一装置基座上的限位槽，所述转动部件与所述限位槽限位配合；In one of the embodiments, the first steering detection mechanism includes a first limit structure, and the first limit structure includes a limit slot opened on the base of the first device, and the rotating part and the The limit fit of the limit slot;

所述第二转向检测机构包括第二限位结构，所述第二限位结构包括开设在所述固定套上的第一限位台阶和开设在所述转动套上的第二限位台阶，所述第一限位台阶与所述第二限位台阶限位配合。The second steering detection mechanism includes a second limit structure, and the second limit structure includes a first limit step set on the fixed sleeve and a second limit step set on the rotating sleeve, The first limiting step is limitedly matched with the second limiting step.

在其中一个实施例中，所述基座单元包括第二装置基座，所述第二装置基座具有的运动轨迹采用为移动轨迹；所述操纵单元包括第二操纵部件，所述第二操纵部件沿着至少一个所述移动轨迹活动设置在所述第二装置基座上；所述检测单元包括位移检测机构，所述位移检测机构设置在所述第二装置基座上，所述位移检测机构包括至少一个第三传感器件，所述第三传感器件被配置为用于获取所述第二操纵部件沿着所述移动轨迹移动的位移信息。In one of the embodiments, the base unit includes a second device base, and the motion track of the second device base is adopted as a moving track; the manipulation unit includes a second manipulation component, and the second manipulation The components are movably arranged on the second device base along at least one of the moving tracks; the detection unit includes a displacement detection mechanism, and the displacement detection mechanism is arranged on the second device base, and the displacement detection The mechanism includes at least one third sensor device configured to acquire displacement information of the second manipulation member moving along the movement track.

第三转向检测机构，设置在所述第二装置基座上，所述第三转向检测机构包括至少一个第四传感器件；所述第二装置基座具有至少一个转动轨迹，所述第二操纵部件沿着至少一个所述转动轨迹活动设置在所述第二装置基座上，所述第四传感器件被配置为用于获取所述第二操纵部件沿着所述转动轨迹转动的转动信息。 The third steering detection mechanism is arranged on the base of the second device, and the third steering detection mechanism includes at least one fourth sensing device; the base of the second device has at least one rotation track, and the second manipulation The components are movably arranged on the base of the second device along at least one of the rotation tracks, and the fourth sensor device is configured to acquire rotation information of the rotation of the second manipulation component along the rotation tracks.

在其中一个实施例中，所述移动轨迹为直线移动轨迹，所述位移信息为线性位移信息；In one of the embodiments, the moving track is a straight line moving track, and the displacement information is linear displacement information;

所述转动轨迹为定轴转动轨迹，所述转动信息为转动角度信息。The rotation track is a fixed-axis rotation track, and the rotation information is rotation angle information.

在其中一个实施例中，所述直线移动轨迹的移动直线与所述定轴转动轨迹的转动轴线相互垂直。In one of the embodiments, the moving line of the linear moving track is perpendicular to the rotation axis of the fixed-axis rotating track.

在其中一个实施例中，所述位移检测机构包括第一基准座，所述第一基准座设置在所述第二装置基座上，所述第二操纵部件沿着所述移动轨迹活动设置在所述第一基准座上；In one of the embodiments, the displacement detection mechanism includes a first reference seat, the first reference seat is arranged on the base of the second device, and the second manipulation member is movably arranged at on the first base;

所述第三转向检测机构包括第二基准座，所述第二基准座设置在所述第二装置基座上，所述第二操纵部件沿着所述转动轨迹活动设置在所述第二基准座上。The third steering detection mechanism includes a second reference seat, the second reference seat is arranged on the base of the second device, and the second manipulation member is movably arranged on the second reference seat along the rotation track. seat.

在其中一个实施例中，所述位移检测机构包括第一运动座，所述第一运动座沿着所述移动轨迹活动设置在所述第一基准座上，所述第二操纵部件通过所述第一运动座沿着所述移动轨迹移动；In one of the embodiments, the displacement detection mechanism includes a first kinematic base, the first kinematic base is movably arranged on the first reference base along the moving track, and the second manipulating member passes through the The first kinematic seat moves along the moving track;

所述第三转向检测机构包括第二运动座，所述第二运动座沿着所述转动轨迹活动设置在所述第二基准座上，所述第二操纵部件通过所述第二运动座沿着所述转动轨迹转动。The third steering detection mechanism includes a second kinematic base, the second kinematic base is movably arranged on the second reference base along the rotation track, and the second manipulation member moves along the second kinematic base through the second kinematic base Rotate along the orbit.

在其中一个实施例中，所述第三传感器件设置在所述第一基准座上，所述第一运动座与所述第三传感器件的检测端连接；In one of the embodiments, the third sensor device is arranged on the first reference seat, and the first motion seat is connected to the detection end of the third sensor device;

所述第四传感器件设置在所述第二基准座上，所述第二运动座与所述第四传感器件的检测端连接。The fourth sensing device is arranged on the second reference seat, and the second moving seat is connected to the detection end of the fourth sensing device.

在其中一个实施例中，所述第一基准座和所述第一运动座上分别设置有导向件和导向孔，所述导向孔沿着所述移动轨迹设置，所述导向件导向装配在所述导向孔内；In one of the embodiments, the first reference base and the first kinematic base are respectively provided with a guide piece and a guide hole, the guide hole is set along the moving track, and the guide piece guides and fits on the inside the guide hole;

所述第二基准座和所述第二运动座之间分别设置有第二转动件和第二转动孔，所述第二转动孔沿着所述转动轨迹设置，所述第二转动件转动装配在所述第二转动孔内。A second rotating member and a second rotating hole are respectively provided between the second reference base and the second moving seat, the second rotating hole is arranged along the rotating track, and the second rotating member is rotatably assembled in the second rotation hole.

在其中一个实施例中，所述位移检测机构包括第二阻尼结构，所述第二阻尼结构被配置为用于向所述第二操纵部件沿着所述移动轨迹的移动施加第一阻力；In one of the embodiments, the displacement detection mechanism includes a second damping structure configured to apply a first resistance to the movement of the second manipulation member along the moving track;

所述第三转向检测机构包括第三阻尼结构，所述第三阻尼结构被配置为用于向所述第二操纵部件沿着所述转动轨迹的转动施加第二阻力。The third steering detection mechanism includes a third damping structure configured to apply a second resistance to rotation of the second manipulation member along the rotation trajectory.

在其中一个实施例中，所述第二阻尼结构包括设置在所述第一基准座和所述第一运动座之间的第一弹性件；In one of the embodiments, the second damping structure includes a first elastic member disposed between the first reference seat and the first motion seat;

所述第三阻尼结构包括设置在所述第二基准座和所述第二运动座之间的第二弹性件。The third damping structure includes a second elastic member disposed between the second reference seat and the second motion seat.

在其中一个实施例中，所述第一弹性件为第一弹簧，所述第一弹簧套装在所述导向件上，所述第一弹簧的两端分别沿其轴向与所述第一基准座和所述第一运动座弹性抵接；In one of the embodiments, the first elastic member is a first spring, the first spring is sleeved on the guide member, and the two ends of the first spring are respectively aligned with the first datum along its axial direction. The seat is in elastic contact with the first moving seat;

所述第二弹性件为第二弹簧，所述第二弹簧套装在所述第二转动件上，所述第二弹簧的两端分别与所述第二基准座和所述第二运动座摩擦接触。The second elastic member is a second spring, the second spring is sleeved on the second rotating member, and the two ends of the second spring respectively rub against the second reference seat and the second motion seat touch.

在其中一个实施例中，所述位移检测机构包括第一限位结构，所述第一限位结构被配置为用于限制所述第二操纵部件沿着所述移动轨迹移动的位移范围；In one of the embodiments, the displacement detection mechanism includes a first limit structure, and the first limit structure is configured to limit the displacement range of the second manipulation member along the moving track;

所述第三转向检测机构包括第二限位结构，所述第二限位结构被配置为用于限制所述第二操纵部件沿着所述转动轨迹转动的转动范围。The third steering detection mechanism includes a second limit structure configured to limit the rotation range of the second manipulation member along the rotation track.

在其中一个实施例中，所述第一限位结构包括开设在所述第一基准座上的第一限位槽，所述第一运动座与所述第一限位槽限位配合；In one of the embodiments, the first limiting structure includes a first limiting groove provided on the first reference seat, and the first moving seat is limitedly matched with the first limiting groove;

所述第二限位结构包括开设在所述第二基准座上的第二限位槽，所述第二运动座与所述第二限位槽限位配合。The second limiting structure includes a second limiting groove opened on the second reference seat, and the second moving seat is limitedly matched with the second limiting groove.

在其中一个实施例中，所述第二基准座设置在所述第二装置基座上，所述第一基准座沿着所述转动轨迹活动设置在所述第二基准座上，所述第二操纵部件沿着所述移动轨迹活动设置在所述第一基准座上；In one of the embodiments, the second reference seat is arranged on the base of the second device, the first reference seat is movably arranged on the second reference seat along the rotation track, and the first reference seat Two manipulating components are movably arranged on the first reference seat along the moving track;

所述第一基准座设置在所述第二装置基座上，所述第二基准座沿着所述移动轨迹活动设置在所述第一基准座上，所述第二操纵部件沿着所述转动轨迹活动设置在所述第二基准座上。 The first reference seat is arranged on the base of the second device, the second reference seat is movably arranged on the first reference seat along the moving track, and the second manipulation member is arranged along the moving track. The rotation track is movably set on the second reference seat.

在其中一个实施例中，所述第一基准座设置在所述第二运动座上，通过所述第二运动座活动设置在所述第二基准座上，所述第二操纵部件设置在所述第一运动座上，通过所述第一运动座活动设置在所述第一基准座上；In one of the embodiments, the first reference base is set on the second kinematic base, and the second kinematic base is movably set on the second base base, and the second manipulation component is set on the second kinematic base. on the first kinematic base, through which the first kinematic base is movably arranged on the first reference base;

所述第二基准座设置在所述第一运动座上，通过所述第一运动座活动设置在所述第一基准座上，所述第二操纵部件设置在所述第二运动座上，通过所述第二运动座活动设置在所述第二基准座上。The second reference base is set on the first kinematic base, and the first kinematic base is movably set on the first base base, and the second manipulation component is set on the second kinematic base, The second kinematic seat is movably arranged on the second reference seat.

本申请提供了一种医疗装置，所述医疗装置包括主体部以及与所述主体部相连接的所述操纵装置。The present application provides a medical device, which includes a main body and the manipulation device connected to the main body.

本申请提供了一种手术机器人，所述手术机器人包括所述医疗装置以及与所述医疗装置连接并用于承载手术器械的承载端。The present application provides a surgical robot, which includes the medical device and a load-bearing end connected to the medical device and used for carrying surgical instruments.

本申请提供了一种运动操纵方法，包括如下步骤：The present application provides a motion manipulation method, comprising the following steps:

提供基座单元以及活动装配在所述基座单元上的操纵单元；providing a base unit and a manipulation unit movably assembled on the base unit;

获取所述操纵单元相对于所述基座单元运动的至少一个运动信息；acquiring at least one movement information of the movement of the manipulation unit relative to the base unit;

根据至少一个所述运动信息生成操纵指令。Manipulation instructions are generated based on at least one piece of said motion information.

在其中一个实施例中，包括如下步骤：In one embodiment, the following steps are included:

提供第一装置基座以及活动装配在所述第一装置基座上的第一操纵部件；providing a first device base and a first manipulation component movably assembled on the first device base;

获取所述第一操纵部件相对于所述第一装置基座转动的至少一个转动信息；Acquiring at least one rotation information of the rotation of the first manipulation member relative to the base of the first device;

根据至少一个所述转动信息生成操纵指令。A manipulation instruction is generated based on at least one of the rotation information.

在其中一个实施例中，所述第一操纵部件沿着第一定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第一转动角度信息，其中，所述第一转动角度信息至少包括第一正角度转动信息和第一负角度转动信息；In one of the embodiments, the first manipulation member rotates relative to the first device base along a first fixed-axis rotation track to generate first rotation angle information belonging to the rotation information, wherein the first The rotation angle information includes at least first positive angle rotation information and first negative angle rotation information;

所述第一操纵部件沿着第二定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第二转动角度信息，其中，所述第二转动角度信息至少包括第二正角度转动信息和第二负角度转动信息；The first manipulating member rotates relative to the first device base along a second fixed-axis rotation track to generate second rotation angle information belonging to the rotation information, wherein the second rotation angle information includes at least the first Two positive angle rotation information and a second negative angle rotation information;

所述操纵指令至少包括前进指令、后退指令、左转向指令和右转向指令。The manipulation instructions include at least a forward instruction, a backward instruction, a left steering instruction and a right steering instruction.

在其中一个实施例中，根据所述第一正角度转动信息生成所述左转向指令；In one of the embodiments, the left steering instruction is generated according to the first positive angle rotation information;

根据所述第一负角度转动信息生成所述右转向指令；generating the right steering instruction according to the first negative angle rotation information;

根据所述第二正角度转动信息生成所述前进指令；generating the forward instruction according to the second positive angle rotation information;

根据所述第二负角度转动信息生成所述后退指令。The backward movement command is generated according to the second negative angle rotation information.

在其中一个实施例中，所述左转向指令至少包括左转差速控制命令，根据所述左转差速控制命令控制不同侧行驶轮之间的左转差速转动；In one of the embodiments, the left steering command at least includes a left-turn differential control command, and according to the left-turn differential control command, the rotation of the left-turn differential between driving wheels on different sides is controlled;

所述右转向指令至少包括右转差速控制命令，根据所述右转差速控制命令控制不同侧行驶轮之间的右转差速转动。The right steering command includes at least a right turning differential control command, according to which the right turning differential rotation between the driving wheels on different sides is controlled.

提供第二装置基座以及活动装配在所述第二装置基座上的第二操纵部件；providing a second device base and a second manipulation component movably assembled on the second device base;

获取所述第二操纵部件相对于所述第二装置基座移动的位移信息，以及所述第二操纵部件相对于所述第二装置基座转动的转动信息；Acquiring displacement information of movement of the second manipulating member relative to the base of the second device, and rotation information of rotation of the second manipulating member relative to the base of the second device;

根据所述位移信息和所述转动信息中的至少一者生成操纵指令。A manipulation instruction is generated according to at least one of the displacement information and the rotation information.

在其中一个实施例中，所述第二操纵部件沿着直线移动轨迹相对于所述第二装置基座移动，所述位移信息为线性位移信息，其中，所述线性位移信息至少包括正位移信息、正加速位移信息、负位移信息和负加速位移信息；In one of the embodiments, the second manipulating member moves relative to the second device base along a linear movement track, and the displacement information is linear displacement information, wherein the linear displacement information includes at least positive displacement information , positive acceleration displacement information, negative acceleration displacement information and negative acceleration displacement information;

所述第二操纵部件沿着定轴转动轨迹相对于所述第二装置基座转动，所述转动信息为转动角度信息，其中，所述转动角度信息至少包括正角度转动信息和负角度转动信息；The second manipulation member rotates relative to the second device base along a fixed-axis rotation track, and the rotation information is rotation angle information, wherein the rotation angle information includes at least positive angle rotation information and negative angle rotation information ;

在其中一个实施例中，根据所述正位移信息和所述正加速位移信息中的至少一者生成所述前进指令； In one of the embodiments, the forward instruction is generated according to at least one of the positive displacement information and the positive acceleration displacement information;

根据所述负位移信息和所述负加速位移信息中的至少一者生成所述后退指令；generating the retreat instruction according to at least one of the negative displacement information and the negative acceleration displacement information;

根据所述正角度转动信息生成所述左转向指令；generating the left steering instruction according to the positive angle rotation information;

根据所述负角度转动信息生成所述右转向指令。The right steering instruction is generated according to the negative angle rotation information.

本申请提供了一种可读存储介质，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现所述运动操纵方法。The present application provides a readable storage medium, where a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the motion manipulation method is implemented.

本申请的一个或多个实施例的细节在下面的附图和描述中提出，本申请的其他特征、目的和优点将从说明书、附图以及权利要求书中变得明显。The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below, and other features, objects, and advantages of the application will become apparent from the specification, drawings, and claims.

附图说明Description of drawings

图1为本申请一些实施例提供的操纵装置的立体图；Fig. 1 is a perspective view of a manipulation device provided by some embodiments of the present application;

图2为如图1所示的操纵装置的局部剖视图；Fig. 2 is a partial sectional view of the manipulation device shown in Fig. 1;

图3为本申请一些实施例提供的第一装置基座和转动部件的装配图；Fig. 3 is an assembly diagram of the first device base and rotating parts provided by some embodiments of the present application;

图4为本申请一些实施例提供的第一操纵部件和转动部件的装配图；Fig. 4 is an assembly diagram of the first manipulation component and the rotating component provided by some embodiments of the present application;

图5为本申请一些实施例提供的第一持握部的结构示意图；Fig. 5 is a schematic structural diagram of a first grip provided by some embodiments of the present application;

图6为本申请一些实施例提供的第二持握部的结构示意图；Fig. 6 is a schematic structural diagram of a second holding part provided by some embodiments of the present application;

图7为本申请一些实施例提供的连接套的结构示意图；Fig. 7 is a schematic structural diagram of a connecting sleeve provided in some embodiments of the present application;

图8为本申请一些实施例提供的固定套的结构示意图；Fig. 8 is a schematic structural diagram of a fixing sleeve provided in some embodiments of the present application;

图9为本申请一些实施例提供的转动套的结构示意图；Fig. 9 is a schematic structural diagram of a rotating sleeve provided by some embodiments of the present application;

图10为本申请一些实施例提供的按键的结构示意图；FIG. 10 is a schematic structural diagram of buttons provided in some embodiments of the present application;

图11为本申请另一些实施例中提供的操纵装置的第一方向的立体剖视图；Fig. 11 is a perspective cross-sectional view in a first direction of a manipulation device provided in other embodiments of the present application;

图12为本申请另一些实施例中提供的操纵装置的第二方向的立体剖视图；Fig. 12 is a perspective cross-sectional view in a second direction of the manipulation device provided in other embodiments of the present application;

图13为本申请另一些实施例中提供的操纵装置的平面剖视图；Fig. 13 is a planar cross-sectional view of the manipulation device provided in other embodiments of the present application;

图14为本申请另一些实施例中提供的位移检测机构的立体图；Fig. 14 is a perspective view of a displacement detection mechanism provided in other embodiments of the present application;

图15为本申请另一些实施例中提供的第三转向检测机构的立体图；Fig. 15 is a perspective view of a third steering detection mechanism provided in other embodiments of the present application;

图16为本申请另一些实施例中提供的第二基准座的立体图；Fig. 16 is a perspective view of a second reference base provided in other embodiments of the present application;

图17为本申请另一些实施例中提供的第二运动座的立体图；Fig. 17 is a perspective view of a second kinematic seat provided in other embodiments of the present application;

图18为本申请另一些实施例中提供的第二基准座和第二运动座的装配示意图；Fig. 18 is a schematic diagram of the assembly of the second reference base and the second kinematic base provided in other embodiments of the present application;

图19为本申请另一些实施例中提供的第二基准座和第二运动座的转向示意图；Fig. 19 is a schematic diagram of the steering of the second reference seat and the second kinematic seat provided in other embodiments of the present application;

图20为本申请另一些实施例中提供的第三转向检测机构的装配结构局部剖视图；Fig. 20 is a partial cross-sectional view of the assembly structure of the third steering detection mechanism provided in other embodiments of the present application;

图21为本申请另一些实施例中提供的第三转向检测机构的转向状态局部剖视图；Fig. 21 is a partial cross-sectional view of the steering state of the third steering detection mechanism provided in other embodiments of the present application;

图22为本申请另一些实施例中提供的医疗装置的立体图；Fig. 22 is a perspective view of a medical device provided in another embodiment of the present application;

图23为本申请另一些实施例中提供的手术机器人的结构示意图；Fig. 23 is a schematic structural diagram of a surgical robot provided in other embodiments of the present application;

图24为本申请如图23所示的手术机器人的使用状态示意图。FIG. 24 is a schematic diagram of the use state of the surgical robot shown in FIG. 23 of the present application.

附图标号：Figure number:

001、操纵装置；002、主体部；003、承载端；004、手术器械；001. Manipulating device; 002. Main body; 003. Loading end; 004. Surgical instrument;

100a、第一装置基座；200a、第一操纵部件；100b、第二装置基座；200b、第二操纵部件；300、转动部件；400、第一转向检测机构；500、第二转向检测机构；600、位移检测机构；700、第三转向检测机构；100a, first device base; 200a, first operating component; 100b, second device base; 200b, second operating component; 300, rotating component; 400, first steering detection mechanism; 500, second steering detection mechanism ; 600, the displacement detection mechanism; 700, the third steering detection mechanism;

210、第一持握部；220、第二持握部；230、连接套；240、固定套；250、转动套；260、按键；210, the first holding part; 220, the second holding part; 230, the connecting sleeve; 240, the fixed sleeve; 250, the rotating sleeve; 260, the button;

241、第一限位台阶；251、第二限位台阶；241, the first limit step; 251, the second limit step;

410、第一传感器件；411、转动座；412、第一转动件；413、第一转动孔；414、第一阻尼结构； 410, the first sensor device; 411, the rotating seat; 412, the first rotating member; 413, the first rotating hole; 414, the first damping structure;

510、第二传感器件；511、复位结构；510. The second sensing device; 511. The reset structure;

610、第三传感器件；620、第一基准座；630、第一运动座；640、第二阻尼结构；650、第一限位结构；610, the third sensor device; 620, the first reference seat; 630, the first motion seat; 640, the second damping structure; 650, the first limit structure;

710、第四传感器件；720、第二基准座；730、第二运动座；740、第三阻尼结构；750、第二限位结构；710, the fourth sensor device; 720, the second reference seat; 730, the second motion seat; 740, the third damping structure; 750, the second limit structure;

621、导向件；622、导向孔；621, guide piece; 622, guide hole;

721、第二转动件；722、第二转动孔。721, the second rotating member; 722, the second rotating hole.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the application with reference to the drawings in the embodiments of the application. Apparently, the described embodiments are only some of the embodiments of the application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

本申请一实施例提供了一种操纵装置，所述操纵装置包括基座单元、操纵单元和检测单元，基座单元具有至少一个运动轨迹，所述操纵单元沿着至少一个所述运动轨迹活动设置在所述基座单元上，所述检测单元被配置为用于获取所述操纵单元沿着至少一个所述运动轨迹运动的至少一个运动信息。操纵装置采用可以获取运动信息的传感器件，而非采用获取力信息的传感器件，可以避免在信息采集的过程中，对传感器件形成损伤，导致控制失效的问题，而且还可以避免操作者施加的力有误差，影响对可移动设备的控制存在延时或者变动量大，使可移动设备运行不平稳、不灵活的问题，而且还可以有效提高传感器件的使用寿命，使可移动设备运动过程中灵活摆位和移动，提高可移动设备的控制可靠性和平稳性。An embodiment of the present application provides a manipulation device, the manipulation device includes a base unit, a manipulation unit and a detection unit, the base unit has at least one motion track, and the manipulation unit is movable along at least one of the motion tracks On the base unit, the detection unit is configured to acquire at least one motion information of the manipulation unit moving along at least one of the motion trajectories. The manipulating device adopts a sensor device that can obtain motion information instead of a sensor device that obtains force information, which can avoid the problem of damage to the sensor device during the information collection process, resulting in control failure, and can also avoid the operator. There is an error in the force, which affects the control of the movable device. There is a delay or a large amount of change, which makes the operation of the movable device unstable and inflexible. It can also effectively improve the service life of the sensor device and make the movable device move. Flexible positioning and movement, improving the control reliability and stability of movable equipment.

在一个实施例中，参阅图1至图10所示，提供了一种操纵装置001，所述操纵装置001包括第一装置基座100a、第一操纵部件200a和至少一个转向检测机构，第一装置基座100a具有至少一个转动轨迹，所述第一操纵部件200a沿着至少一个所述转动轨迹活动设置在所述第一装置基座100a上，所述转向检测机构包括至少一个传感器件，所述传感器件被配置为用于获取所述第一操纵部件200a沿着至少一个所述转动轨迹转动的至少一个转动信息。在另一个实施例中，参阅图11至图21所示，提供了一种操纵装置001，所述操纵装置001包括第二装置基座100b、第二操纵部件200b和位移检测机构600，所述第二装置基座100b具有至少一个移动轨迹，所述第二操纵部件200b沿着至少一个所述移动轨迹活动设置在所述第二装置基座100b上，位移检测机构600设置在所述第二装置基座100b上，所述位移检测机构600包括至少一个第三传感器件，所述第三传感器件被配置为用于获取所述第二操纵部件200b沿着所述移动轨迹移动的位移信息。In one embodiment, referring to FIG. 1 to FIG. 10 , a manipulation device 001 is provided, the manipulation device 001 includes a first device base 100a, a first manipulation component 200a and at least one steering detection mechanism, the first The device base 100a has at least one rotation track, and the first manipulating member 200a is movably arranged on the first device base 100a along at least one of the rotation tracks, and the steering detection mechanism includes at least one sensor device, so The sensor device is configured to acquire at least one rotation information of the rotation of the first manipulation member 200a along at least one of the rotation tracks. In another embodiment, referring to Fig. 11 to Fig. 21, a manipulating device 001 is provided, the manipulating device 001 includes a second device base 100b, a second manipulating part 200b and a displacement detection mechanism 600, the The second device base 100b has at least one moving track, the second manipulating member 200b is movably arranged on the second device base 100b along at least one moving track, and the displacement detection mechanism 600 is arranged on the second On the device base 100b, the displacement detection mechanism 600 includes at least one third sensor device, and the third sensor device is configured to obtain displacement information of the second manipulation member 200b moving along the movement track.

首先，继续参阅图1至图10所示，所述操纵装置001包括第一装置基座100a、第一操纵部件200a和至少一个转向检测机构，第一装置基座100a具有至少一个转动轨迹，所述第一操纵部件200a沿着至少一个所述转动轨迹活动设置在所述第一装置基座100a上，所述转向检测机构包括至少一个传感器件，所述传感器件被配置为用于获取所述第一操纵部件200a沿着至少一个所述转动轨迹转动的至少一个转动信息。该操纵装置001可以用在包括但不限于医疗装置等可移动设备上，可移动设备可以为医疗设备或非医疗设备，本领域技术人员可以根据需求选择操纵装置001的使用场景，在此不做限定。First, continue to refer to Figs. 1 to 10, the manipulation device 001 includes a first device base 100a, a first manipulation component 200a and at least one steering detection mechanism, the first device base 100a has at least one rotation track, so The first manipulating part 200a is movably arranged on the first device base 100a along at least one of the rotation tracks, and the steering detection mechanism includes at least one sensor, and the sensor is configured to acquire the At least one piece of rotation information about the rotation of the first manipulation member 200a along at least one of the rotation tracks. The manipulator 001 can be used on mobile devices including but not limited to medical devices. The mobile devices can be medical devices or non-medical devices. Those skilled in the art can choose the usage scenario of the manipulator 001 according to their needs, which will not be discussed here. limited.

该操纵装置001采用了可以检测转动信息的传感器件，例如角度传感器，其中，角度传感器可以采用磁性传感器、光栅式传感器等，以满足对转动信息的输出，实现形式不限。当操纵者对第一操纵部件200a施加作用力，驱动第一操纵部件200a相对于第一装置基座100a转动时，传感器件可以检测到第一操纵部件200a相对于第一装置基座100a转动的转动信息，该转动信息包括但不限于操作部件相对于第一装置基座100a转动的转动方向(正转、反转)、转动速度(加速转动、减速转动)等，通过获取转动信息，可以识别操纵者的操作意图。 The manipulating device 001 adopts a sensor device capable of detecting rotation information, such as an angle sensor, wherein the angle sensor can adopt a magnetic sensor, a grating sensor, etc., to meet the output of rotation information, and the implementation form is not limited. When the operator applies force to the first manipulation part 200a to drive the first manipulation part 200a to rotate relative to the first device base 100a, the sensor device can detect that the first manipulation part 200a rotates relative to the first device base 100a. Rotation information, the rotation information includes but not limited to the rotation direction (forward rotation, reverse rotation) and rotation speed (acceleration rotation, deceleration rotation) of the operating component relative to the first device base 100a, etc., by obtaining the rotation information, it can be identified Manipulator's intention to operate.

可移动设备上可以配备相应的控制装置对转动信息进行判断，并根据转动信息生成相应的操纵指令，控制装置利用操纵指令控制可移动设备的驱动装置按照操纵者的操作意图进行运动，包括但不限于控制前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等，例如可移动设备至少需要满足前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等基本动作，同时，可移动设备的运动也包括前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等相结合的复合运动，例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，这要求操纵指令不仅需要包括前进指令、后退指令、左转向指令和右转向指令等基本指令，而且还需要包括前进+左转指令、前进+右转指令、后退+左转指令、后退+右转指令等控制复合动作的复合指令。The movable equipment can be equipped with a corresponding control device to judge the rotation information, and generate corresponding manipulation instructions according to the rotation information. It is limited to control forward, backward, accelerate forward, accelerate backward, decelerate forward, decelerate backward, left turn and right turn, etc. For example, the movable equipment needs to meet at least forward, backward, accelerate forward, accelerate backward, decelerate forward, decelerate backward, left turn At the same time, the movement of the mobile device also includes compound motions that combine forward, backward, accelerated forward, accelerated backward, decelerated forward, decelerated backward, left and right, such as forward while turning left , Turn right while moving forward, turn left while moving backward, turn right while moving backward, etc. This requires that the manipulation instructions not only include basic instructions such as forward instruction, backward instruction, left steering instruction, and right steering instruction, but also include Forward + left turn command, forward + right turn command, back + left turn command, back + right turn command and other compound commands to control compound actions.

对此，操纵指令可以包括一个转动信息或多个转动信息，例如，在其中一个实施例中，所述第一操纵部件可以沿着第一定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第一转动角度信息，使所述第一转动角度信息至少包括第一正角度转动信息和第一负角度转动信息，然后根据所述第一正角度转动信息生成所述左转向指令，这将可以使左转向指令能够指示可移动设备实施左向转动的运动，同样，可以根据所述第一负角度转动信息生成所述右转向指令，这将可以使右转向指令能够指示可移动设备实施右向转动的运动。In this regard, the manipulation instruction may include one rotation information or multiple rotation information, for example, in one of the embodiments, the first manipulation component may rotate relative to the first device base along a first fixed-axis rotation trajectory , generating first rotation angle information belonging to the rotation information, making the first rotation angle information at least include first positive angle rotation information and first negative angle rotation information, and then generating the first rotation angle information according to the first positive angle rotation information The above left steering command, which will enable the left steering command to instruct the mobile device to implement the movement of turning left. Similarly, the right steering command can be generated according to the first negative angle rotation information, which will enable the right steering command A movable device can be instructed to perform a right-turn motion.

同样，所述第一操纵部件可以沿着第二定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第二转动角度信息，使所述第二转动角度信息至少包括第二正角度转动信息和第二负角度转动信息，然后根据所述第二正角度转动信息生成所述前进指令，这将可以使前进指令能够指示可移动设备实施前进、加速前进等运动，同样，可以根据所述第二负角度转动信息生成所述后退指令，这将可以使后退指令能够指示可移动设备实施后退、加速后退等运动。Likewise, the first manipulating member can rotate relative to the first device base along a second fixed-axis rotation track to generate second rotation angle information belonging to the rotation information, so that the second rotation angle information is at least Include the second positive angle rotation information and the second negative angle rotation information, and then generate the forward instruction according to the second positive angle rotation information, which will enable the forward instruction to instruct the mobile device to perform movements such as forward movement and accelerated movement, Likewise, the backward movement instruction can be generated according to the second negative angle rotation information, which will enable the backward movement instruction to instruct the mobile device to perform movements such as backward movement and accelerated backward movement.

当可移动设备具有左行驶轮和右行驶轮时，可移动设备的左转和右转需要左行驶轮和右行驶轮差速转动，因此，所述左转向指令至少可以包括左转差速控制命令，根据所述左转差速控制命令可以控制不同侧行驶轮之间的左转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速小于右行驶轮的转速，进而保证可移动设备实施稳定的左转向运动。同样，所述右转向指令至少包括右转差速控制命令，根据所述右转差速控制命令可以控制不同侧行驶轮之间的右转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速大于右行驶轮的转速，进而保证可移动设备实施稳定的右转向运动。When the movable device has left and right driving wheels, the left and right turns of the movable device require the differential rotation of the left and right driving wheels, therefore, the left steering command may at least include left turning differential control Command, according to the left-turn differential control command, the left-turn differential rotation between the driving wheels on different sides can be controlled. The rotation speed of the left driving wheel is lower than that of the right driving wheel, thereby ensuring that the movable device implements a stable left steering movement. Similarly, the right steering command includes at least a right turn differential control command, according to which the right turn differential control command can control the right turn differential rotation between the driving wheels on different sides, for example, the motors on different sides can be controlled to implement differential rotation , so that the driving wheels on different sides form differential rotations, so that the rotation speed of the left driving wheel is greater than that of the right driving wheel, thereby ensuring that the movable device implements a stable right steering movement.

可移动设备上可以设置触控屏等显示装置对获取的各种信息进行显示，还可以在第一操纵部件200a上设置与驱动装置连接的微动开关，并利用按键260对微动开关进行控制，实现对驱动装置的开启和关闭。第一操纵部件200a是供操纵者实施操纵的结构，第一操纵部件200a相对于第一装置基座100a的设置可以直接设置或间接设置，以第一装置基座100a作为转动的参考基础，第一操纵部件200a相对于第一装置基座100a的转动可以一个转动轨迹或同时以多个转动轨迹进行转动，例如第一操纵部件200a可以朝向任意方向或任意角度转动同时沿着多个转动轨迹进行转动，在不同转动轨迹中，不同转向检测机构的传感器件可以获取不同的转动信息。A display device such as a touch screen can be set on the mobile device to display various information obtained, and a micro switch connected to the driving device can also be set on the first operating part 200a, and the key 260 can be used to control the micro switch , to realize the opening and closing of the driving device. The first manipulation part 200a is a structure for the operator to perform manipulation. The first manipulation part 200a can be arranged directly or indirectly relative to the first device base 100a, and the first device base 100a is used as a reference base for rotation. The rotation of a manipulating part 200a relative to the first device base 100a can be performed on one rotational trajectory or simultaneously with multiple rotational trajectories, for example, the first manipulation component 200a can be rotated in any direction or at any angle along multiple rotational trajectories at the same time Rotation, in different rotation trajectories, the sensor devices of different steering detection mechanisms can obtain different rotation information.

在任意一个转动轨迹中，转动轨迹可以为规则或非规则的形状，例如，第一操纵部件200a沿着转动轨迹定轴转动时形成的转动轨迹可以为一个规则的圆形轨迹线，第一操纵部件200a沿着转动轨迹非定轴转动时，转动轨迹的转动轴线可以实时变化，进而形成非规则的轨迹线，本领域技术人员可以根据需求选择第一操纵部件200a的实际转动轨迹，在此不做限定。In any one of the rotation tracks, the rotation track can be in a regular or irregular shape. For example, the rotation track formed when the first manipulating member 200a rotates along the fixed axis of the rotation track can be a regular circular track line. When the component 200a rotates along the non-fixed axis of the rotation track, the rotation axis of the rotation track can be changed in real time, thereby forming an irregular track line. Those skilled in the art can select the actual rotation track of the first manipulation component 200a according to requirements, and it is not mentioned here Do limited.

操纵装置001采用可以获取转动信息的传感器件，而非采用获取力信息的传感器件，可以避免在信息采集的过程中，对传感器件形成损伤，导致控制失效的问题，而且还可以避免操作者施加的力有误差，影响对可移动设备的控制存在延时或者变动量大，使可移动设备运行不平稳、不灵活的问题。传感器件通过获取转动信息控制可移动设备运动，可以有效提高传感器件的使用寿命，使可移动设备运动过程中灵活摆位和移动，提高可移动设备的控制可靠性和平稳性。The manipulator 001 adopts a sensor device that can obtain rotation information instead of a sensor device that obtains force information, which can avoid the problem of damage to the sensor device during the information collection process, resulting in control failure, and can also Avoid the error of the force exerted by the operator, which will affect the control of the movable device and cause delays or large fluctuations, making the movable device run unstable and inflexible. The sensor device controls the movement of the movable device by obtaining the rotation information, which can effectively improve the service life of the sensor device, enable the flexible positioning and movement of the movable device during the motion process, and improve the control reliability and stability of the movable device.

在其中一个实施例中，所述转向检测机构包括第一转向检测机构400和第二转向检测机构500，所述转动轨迹包括第一转动轨迹和第二转动轨迹，所述转动信息包括第一转动信息和第二转动信息，所述第一转向检测机构400包括第一传感器件410，所述第一传感器件410被配置为用于获取所述第一操纵部件200a沿着第一转动轨迹转动的第一转动信息，所述第二转向检测机构500包括第二传感器件510，所述第二传感器件510被配置为用于获取所述第一操纵部件200a沿着第二转动轨迹转动的第二转动信息，第一操纵部件200a可以直接或间接地相对于第一转动轨迹和第二转动轨迹转动，并形成可以被第一传感器件410识别的第一转动信息和第二转动信息，利用第一转动信息和第二转动信息可以分别用来控制可移动设备的前进、后退、加速前进、加速后退、减速前进、减速后退、转向等，例如，可以利用第一转动信息控制可移动设备的转向，利用第二转动信息控制可移动设备的前进、后退、加速前进、加速后退、减速前进和减速后退。In one of the embodiments, the steering detection mechanism includes a first steering detection mechanism 400 and a second steering detection mechanism 500, the rotation trajectory includes a first rotation trajectory and a second rotation trajectory, and the rotation information includes the first rotation information and second rotation information, the first steering detection mechanism 400 includes a first sensor 410 configured to acquire the rotation of the first manipulation member 200a along the first rotation track For the first rotation information, the second steering detection mechanism 500 includes a second sensor device 510 configured to obtain the second rotation of the first manipulation member 200a along the second rotation track. rotation information, the first manipulation member 200a can directly or indirectly rotate relative to the first rotation trajectory and the second rotation trajectory, and form the first rotation information and the second rotation information that can be recognized by the first sensor device 410, using the first The rotation information and the second rotation information can be respectively used to control the forward, backward, accelerated forward, accelerated backward, decelerated forward, decelerated backward, steering, etc. of the movable device. For example, the first rotation information can be used to control the steering of the movable device. The second rotation information is used to control the forward, backward, accelerated forward, accelerated backward, decelerated forward and decelerated backward of the movable device.

在其中一个实施例中，所述第一转动轨迹为第一定轴转动轨迹，所述第一转动信息为第一转动角度信息，所述第二转动轨迹为第二定轴转动轨迹，所述第二转动信息为第二转动角度信息，而且，根据操纵者的操纵***行于可移动设备(地面)的设置方向，操纵者控制第一操纵部件200a沿着第一定轴转动轨迹的转动轴线转动时，正好匹配了左右转向的转动，操纵者控制第一操纵部件200a沿着第二定轴转动轨迹的转动轴线转动时，正好匹配了前进和后退的转动，并同时通过转动的幅度或快慢匹配可移动设备的加速前进、加速后退、减速前进和减速后退等控制。In one of the embodiments, the first rotation trajectory is a first rotation trajectory with a fixed axis, the first rotation information is first rotation angle information, the second rotation trajectory is a second rotation trajectory with a fixed axis, and the The second rotation information is the second rotation angle information, and, according to the manipulation habits of the operator, the rotation axis of the first fixed-axis rotation track and the rotation axis of the second fixed-axis rotation track can be set to be perpendicular to each other, for example, the first The rotation axis of the fixed-axis rotation track adopts the setting direction perpendicular to the movable equipment (ground), the rotation axis of the second fixed-axis rotation track adopts the setting direction parallel to the movable equipment (ground), and the operator controls the first operating part When 200a rotates along the rotation axis of the first fixed-axis rotation track, it just matches the rotation of the left and right steering. Reverse rotation, and at the same time control the acceleration forward, acceleration backward, deceleration forward and deceleration backward of the movable device through the amplitude or speed of the rotation.

除此之外，所述第一定轴转动轨迹的转动轴线和所述第二定轴转动轨迹的转动轴线也可以形成一定的角度，其中，第一定轴转动轨迹的转动轴线垂直于可移动设备(地面)时，第二定轴转动轨迹的转动轴线可以设置为非平行于可移动设备(地面)的状态，同时也与第一定轴转动轨迹的转动轴线成一定的角度，或者，第二定轴转动轨迹的转动轴线平行于可移动设备(地面)时，第一定轴转动轨迹的转动轴线可以设置为非垂直于可移动设备(地面)的状态，同时也与第二定轴转动轨迹的转动轴线成一定的角度，这可以根据操纵者相对于可移动设备的相对位置和角度进行设置，在此不做限定。In addition, the rotation axis of the first fixed-axis rotation track and the rotation axis of the second fixed-axis rotation track may also form a certain angle, wherein the rotation axis of the first fixed-axis rotation track is perpendicular to the movable During equipment (ground), the rotation axis of the second fixed-axis rotation track can be set to be non-parallel to the state of the movable device (ground), and also form a certain angle with the rotation axis of the first fixed-axis rotation track, or, the second When the rotation axes of the two fixed-axis rotation tracks are parallel to the movable equipment (ground), the rotation axis of the first fixed-axis rotation track can be set to a non-perpendicular state to the movable equipment (ground), while also rotating with the second fixed axis The rotation axis of the trajectory forms a certain angle, which can be set according to the relative position and angle of the operator relative to the movable device, which is not limited here.

第一操纵部件200a直接设置在第一装置基座100a上时，第一转动轨迹和第二转动轨迹都需要集成在第一操纵部件200a上，例如第一操纵部件200a可以为一个可操控的球体，球体可以前后转动以及左右转动，其中，球体的前后转动可以匹配沿着第一转动轨迹转动，球体的左右转动可以匹配沿着第二转动轨迹转动，第一传感器件410可以获取沿着第一转动轨迹转动的第一转动信息，第二传感器件510可以获取沿着第二转动轨迹转动的第二转动信息。When the first manipulation component 200a is directly arranged on the first device base 100a, both the first rotation trajectory and the second rotation trajectory need to be integrated on the first manipulation component 200a, for example, the first manipulation component 200a can be a steerable sphere , the sphere can rotate back and forth and left and right, wherein, the back and forth rotation of the sphere can match the rotation along the first rotation trajectory, the left and right rotation of the sphere can match the rotation along the second rotation trajectory, and the first sensor device 410 can acquire the rotation along the first rotation trajectory. The second sensor device 510 may acquire the first rotation information of rotation along the rotation track, and the second rotation information of rotation along the second rotation track.

或者在其中一个实施例中，所述操纵装置001包括转动部件300，所述转动部件300沿着所述第一转动轨迹转动设置在所述第一装置基座100a上，所述第一操纵部件200a沿着所述第二转动轨迹转动设置在所述转动部件300上，并通过转动部件300间接地设置在第一装置基座100a上，此时第一转动轨迹和第二转动轨迹可以第一装置基座100a为参考基础，分别形成在转动部件300和第一操纵部件200a上，第一操纵部件200a通过转动部件300的转动，间接地沿着第一转动轨迹转动，第一操纵部件200a同时也可以相对于转动部件300转动，进而沿着第二转动轨迹转动。Or in one of the embodiments, the manipulating device 001 includes a rotating part 300, and the rotating part 300 is rotatably arranged on the first device base 100a along the first rotating track, and the first manipulating part 200a is rotatably arranged on the rotating member 300 along the second rotating track, and is indirectly arranged on the first device base 100a through the rotating member 300. At this time, the first rotating track and the second rotating track can be first The device base 100a is used as a reference base, and is respectively formed on the rotating part 300 and the first operating part 200a. The first operating part 200a rotates indirectly along the first rotation track through the rotation of the rotating part 300, and the first operating part 200a simultaneously It can also rotate relative to the rotating component 300, and then rotate along the second rotation track.

传感器件的设置可以结合传感器件的类型确定合适的设置位置以及设置结构，只要能够获取转动信息即可，当传感器件为第一传感器器件和第二传感器件510两个器件时，在其中一个实施例中，所述第一传感器件410可以设置在所述第一装置基座100a上，所述转动部件300与所述第一传感器件410的检测端连接，包括直接连接或间接连接，所述第二传感器件510可以设置在所述转动部件300上，所述第一操纵部件200a与所述第二传感器件510的检测端连接，包括直接连接或间接连接。The setting of the sensor device can be combined with the type of the sensor device to determine the appropriate setting position and structure, as long as the rotation information can be obtained, when the sensor device is the first sensor device and the second sensor device 510 two devices, in In one of the embodiments, the first sensor device 410 may be arranged on the first device base 100a, and the rotating part 300 is connected to the detection end of the first sensor device 410, including direct connection or indirect connection , the second sensor device 510 may be disposed on the rotating part 300, and the first manipulation part 200a is connected to the detection end of the second sensor device 510, including direct connection or indirect connection.

参阅图3所示，第一操纵部件200a通过转动部件300与第一装置基座100a转动连接时，转动部件300可以直接或间接地与第一装置基座100a转动连接，例如在其中一个实施例中，所述第一转向检测机构400包括转动座411和第一转动件412，所述转动座411和所述第一转动件412分别设置在所述第一装置基座100a和所述转动部件300上，所述转动座411上开设有第一转动孔413，所述第一转动件412沿着所述第一转动轨迹转动设置在所述第一转动孔413内，其中，第一转动件412可以整体构成可以转动装配在第一转动孔413内的转轴结构，或者第一转动件412上具有可以转动装配在第一转动孔413内的转轴结构，当转动座411位于转动部件300上时，所述转动部件300可以通过所述转动座411与所述第一传感器件410的检测端连接，当第一转动件412位于转动部件300上时，所述转动部件300可以通过所述第一转动件412与所述第一传感器件410的检测端连接。Referring to Fig. 3, when the first manipulation member 200a is rotatably connected to the first device base 100a through the rotatable member 300, the rotatable member 300 may be directly or indirectly rotatably connected to the first device base 100a, for example, in one embodiment Among them, the first steering detection mechanism 400 includes a rotating seat 411 and a first rotating member 412, and the rotating seat 411 and the first rotating member 412 are respectively arranged on the first device base 100a and the rotating part 300, the rotating base 411 is provided with a first rotating hole 413, and the first rotating member 412 is rotatably arranged in the first rotating hole 413 along the first rotating track, wherein the first rotating member 412 can integrally constitute a rotating shaft structure that can be rotatably assembled in the first rotating hole 413, or the first rotating member 412 has a rotating shaft structure that can be rotatably assembled in the first rotating hole 413. When the rotating seat 411 is located on the rotating part 300 , the rotating part 300 can be connected with the detection end of the first sensor 410 through the rotating seat 411, when the first rotating part 412 is located on the rotating part 300, the rotating part 300 can pass through the first The rotating part 412 is connected with the detection end of the first sensor device 410 .

为了方便操纵者的左手和右手同时对第一操纵部件200a持握，所述第一操纵部件200a可以包括第一持握部210和第二持握部220，所述第一持握部210设置在所述转动部件300上，所述第二持握部220沿着所述第二转动轨迹相对于所述第一持握部210转动，并与所述第二传感器件510的检测端连接，第一持握部210和第二持握部220可以为柱状结构、块状结构或便于操纵者的左手和右手持握的仿形结构等，其中操纵者的左手可以用来控制第一持握部210，操纵者的右手可以用来控制第二持握部220。In order to facilitate the operator's left hand and right hand to hold the first manipulation part 200a at the same time, the first manipulation part 200a may include a first grip part 210 and a second grip part 220, and the first grip part 210 is set On the rotating component 300 , the second gripping portion 220 rotates relative to the first gripping portion 210 along the second rotation track, and is connected to the detection end of the second sensor device 510 , The first holding part 210 and the second holding part 220 can be a columnar structure, a block structure, or a profiling structure that is convenient for the operator's left and right hands to hold, wherein the operator's left hand can be used to control the first holding part 210, the operator's right hand can be used to control the second grip part 220.

第一持握部210和第二持握部220上均可以设置与驱动装置连接的微动开关，并利用按键260对微动开关进行控制，实现对驱动装置的开启和关闭。第一持握部210和第二持握部220内部可以形成用来装配微动开关的内腔，按键260可以活动装配在第一持握部210和第二持握部220的表面，并穿透第一持握部210和第二持握部220与内腔中的微动开关控制连接，其中，按键260可以利用弹簧柱塞等结构活动装配在第一持握部210和第二持握部220上，弹簧柱塞等结构可以对按键260形成一定程度的支撑，避免按键260误碰到微动开关，发出控制驱动装置的错误指令。Both the first holding part 210 and the second holding part 220 can be provided with a micro switch connected to the driving device, and the key 260 is used to control the micro switch to realize the opening and closing of the driving device. The interior of the first grip part 210 and the second grip part 220 can form an inner cavity for assembling a micro switch, and the button 260 can be movably assembled on the surface of the first grip part 210 and the second grip part 220 and worn Through the first grip part 210 and the second grip part 220, it is connected with the microswitch in the inner cavity, wherein the button 260 can be movably assembled on the first grip part 210 and the second grip part by using a spring plunger or the like. On the part 220, structures such as spring plungers can form a certain degree of support for the key 260, so as to prevent the key 260 from touching the micro switch by mistake and sending wrong commands to control the driving device.

参阅图4至图9所示，第一持握部210可以直接或间接地设置在转动部件300上，例如在其中一个实施例中，所述第一操纵部件200a包括连接套230，所述连接套230设置在所述转动部件300上，连接套230的内孔中具有定位面等结构，将连接套230的内孔形成非规则的圆孔，因此可以在套接到转动部件300的相应位置时实现定位，禁止连接套230相对于转动部件300转动，使所述第一持握部210通过所述连接套230与所述转动部件300连接，并相对于转动部件300保持固定。4 to 9, the first holding part 210 can be directly or indirectly arranged on the rotating part 300, for example, in one embodiment, the first operating part 200a includes a connecting sleeve 230, the connecting The sleeve 230 is arranged on the rotating part 300, and the inner hole of the connecting sleeve 230 has a structure such as a positioning surface, and the inner hole of the connecting sleeve 230 is formed into an irregular circular hole, so it can be sleeved on the corresponding position of the rotating part 300 When the positioning is realized, the connecting sleeve 230 is prohibited from rotating relative to the rotating part 300 , so that the first holding part 210 is connected to the rotating part 300 through the connecting sleeve 230 and remains fixed relative to the rotating part 300 .

第二持握部220也可以直接或间接地设置在转动部件300上，例如在其中一个实施例中，所述第一操纵部件200a包括固定套240的转动套250，所述固定套240设置在所述转动部件300上，并相对于转动部件300保持固定，所述转动套250与所述固定套240转动连接，因此所述第二持握部220通过所述转动套250与固定套240转动连接时，所述第二持握部220便可以通过所述转动套250和所述固定套240间接地与所述转动部件300转动连接。The second holding part 220 can also be directly or indirectly arranged on the rotating part 300, for example, in one of the embodiments, the first operating part 200a includes the rotating sleeve 250 of the fixed sleeve 240, and the fixed sleeve 240 is arranged on On the rotating part 300 and keep fixed relative to the rotating part 300, the rotating sleeve 250 is rotationally connected with the fixed sleeve 240, so the second holding part 220 rotates through the rotating sleeve 250 and the fixing sleeve 240 When connected, the second holding portion 220 can be indirectly rotatably connected to the rotating component 300 through the rotating sleeve 250 and the fixing sleeve 240 .

为了提高操纵者对第一操纵部件200a控制的稳定程度，在其中一个实施例中，所述第一转向检测机构400可以包括第一阻尼结构414，第一阻尼结构414可以提供运动的阻力，耗减运动的能量，因此所述第一阻尼结构414可以被配置为用于向所述转动部件300沿着所述第一转动轨迹的转动施加阻力，在操纵者对第一操纵部件200a进行控制时，达到第一操纵部件200a转动至任意角度或位置时可以不发生偏移的效果，避免出现转向意外失控的问题。In order to improve the stability of the operator's control of the first manipulating member 200a, in one embodiment, the first steering detection mechanism 400 may include a first damping structure 414, which can provide movement resistance and consume Therefore, the first damping structure 414 can be configured to apply resistance to the rotation of the rotating member 300 along the first rotating track, when the operator controls the first operating member 200a , to achieve the effect that the first manipulating member 200a may not be displaced when it is rotated to any angle or position, and avoid the problem of accidental loss of control of the steering.

第一阻尼结构414可以采用任意型号的阻尼器，以及具备阻尼功能的其他结构形式，例如采用弹性结构或磁性结构形成阻尼功能，在其中一个实施例中，所述第一阻尼结构414可以包括设置在所述第一装置基座100a和所述转动部件300之间的第一弹性件，第一弹性件可以对第一操纵部件200a施加弹性力，利用弹性力对操纵者的作用力形成阻力，进而达到阻尼的效果，这种结构较为简化。除此之外，还可以通过磁性部件以同极相斥的原理阻止所述第一装置基座100a和所述转动部件300之间的相对运转，形成阻尼功能。The first damping structure 414 can adopt any type of damper, and other structural forms with damping function, For example, an elastic structure or a magnetic structure is used to form a damping function. In one embodiment, the first damping structure 414 may include a first elastic member disposed between the first device base 100a and the rotating component 300 The first elastic member can apply elastic force to the first operating member 200a, and use the elastic force to form resistance to the operator's force, thereby achieving a damping effect. This structure is relatively simplified. In addition, the relative movement between the first device base 100 a and the rotating component 300 can be prevented by the principle of homopolar repulsion through magnetic components, forming a damping function.

第一弹性件可以根据装配需求选择采用压缩弹簧、波形弹簧、碟簧、扭簧等部件，尤其是在其中一个实施例中，所述第一装置基座100a和所述转动部件300之间通过转动座411和第一转动件412进行转动装配时，所述第一阻尼结构414可以采用弹簧，所述弹簧可以方便套装在所述第一转动件412上，使所述弹簧的两端分别与所述转动座411和所述第一转动件412摩擦接触，这种摩擦接触既可以在转动座411和第一转动件412之间施加弹性力，而且还可以在转动座411和第一转动件412之间施加摩擦力，进而提供稳定的阻尼效果。The first elastic member can choose to use components such as compression springs, wave springs, disc springs, and torsion springs according to assembly requirements. Especially in one of the embodiments, the first device base 100a and the rotating part 300 pass When the rotating seat 411 and the first rotating member 412 are rotated and assembled, the first damping structure 414 can adopt a spring, and the spring can be conveniently sleeved on the first rotating member 412, so that the two ends of the spring are respectively connected with the first rotating member 412. The rotating seat 411 is in frictional contact with the first rotating member 412, and this frictional contact can not only exert elastic force between the rotating seat 411 and the first rotating member 412, but also exert a force between the rotating seat 411 and the first rotating member. 412 exert friction force, thereby providing a stable damping effect.

为了提高操纵者对第一操纵部件200a控制的稳定程度，在其中一个实施例中，所述第二转向检测机构500也可以包括复位结构511，复位结构511可以提供复位的功能，因此所述复位结构511可以被配置为用于向所述第一操纵部件200a沿着所述第二转动轨迹的转动施加回复力，回复力相反于操纵者对第一操纵部件200a施加的作用力，从而在操纵者释放第一操纵部件200a时，回复力能够驱动第一操纵部件200a回到原来的转动角度或位置。In order to improve the stability of the operator's control of the first manipulating member 200a, in one embodiment, the second steering detection mechanism 500 may also include a reset structure 511, which can provide a reset function, so the reset The structure 511 may be configured to apply a restoring force to the rotation of the first manipulating member 200a along the second rotational track, the restoring force is opposite to the force exerted by the operator on the first manipulating member 200a, so that when manipulating Or when the first operating member 200a is released, the restoring force can drive the first operating member 200a back to the original rotation angle or position.

复位结构511可以采用任意具备回复功能、可以施加回复力的结构形式，例如回复力可以采用弹性力、磁性力等力的形式，在其中一个实施例中，所述复位结构511可以包括设置在所述转动部件300和所述第一操纵部件200a之间的第二弹性件，第二弹性件可以对第一操纵部件200a施加弹性力，利用弹性力形成对操纵者的作用力的回复力，进而达到回复原位的效果，这种结构较为简化。The reset structure 511 can adopt any structural form that has a recovery function and can apply a recovery force. For example, the recovery force can be in the form of elastic force, magnetic force, etc. In one embodiment, the reset structure 511 can include The second elastic member between the rotating member 300 and the first operating member 200a, the second elastic member can apply an elastic force to the first operating member 200a, and use the elastic force to form a restoring force to the operating force of the operator, and then To achieve the effect of returning to the original position, this structure is relatively simplified.

第二弹性件可以根据装配需求选择采用弹簧、碟簧、扭簧等部件，尤其是在其中一个实施例中，所述第一操纵部件200a和所述转动部件300之间通过所述固定套240和所述转动套250进行转动装配时，所述复位结构511可以采用扭簧，并将扭簧通过连接孔、连接凸起等结构连接在固定套240和转动套250之间，且位于固定套240和转动套250的内腔中，所述扭簧的两端分别与所述固定套240和所述转动套250连接，当所述第一操纵部件200a和所述转动部件300通过固定套240和转动套250相对转动时，扭簧就会对所述第一操纵部件200a和所述转动部件300的转动施加弹性力，利用弹性力形成所述第一操纵部件200a和所述转动部件300之间转动的复位。The second elastic member can be selected from springs, disc springs, torsion springs and other components according to assembly requirements, especially in one of the embodiments, the fixed sleeve 240 is passed between the first operating part 200a and the rotating part 300 When rotating and assembling with the rotating sleeve 250, the reset structure 511 can use a torsion spring, and the torsion spring is connected between the fixed sleeve 240 and the rotating sleeve 250 through a connection hole, a connection protrusion, etc., and is located in the fixed sleeve. 240 and the inner cavity of the rotating sleeve 250, the two ends of the torsion spring are respectively connected with the fixed sleeve 240 and the rotating sleeve 250, when the first operating part 200a and the rotating part 300 pass through the fixed sleeve 240 When rotating relative to the rotating sleeve 250, the torsion spring will apply an elastic force to the rotation of the first operating part 200a and the rotating part 300, and use the elastic force to form a gap between the first operating part 200a and the rotating part 300. Rotate reset.

转动部件300相对于第一装置基座100a的转动角度范围可以根据需求进行限定，以满足操纵者的操纵需求，例如在其中一个实施例中，所述第一转向检测机构400包括第一限位结构，所述第一限位结构被配置为用于限制所述转动部件300沿着所述第一转动轨迹转动的转动角度范围。第一限位结构可以基于第一装置基座100a和转动部件300的结构形式确定，例如在其中一个实施例中，所述第一限位结构可以包括开设在所述第一装置基座100a上的限位槽，限位槽形成为弧形，可以匹配转动部件300相对于第一装置基座100a的转动，并在限位槽的尽头对转动部件300形成限制，从而限定出转动部件300相对于第一装置基座100a的转动角度范围，转动部件300可以通过设置的限位凸起、限位柱体等结构与限位槽形成限位配合，从而实现所述转动部件300与所述限位槽的限位配合，在此不做限定。The rotation angle range of the rotating component 300 relative to the first device base 100a can be limited according to requirements to meet the operator's manipulation requirements. For example, in one of the embodiments, the first steering detection mechanism 400 includes a first limit structure, the first limiting structure is configured to limit the rotation angle range of the rotation component 300 along the first rotation track. The first limiting structure can be determined based on the structural forms of the first device base 100a and the rotating part 300. For example, in one of the embodiments, the first limiting structure can include The limiting groove is formed in an arc shape, which can match the rotation of the rotating component 300 relative to the first device base 100a, and forms a limit on the rotating component 300 at the end of the limiting groove, thereby limiting the relative rotation of the rotating component 300. Within the rotation angle range of the first device base 100a, the rotating part 300 can form a limit fit with the limit groove through the set limit protrusion, limit cylinder and other structures, so as to realize the rotation part 300 and the limit. The limit fit of the slot is not limited here.

参阅图8和图9所示，第一操纵部件200a相对于转动部件300的转动角度范围可以根据需求进行限定，以满足操纵者的操纵需求，例如在其中一个实施例中，所述第二转向检测机构500包括第二限位结构，所述第二限位结构被配置为用于限制所述第一操纵部件200a沿着所述第二转动轨迹转动的转动角度范围。第二限位结构可以基于第一操纵部件200a和转动部件300的结构形式确定，例如在其中一个实施例中，所述第二限位结构可以包括开设在所述固定套240上的第一限位台阶241和开设在所述转动套250上的第二限位台阶251，所述第一限位台阶241与所述第二限位台阶251限位配合，在固定套240和转动套250的可转动角度范围内，第一限位台阶241和第二限位台阶251不发生相对干涉，但是一旦第一限位台阶241和第二限位台阶251相互抵接、形成相对干涉，则可以限定出第一操纵部件200a相对于转动部件300的转动角度范围。Referring to Fig. 8 and Fig. 9, the rotation angle range of the first manipulating part 200a relative to the rotating part 300 can be limited according to requirements to meet the manipulation needs of the operator, for example, in one of the embodiments, the second steering The detection mechanism 500 includes a second limit structure configured to limit the rotation angle range of the first manipulation member 200a along the second rotation track. The second limiting structure can be determined based on the structural form of the first manipulation part 200a and the rotating part 300 Bit step 241 and the second limit position set on the rotating sleeve 250 Step 251, the first limiting step 241 and the second limiting step 251 are limited in cooperation, within the rotatable angle range of the fixed sleeve 240 and the rotating sleeve 250, the first limiting step 241 and the second limiting step The step 251 does not interfere relative to each other, but once the first limiting step 241 and the second limiting step 251 abut against each other and form relative interference, the rotation angle range of the first manipulating member 200a relative to the rotating member 300 can be limited.

接着，继续参阅图11至图21所示，所述操纵装置001包括第二装置基座100b、第二操纵部件200b和位移检测机构600，所述第二装置基座100b具有至少一个移动轨迹，所述第二操纵部件200b沿着至少一个所述移动轨迹活动设置在所述第二装置基座100b上，位移检测机构600设置在所述第二装置基座100b上，所述位移检测机构600包括至少一个第三传感器件，所述第三传感器件被配置为用于获取所述第二操纵部件200b沿着所述移动轨迹移动的位移信息。Next, referring to Fig. 11 to Fig. 21, the manipulating device 001 includes a second device base 100b, a second manipulating part 200b and a displacement detection mechanism 600, and the second device base 100b has at least one moving track, The second manipulation member 200b is movably disposed on the second device base 100b along at least one of the moving tracks, and the displacement detection mechanism 600 is disposed on the second device base 100b. The displacement detection mechanism 600 At least one third sensor device is included, and the third sensor device is configured to acquire displacement information of the second manipulating member 200b moving along the moving track.

除此之外，该操纵装置001在此基础上还可以结合有第三转向检测机构700，即所述操纵装置001包括第二装置基座100b、第二操纵部件200b、位移检测机构600和第三转向检测机构700，此时第二装置基座100b可以具有至少一个移动轨迹或至少一个转动轨迹，或者第二装置基座100b同时具有至少一个移动轨迹和至少一个转动轨迹，所述第二操纵部件200b沿着至少一个所述移动轨迹或至少一个所述转动轨迹活动设置在所述第二装置基座100b上，或者，所述第二操纵部件200b同时沿着至少一个所述移动轨迹和至少一个所述转动轨迹活动设置在所述第二装置基座100b上，位移检测机构600设置在所述第二装置基座100b上，所述位移检测机构600包括至少一个第三传感器件610，所述第三传感器件610被配置为用于获取所述第二操纵部件200b沿着所述移动轨迹移动的位移信息，第三转向检测机构700设置在所述第二装置基座100b上，所述第三转向检测机构700包括至少一个第四传感器件710，所述第四传感器件710被配置为用于获取所述第二操纵部件200b沿着所述转动轨迹转动的转动信息。In addition, on this basis, the manipulation device 001 can also be combined with a third steering detection mechanism 700, that is, the manipulation device 001 includes a second device base 100b, a second manipulation component 200b, a displacement detection mechanism 600 and a Three-turn detection mechanism 700, at this time the second device base 100b may have at least one movement track or at least one rotation track, or the second device base 100b has at least one movement track and at least one rotation track at the same time, the second manipulation The component 200b is movably disposed on the second device base 100b along at least one of the moving tracks or at least one of the rotating tracks, or, the second manipulation component 200b is simultaneously along at least one of the moving tracks and at least one of the rotating tracks. One of the rotation tracks is movably disposed on the second device base 100b, and the displacement detection mechanism 600 is disposed on the second device base 100b, and the displacement detection mechanism 600 includes at least one third sensor device 610, so The third sensing device 610 is configured to acquire the displacement information of the second manipulating member 200b moving along the moving track, the third steering detection mechanism 700 is arranged on the second device base 100b, the The third steering detection mechanism 700 includes at least one fourth sensor device 710 configured to acquire rotation information of the rotation of the second manipulation member 200b along the rotation track.

上述操纵装置001可以用在包括但不限于医疗装置等可移动设备上，可移动设备可以为医疗设备或非医疗设备，本领域技术人员可以根据需求选择操纵装置001的使用场景，在此不做限定。The above-mentioned manipulator 001 can be used on movable equipment including but not limited to medical equipment. The movable equipment can be medical equipment or non-medical equipment. Those skilled in the art can choose the usage scenario of the manipulator 001 according to their needs, and will not do so here. limited.

在上述操纵装置001中，操纵装置001采用可以检测位移信息的第三传感器件610，该第三传感器件可以采用线性传感器采集位移信息，线性传感器的形式可以采用磁性传感器、光栅式传感器等以满足对位移信息的输出，实现形式不限。同时，该操纵装置001采用可以检测转动信息的第四传感器件710，第三传感器件610可以采用角度传感器采位移信息，角度传感器的形式可以采用磁性传感器、光栅式传感器等以满足对位移信息和转动信息的输出，实现形式不限。In the above-mentioned manipulating device 001, the manipulating device 001 adopts the third sensor device 610 that can detect displacement information, and the third sensor device can use a linear sensor to collect displacement information, and the form of the linear sensor can be a magnetic sensor, a grating sensor, etc. to meet The output of displacement information can be implemented in any form. Simultaneously, this manipulator 001 adopts the fourth sensor device 710 that can detect rotation information, and the third sensor device 610 can adopt an angle sensor to collect displacement information, and the form of the angle sensor can adopt a magnetic sensor, a grating sensor, etc. to meet the requirements for the displacement information and The output of rotation information can be implemented in any form.

当操纵者对第二操纵部件200b施加作用力，驱动第二操纵部件200b相对于第二装置基座100b移动或转动时，第三传感器件610可以检测到第二操纵部件200b相对于第二装置基座100b移动的位移信息，位移信息包括但不限于操作部件相对于第二装置基座100b直线移动、曲线移动、以规则的轨迹移动或以非规则的轨迹移动，因此当操纵者操控第二操纵部件200b相对于第二装置基座100b线性移动时，第二操纵部件200b相对于第二装置基座100b的实际运动的轨迹，便可以用来作为控制可移动设备实际运动的轨迹的指令，从而通过操控第二操纵部件200b对可移动设备的运动进行灵活的控制。When the operator applies force to the second manipulation part 200b to drive the second manipulation part 200b to move or rotate relative to the second device base 100b, the third sensing device 610 can detect that the second manipulation part 200b is relative to the second device base 100b. The displacement information of the movement of the base 100b, the displacement information includes but not limited to linear movement, curved movement, regular trajectory movement or irregular trajectory movement of the operating part relative to the second device base 100b, so when the operator manipulates the second device base 100b When the manipulating part 200b moves linearly relative to the second device base 100b, the track of the actual motion of the second manipulating part 200b relative to the second device base 100b can be used as an instruction for controlling the track of the actual motion of the movable device, Therefore, the movement of the movable device can be flexibly controlled by manipulating the second manipulation member 200b.

例如在其中一个实施例中，所述移动轨迹为直线移动轨迹，所述位移信息为线性位移信息，操纵者操控第二操纵部件200b相对于第二装置基座100b前进或后退，或者操纵第二操纵部件200b相对于第二装置基座100b加速前进、加速后退等运动，第三传感器件610通过获取位移信息，均可以识别操纵者的移动操作意图，进而将操作意图转换成的操作指令作为控制可移动设备运动的依据。For example, in one of the embodiments, the moving track is a linear moving track, and the displacement information is linear displacement information. The manipulating part 200b moves forward and backward with respect to the second device base 100b, and the third sensor 610 can recognize the operator's movement and operation intention by acquiring displacement information, and then convert the operation intention into an operation command as a control Basis for movement of removable equipment.

同样，第四传感器件710可以检测到第二操纵部件200b相对于第二装置基座100b转动的转动信息，转动信息包括但不限于操作部件相对于第二装置基座100b转动的转动方向(正转、反转)、转动速度(加速转动、减速转动)等，因此当操纵者操控第二操纵部件200b相对于第二装置基座100b定轴转动时，第二操纵部件200b相对于第二装置基座100b的实际转动角度，便可以用来作为控制可移动设备实际转向运动的指令，从而通过操控第二操纵部件200b对可移动设备的运动进行灵活的控制。Similarly, the fourth sensor 710 can detect the rotation information of the second manipulation member 200b relative to the second device base 100b, the rotation information includes but not limited to the rotation direction of the operation member relative to the second device base 100b (positive rotation, reverse rotation), rotation speed (acceleration rotation, deceleration rotation), etc., so when the operator manipulates the second control part When the part 200b rotates with a fixed axis relative to the second device base 100b, the actual rotation angle of the second operating part 200b relative to the second device base 100b can be used as an instruction to control the actual steering movement of the movable device, so as to pass Manipulating the second manipulation member 200b flexibly controls the movement of the movable device.

例如在其中一个实施例中，所述转动轨迹为定轴转动轨迹，所述转动信息为转动角度信息，操纵者操控第二操纵部件200b相对于第二装置基座100b左转或后转，其实际转动的角度均可以转换为转动信息，第四传感器件710通过获取转动信息，可以识别操纵者的转向操作意图，进而将操作意图转换成的操作指令作为控制可移动设备运动的依据。For example, in one of the embodiments, the rotation trajectory is a fixed-axis rotation trajectory, and the rotation information is rotation angle information. The operator manipulates the second manipulation member 200b to turn left or backward relative to the second device base 100b. The actual rotation angle can be converted into rotation information. By acquiring the rotation information, the fourth sensor 710 can identify the operator's steering operation intention, and then use the operation instruction converted from the operation intention as the basis for controlling the movement of the mobile device.

当所述移动轨迹为直线移动轨迹，所述转动轨迹为定轴转动轨迹，在其中一个实施例中，可以设置所述直线移动轨迹的移动直线与所述定轴转动轨迹的转动轴线相互垂直，尤其是直线移动轨迹的移动直线可以平行于可移动设备(水平面)，定轴转动轨迹的转动轴线可以垂直于可移动设备(水平面)，这样更符合操纵者对第二操纵部件200b的控制习惯。When the moving track is a linear moving track, and the rotating track is a fixed-axis rotating track, in one embodiment, the moving line of the straight-line moving track can be set to be perpendicular to the rotation axis of the fixed-axis rotating track, In particular, the moving straight line of the linear moving track can be parallel to the movable device (horizontal plane), and the rotation axis of the fixed-axis rotating track can be perpendicular to the movable device (horizontal plane), which is more in line with the operator's control habit of the second manipulating member 200b.

除此之外，所述直线移动轨迹的移动直线与所述定轴转动轨迹的转动轴线也可以形成一定的角度，其中，所述直线移动轨迹的移动直线平行于可移动设备(水平面)时，所述定轴转动轨迹的转动轴线可以设置为非垂直于可移动设备(水平面)的状态，同时也与所述直线移动轨迹的移动直线成一定的角度，或者，所述定轴转动轨迹的转动轴线垂直于可移动设备(水平面)时，所述直线移动轨迹的移动直线可以设置为非平行于可移动设备(水平面)的状态，同时也与所述定轴转动轨迹的转动轴线成一定的角度，这可以根据操纵者相对于可移动设备的相对位置和角度进行设置，在此不做限定。In addition, the moving straight line of the straight-line moving track and the rotation axis of the fixed-axis rotating track may also form a certain angle, wherein, when the moving straight line of the straight-line moving track is parallel to the movable device (horizontal plane), The rotation axis of the fixed-axis rotation track can be set to be non-perpendicular to the movable device (horizontal plane), and also form a certain angle with the moving straight line of the linear movement track, or the rotation of the fixed-axis rotation track When the axis is perpendicular to the movable device (horizontal plane), the moving straight line of the linear moving track can be set to be non-parallel to the movable device (horizontal plane), and also form a certain angle with the rotation axis of the fixed-axis rotation track , which can be set according to the relative position and angle of the operator relative to the movable device, which is not limited here.

可移动设备上可以配备相应的控制装置对位移信息和转动信息进行判断，并根据转动信息生成相应的操纵指令，控制装置利用操纵指令控制可移动设备的驱动装置按照操纵者的操作意图进行运动，包括但不限于控制前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等，例如可移动设备至少需要满足前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等基本动作，而且，可移动设备的运动也需要包括前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等相结合的复合运动，例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，这要求操纵指令不仅需要包括前进指令、后退指令、左转向指令和右转向指令等基本指令，而且还需要包括前进+左转指令、前进+右转指令、后退+左转指令、后退+右转指令等控制复合动作的复合指令。The movable device can be equipped with a corresponding control device to judge the displacement information and rotation information, and generate corresponding manipulation instructions according to the rotation information, and the control device uses the manipulation command to control the driving device of the movable device to move according to the operator's operation intention. Including but not limited to controlling forward, backward, accelerating forward, accelerating backward, decelerating forward, decelerating backward, turning left and right, etc. , turn left and turn right, and other basic actions, and the movement of movable equipment also needs to include compound movements such as forward, backward, accelerated forward, accelerated backward, decelerated forward, decelerated backward, left turned and right turned, such as forward compound actions such as turning left while moving forward, turning right while moving forward, turning left while moving backward, and turning right while moving backward, which requires that the manipulation instructions not only include basic instructions such as forward instruction, backward instruction, left steering instruction, and right steering instruction, but also And also need to comprise the compound instruction that controls composite action such as advance+left turn instruction, advance+right turn instruction, back+left turn instruction, back+right turn instruction.

例如，在所述位移信息为线性位移信息时，所述线性位移信息至少可以包括正位移信息、正加速位移信息、负位移信息和负加速位移信息，根据所述正位移信息或所述正加速位移信息可以生成所述前进指令，也可以根据所述正位移信息和所述正加速位移信息的结合生成所述前进指令，这将可以使前进指令能够指示可移动设备实施前进、加速前进等运动，根据所述负位移信息或所述负加速位移信息可以生成所述后退指令，也可以根据所述负位移信息和所述负加速位移信息生成所述后退指令，这将可以使前进指令能够指示可移动设备实施后退、加速后退等运动。For example, when the displacement information is linear displacement information, the linear displacement information may at least include positive displacement information, positive acceleration displacement information, negative displacement information, and negative acceleration displacement information. According to the positive displacement information or the positive acceleration The forward command can be generated by the displacement information, and the forward command can also be generated according to the combination of the positive displacement information and the positive acceleration displacement information, which will enable the forward command to instruct the mobile device to perform motions such as forward movement and accelerated forward movement , the backward command can be generated according to the negative displacement information or the negative acceleration displacement information, and the backward command can also be generated according to the negative displacement information and the negative acceleration displacement information, which will enable the forward command to indicate The movable device implements motions such as backward, accelerated backward, and the like.

例如，在所述转动信息为转动角度信息时，所述转动角度信息至少可以包括正角度转动信息和负角度转动信息，根据所述正角度转动信息可以生成所述左转向指令，这将可以使左转向指令能够指示可移动设备实施左向转动的运动，同样，根据所述负角度转动信息可以生成所述右转向指令，这将可以使右转向指令能够指示可移动设备实施右向转动的运动。For example, when the rotation information is rotation angle information, the rotation angle information may at least include positive angle rotation information and negative angle rotation information, and the left steering command may be generated according to the positive angle rotation information, which will enable The left steering instruction can instruct the mobile device to perform a leftward turning motion, and similarly, the right steering instruction can be generated according to the negative angle rotation information, which will enable the right steering instruction to instruct the movable device to perform a rightward turning motion .

而且，当可移动设备具有左行驶轮和右行驶轮时，可移动设备的左转和右转需要左行驶轮和右行驶轮差速转动，因此，所述左转向指令至少可以包括左转差速控制命令，根据所述左转差速控制命令可以控制不同侧行驶轮之间的左转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速小于右行驶轮的转速，进而保证可移动设备实施稳定的左转向运动。同样，所述右转向指令至少可以包括右转差速控制命令，根据所述右转差速控制命令可以控制不同侧行驶轮之间的右转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速大于右行驶轮的转速，进而保证可移动设备实施稳定的右转向运动。Moreover, when the movable device has left and right traveling wheels, the left and right turns of the movable device require the differential rotation of the left and right traveling wheels, therefore, the left steering command may at least include a left turning differential According to the left-turn differential speed control command, the left-turn differential speed rotation between the driving wheels on different sides can be controlled, for example, the motors on different sides can be controlled to implement differential speed rotation, so that the driving wheels on different sides can form differential speed rotation , so that the rotational speed of the left driving wheel is lower than the rotational speed of the right driving wheel, thereby ensuring that the movable device implements a stable left steering movement. Likewise, the right steering command may at least include a right turn differential control command, according to which the right turn differential control command can control the right turn difference between the driving wheels on different sides. For example, the motors on different sides can be controlled to implement differential rotation, so that the driving wheels on different sides can form differential rotation, so that the speed of the left driving wheel is greater than that of the right driving wheel, thereby ensuring the stable right steering movement of the mobile device .

可移动设备上可以设置触控屏等显示装置对获取的各种信息进行显示，还可以在第二操纵部件200b上设置与驱动装置连接的微动开关，并利用按键对微动开关进行控制，实现对驱动装置的开启和关闭。第二操纵部件200b是供操纵者实施操纵的结构，第二操纵部件200b相对于第二装置基座100b的设置可以直接设置或间接设置，以第二装置基座100b作为移动或转动的参考基础。第二操纵部件200b相对于第二装置基座100b进行移动时可以沿着一个或多个移动轨迹，第二操纵部件200b相对于第二装置基座100b进行转动时也可以沿着一个或多个转动轨迹。A display device such as a touch screen can be set on the mobile device to display various information obtained, and a micro switch connected to the driving device can also be set on the second operating part 200b, and the micro switch can be controlled by a button. Realize the opening and closing of the driving device. The second manipulating part 200b is a structure for the manipulator to perform manipulating. The setting of the second manipulating part 200b relative to the second device base 100b can be set directly or indirectly, with the second device base 100b as the reference base for movement or rotation. . When the second manipulating part 200b moves relative to the second device base 100b, it can follow one or more moving trajectories, and when the second manipulating part 200b rotates relative to the second device base 100b, it can also follow one or more turn track.

在其中一个实施例中，当第二装置基座100b仅具有一个移动轨迹，第二操纵部件200b仅沿着一个移动轨迹进行移动，移动轨迹为确定状态，或者第二装置基座100b虽然具有转动轨迹，但第二操纵部件200b非沿着转动轨迹转动的状态下，第二操纵部件200b也仅沿着一个移动轨迹进行移动，移动轨迹为确定状态。In one of the embodiments, when the second device base 100b has only one movement trajectory, the second manipulation member 200b only moves along one movement trajectory, and the movement trajectory is determined, or although the second device base 100b has a rotation track, but when the second manipulating member 200b is not rotating along the rotational track, the second manipulating member 200b only moves along one moving track, and the moving track is in a definite state.

在其中一个实施例中，当第二装置基座100b仅具有一个转动轨迹，第二操纵部件200b仅沿着一个转动轨迹进行转动，转动轨迹为确定状态，或者第二装置基座100b虽然具有移动轨迹，但第二操纵部件200b非沿着移动轨迹移动的状态下，第二操纵部件200b也仅沿着一个转动轨迹进行转动，转动轨迹为确定状态。In one of the embodiments, when the second device base 100b has only one rotation trajectory, the second manipulation member 200b only rotates along one rotation trajectory, and the rotation trajectory is determined, or although the second device base 100b has a movement track, but when the second manipulating member 200b is not moving along the moving track, the second manipulating member 200b only rotates along one turning track, and the turning track is in a definite state.

在其中一个实施例中，当第二装置基座100b同时具有移动轨迹和转动轨迹，而且第二操纵部件200b还同时沿着移动轨迹和转动轨迹进行运动，包括移动和转动，此时第二操纵部件200b的运动是移动和转动叠加的运动形式，因此当第二操纵部件200b沿着移动轨迹发生移动时，转动轨迹会相应的相对于第二装置基座100b发生变化，同理，当第二操纵部件200b沿着转动轨迹发生转动时，移动轨迹也会相应的相对于第二装置基座100b发生变化。In one of the embodiments, when the second device base 100b has a moving track and a rotating track at the same time, and the second manipulating member 200b also moves along the moving track and the rotating track at the same time, including moving and rotating, the second operating The movement of the component 200b is a superposition of movement and rotation. Therefore, when the second manipulation component 200b moves along the movement track, the rotation track will change correspondingly relative to the second device base 100b. When the manipulation component 200b rotates along the rotation track, the moving track will change correspondingly relative to the second device base 100b.

在这种情况下，第二操纵部件200b既可以相对于第二装置基座100b沿着当前的移动轨迹朝向任意方向进行移动，在当前的移动轨迹中，第三传感器件610可以获取到移动信息，同理，第二操纵部件200b也可以相对于第二装置基座100b沿着当前的转动轨迹朝向任意方向或任意角度进行转动，在当前的转动轨迹中，第四传感器件710可以获取到转动信息。In this case, the second manipulating member 200b can move in any direction relative to the second device base 100b along the current movement track, and the third sensor 610 can acquire movement information in the current movement track , similarly, the second manipulating member 200b can also be rotated toward any direction or angle relative to the second device base 100b along the current rotation track, and in the current rotation track, the fourth sensor device 710 can obtain the rotation information.

操纵装置001采用可以获取位移信息和/或转动信息的传感器件，而非采用获取力信息的传感器件，可以避免在信息采集的过程中，对传感器件形成损伤，导致控制失效的问题，而且还可以避免操作者施加的力有误差，影响对可移动设备的控制存在延时或者变动量大，使可移动设备运行不平稳、不灵活的问题。传感器件通过获取位移信息或转动信息控制可移动设备运动，可以有效提高传感器件的使用寿命，使可移动设备运动过程中灵活移动或摆位，提高可移动设备的控制可靠性和平稳性。The manipulating device 001 adopts a sensor device that can obtain displacement information and/or rotation information instead of a sensor device that obtains force information, which can avoid the problem of damage to the sensor device during the information collection process, resulting in control failure, and also It can avoid the error of the force exerted by the operator, which affects the control of the movable device, and there is a delay or a large amount of variation, which makes the movable device run unstable and inflexible. The sensor device controls the movement of the movable device by obtaining displacement information or rotation information, which can effectively improve the service life of the sensor device, enable the movable device to move or position flexibly during the motion process, and improve the control reliability and stability of the movable device.

参阅图14和图15所示，第二操纵部件200b可以直接或间接地设置在第二装置基座100b上，在其中一个实施例中，所述位移检测机构600可以包括第一基准座620，所述第一基准座620设置在所述第二装置基座100b上，所述第二操纵部件200b沿着所述移动轨迹活动设置在所述第一基准座620上，进而通过第一基准座620间接地装配在第二装置基座100b上，仍旧以第二装置基座100b作为移动的参考基础。进一步的，在其中一个实施例中，所述位移检测机构600还可以包括第一运动座630，所述第一运动座630沿着所述移动轨迹活动设置在所述第一基准座620上，所述第二操纵部件200b通过所述第一运动座630沿着所述移动轨迹移动，此时，第二操纵部件200b通过第一基准座620和第一运动座630间接地装配在第二装置基座100b上。Referring to Fig. 14 and Fig. 15, the second manipulating member 200b may be directly or indirectly arranged on the second device base 100b, and in one embodiment, the displacement detection mechanism 600 may include a first reference seat 620, The first reference seat 620 is arranged on the second device base 100b, and the second manipulation member 200b is movably arranged on the first reference seat 620 along the moving track, and then passes through the first reference seat 620 is indirectly assembled on the second device base 100b, still using the second device base 100b as a reference base for movement. Further, in one of the embodiments, the displacement detection mechanism 600 may also include a first motion seat 630, which is movably arranged on the first reference seat 620 along the moving track, The second manipulating member 200b moves along the moving track through the first kinematic seat 630 , at this time, the second manipulating member 200b is indirectly assembled on the second device through the first reference seat 620 and the first kinematic seat 630 on the base 100b.

在该结构中，所述第三传感器件610可以设置在所述第一基准座620上，所述第一运动座630与所述第三传感器件610的检测端连接，第二操纵部件200b通过第一运动座630间接地与第三传感器件610的检测端形成连接，除此之外，第三传感器件610还可以设置在第二装置基座100b上，或者第三传感器件610的检测端还可以直接与第二操纵部件200b连接，本领域技术人员可以根据需求选择合适的装配方式，在此不做限定。In this structure, the third sensing device 610 can be arranged on the first reference seat 620, the first moving seat 630 is connected to the detecting end of the third sensing device 610, and the second manipulating member 200b passes through The first kinematic seat 630 is indirectly connected to the detection end of the third sensor device 610, in addition, the third sensor device 610 can also be provided with On the second device base 100b, or the detection end of the third sensing device 610 can also be directly connected to the second manipulation component 200b, and those skilled in the art can choose a suitable assembly method according to requirements, which is not limited here.

在具有所述第一基准座620和所述第一运动座630时，第二操纵部件200b沿着移动轨迹进行移动的结构可以通过所述第一基准座620和所述第一运动座630实现，例如在其中一个实施例中，所述第一基准座620和所述第一运动座630上分别设置有导向件621和导向孔622，导向孔622的轨迹线可以平行于移动轨迹，尤其是移动轨迹为直线移动轨迹时，直线移动轨迹的移动直线与导向孔622的中心轴线为两条平行或重合的直线，使所述导向孔622沿着所述移动轨迹设置，将所述导向件621导向装配在所述导向孔622内，导向件621与导向孔622的相对移动，便可以实现第二操纵部件200b沿着移动轨迹进行移动。When the first reference base 620 and the first kinematic base 630 are provided, the structure that the second manipulation member 200b moves along the moving track can be realized by the first reference base 620 and the first kinematic base 630 For example, in one of the embodiments, the first reference base 620 and the first motion base 630 are respectively provided with a guide piece 621 and a guide hole 622, and the track line of the guide hole 622 can be parallel to the moving track, especially When the moving track is a linear moving track, the moving straight line of the straight moving track and the central axis of the guide hole 622 are two parallel or coincident straight lines, so that the guide hole 622 is arranged along the moving track, and the guide member 621 The guide is fitted in the guide hole 622 , and the relative movement of the guide member 621 and the guide hole 622 can realize the movement of the second manipulating member 200 b along the moving track.

第二操纵部件200b可以直接或间接地设置在第二装置基座100b上，所述第三转向检测机构700可以包括第二基准座720，所述第二基准座720设置在所述第二装置基座100b上，所述第二操纵部件200b沿着所述转动轨迹活动设置在所述第二基准座720上，进而通过第二基准座720间接地装配在第二装置基座100b上，仍旧以第二装置基座100b作为转动的参考基础。进一步的，在其中一个实施例中，所述第三转向检测机构700还可以包括第二运动座730，所述第二运动座730沿着所述转动轨迹活动设置在所述第二基准座720上，所述第二操纵部件200b通过所述第二运动座730沿着所述转动轨迹转动，此时，第二操纵部件200b通过第二基准座720和第二运动座730间接地装配在第二装置基座100b上。The second manipulation member 200b may be directly or indirectly arranged on the second device base 100b, and the third steering detection mechanism 700 may include a second reference seat 720, which is arranged on the second device base 100b. On the base 100b, the second manipulation member 200b is movably arranged on the second reference seat 720 along the rotation track, and then indirectly assembled on the second device base 100b through the second reference seat 720, still The second device base 100b is used as a reference base for rotation. Further, in one of the embodiments, the third steering detection mechanism 700 may also include a second kinematic seat 730, which is movably arranged on the second reference seat 720 along the rotation track. Above, the second manipulating part 200b rotates along the said rotation track through the second kinematic base 730, at this time, the second manipulating part 200b is indirectly assembled on the second base through the second datum base 720 and the second kinematic base 730 The second device is on the base 100b.

在该结构中，所述第四传感器件710设置在所述第二基准座720上，所述第二运动座730与所述第四传感器件710的检测端连接，第二操纵部件200b通过第二运动座730间接地与第四传感器件710的检测端形成连接，除此之外，第四传感器件710还可以设置在第二装置基座100b上，或者第四传感器件710的检测端还可以直接与第二操纵部件200b连接，本领域技术人员可以根据需求选择合适的装配方式，在此不做限定。In this structure, the fourth sensing device 710 is arranged on the second reference seat 720, the second moving seat 730 is connected to the detection end of the fourth sensing device 710, and the second operating member 200b passes through the second The second kinematic base 730 is indirectly connected to the detection end of the fourth sensing device 710. In addition, the fourth sensing device 710 can also be arranged on the second device base 100b, or the detection end of the fourth sensing device 710 can also be It can be directly connected to the second manipulation component 200b, and those skilled in the art can choose a suitable assembly method according to requirements, which is not limited here.

在具有所述第二基准座720和所述第二运动座730时，第二操纵部件200b沿着转动轨迹进行转动的结构可以通过所述第二基准座720和所述第二运动座730实现，例如在其中一个实施例中，所述第二基准座720和所述第二运动座730之间分别设置有第二转动件721和第二转动孔722，第二转动孔722的中心轴线可以平行于转动轨迹的转动轴线，使所述第二转动孔722沿着所述转动轨迹设置，将所述第二转动件721转动装配在所述第二转动孔722内，第二转动件721与第二转动孔722的相对转动，便可以实现第二操纵部件200b沿着转动轨迹进行转动。When the second reference seat 720 and the second kinematic seat 730 are provided, the structure that the second manipulation member 200b rotates along the rotation track can be realized by the second reference seat 720 and the second kinematic seat 730 For example, in one of the embodiments, a second rotating member 721 and a second rotating hole 722 are respectively provided between the second reference seat 720 and the second moving seat 730, and the central axis of the second rotating hole 722 can be Parallel to the rotation axis of the rotation track, the second rotation hole 722 is arranged along the rotation track, and the second rotation member 721 is rotated and assembled in the second rotation hole 722, and the second rotation member 721 and The relative rotation of the second rotation hole 722 can realize the rotation of the second manipulation member 200b along the rotation track.

为了方便操纵者的左手和右手同时对第二操纵部件200b持握，所述第二操纵部件200b可以包括第一持握部和第二持握部，第一持握部和第二持握部可以为柱状结构、块状结构或便于操纵者的左手和右手持握的仿形结构等，其中操纵者的左手可以用来控制第一持握部，操纵者的右手可以用来控制第二持握部。In order to facilitate the operator's left hand and right hand to hold the second manipulation part 200b at the same time, the second manipulation part 200b may include a first grip part and a second grip part, and the first grip part and the second grip part It can be a columnar structure, a block structure, or a profiling structure that is convenient for the operator's left and right hands to hold, etc., wherein the operator's left hand can be used to control the first holding part, and the operator's right hand can be used to control the second holding part. grip.

第一持握部和第二持握部上均可以设置与驱动装置连接的微动开关，并利用按键对微动开关进行控制，实现对驱动装置的开启和关闭。第一持握部和第二持握部内部可以形成用来装配微动开关的内腔，按键可以活动装配在第一持握部和第二持握部的表面，并穿透第一持握部和第二持握部与内腔中的微动开关控制连接，其中，按键可以利用弹簧柱塞等结构活动装配在第一持握部和第二持握部上，弹簧柱塞等结构可以对按键形成一定程度的支撑，避免按键误碰到微动开关，发出控制驱动装置的错误指令。Both the first gripping part and the second gripping part can be provided with a micro switch connected to the driving device, and the micro switch is controlled by a key to realize opening and closing of the driving device. The inside of the first grip part and the second grip part can form an inner cavity for assembling the micro switch, the button can be movably assembled on the surface of the first grip part and the second grip part, and penetrate the first grip part and the second grip part are connected with the micro switch control in the inner cavity, wherein, the button can be movably assembled on the first grip part and the second grip part by using a spring plunger and other structures, and the spring plunger and other structures can be A certain degree of support is formed for the key to prevent the key from touching the micro switch by mistake and sending out wrong commands to control the driving device.

为了提高操纵者对第二操纵部件200b控制的稳定程度，在其中一个实施例中，所述位移检测机构600可以包括第二阻尼结构640，第二阻尼结构640可以提供运动的阻力，耗减运动的能量，因此所述第二阻尼结构640可以被配置为用于向所述第二操纵部件200b沿着所述移动轨迹的移动施加第一阻力，使第二操纵部件200b在移动过程中可以自动停在任意允许的位移范围内，或者自动复位至初始位置。所述第三转向检测机构700也可以包括第三阻尼结构740，第三阻尼结构740可以提供运动的阻力，耗减运动的能量，因此所述第三阻尼结构740也可以被配置为用于向所述第二操纵部件200b沿着所述转动轨迹的转动施加第二阻力，使第二操纵部件200b在转动过程中可以自动停在任意允许的转动范围内，或者自动复位至初始位置。In order to improve the stability of the manipulator's control of the second manipulating member 200b, in one embodiment, the displacement detection mechanism 600 may include a second damping structure 640, which can provide movement resistance and consume movement energy, so the second damping structure 640 can be configured to apply a first resistance to the movement of the second manipulating member 200b along the moving track, so that the second manipulating member 200b can automatically Stop within any allowable displacement range, or automatically reset to the initial position. The third steering detection mechanism 700 can also Including the third damping structure 740, the third damping structure 740 can provide movement resistance and consume movement energy, so the third damping structure 740 can also be configured to move toward the second manipulation member 200b along the The second resistance is applied to the rotation of the above-mentioned rotation track, so that the second manipulation member 200b can automatically stop within any allowable rotation range during the rotation process, or automatically return to the initial position.

所述第二阻尼结构640和所述第三阻尼结构740可以根据装配需求设置在第二装置基座100b、第二操纵部件200b等合适的位置，而且，所述第二阻尼结构640和所述第三阻尼结构740可以采用任意型号的阻尼器，以及具备阻尼功能的其他结构形式，例如采用弹性结构或磁性结构形成阻尼功能，在其中一个实施例中，所述第二阻尼结构640包括设置在所述第一基准座620和所述第一运动座630之间的第一弹性件，所述第三阻尼结构740包括设置在所述第二基准座720和所述第二运动座730之间的第二弹性件，第一弹性件和第二弹性件可以对第二操纵部件200b施加弹性力，利用弹性力对操纵者的作用力形成阻力，进而达到阻尼的效果，这种结构较为简化，除此之外，还可以通过磁性部件以同极相斥的原理阻止所述第二装置基座100b和所述第二操纵部件200b之间的相对运动，形成阻尼功能。The second damping structure 640 and the third damping structure 740 can be arranged at appropriate positions such as the second device base 100b, the second manipulation part 200b, etc. according to assembly requirements, and the second damping structure 640 and the The third damping structure 740 can adopt any type of damper, and other structural forms with damping function, such as adopting an elastic structure or a magnetic structure to form a damping function. In one embodiment, the second damping structure 640 includes a The first elastic member between the first reference base 620 and the first kinematic base 630, the third damping structure 740 includes a The second elastic member, the first elastic member and the second elastic member can apply an elastic force to the second manipulating member 200b, and use the elastic force to form resistance to the operator's force, thereby achieving the effect of damping. This structure is relatively simplified. In addition, the relative movement between the second device base 100b and the second manipulation member 200b can also be prevented by the principle of homopolar repulsion through magnetic components, forming a damping function.

第一弹性件和第二弹性件可以根据装配需求选择采用压缩弹簧、波形弹簧、碟簧、扭簧等部件，在其中一个实施例中，所述第一基准座620和所述第一运动座630之间通过导向孔622和导向件621进行装配时，所述第一弹性件为第一弹簧，所述第一弹簧可以方便套装在所述导向件621上，形成稳定的装配结构，且所述第一弹簧的两端可以分别沿其轴向与所述第一基准座620和所述第一运动座630弹性抵接，向所述第一基准座620和所述第一运动座630施加轴向的弹性力，第一弹簧的弹性力可以转换为第一阻力，形成阻尼效果，所述第二基准座720和所述第二运动座730之间通过第二转动孔722和第二转动件721进行装配时，所述第二弹性件为第二弹簧，所述第二弹簧套装在所述第二转动件721上，所述第二弹簧的两端分别与所述第二基准座720和所述第二运动座730摩擦接触，这种摩擦接触既可以在所述第二基准座720和所述第二运动座730之间施加弹性力，而且还可以在所述第二基准座720和所述第二运动座730之间施加摩擦力，进而提供稳定的阻尼效果。The first elastic member and the second elastic member can choose compression springs, wave springs, disc springs, torsion springs and other components according to assembly requirements. In one embodiment, the first reference seat 620 and the first kinematic seat 630 are assembled through the guide hole 622 and the guide piece 621, the first elastic piece is the first spring, and the first spring can be conveniently placed on the guide piece 621 to form a stable assembly structure, and the The two ends of the first spring can elastically abut against the first reference seat 620 and the first kinematic seat 630 respectively along its axial direction, and apply force to the first reference seat 620 and the first kinematic seat 630. Axial elastic force, the elastic force of the first spring can be converted into the first resistance to form a damping effect, the second reference seat 720 and the second motion seat 730 pass through the second rotation hole 722 and the second When the member 721 is assembled, the second elastic member is a second spring, and the second spring is sleeved on the second rotating member 721, and the two ends of the second spring are respectively connected to the second reference seat 720 Frictional contact with the second kinematic base 730, this frictional contact can not only exert elastic force between the second reference base 720 and the second kinematic base 730, but also exert a force between the second reference base 720 Frictional force is exerted between the second kinematic seat 730 and a stable damping effect is provided.

第二操纵部件200b相对于第二装置基座100b的位移范围和转动范围可以根据需求进行限定，以满足操纵者的操纵需求。The displacement range and rotation range of the second manipulation member 200b relative to the second device base 100b can be limited according to requirements, so as to meet the manipulation requirements of the operator.

所述位移检测机构600包括第一限位结构650，所述第一限位结构650被配置为用于限制所述第二操纵部件200b沿着所述移动轨迹移动的位移范围，第一限位结构650可以采用多种结构形式，例如在其中一个实施例中，所述第一限位结构650可以包括开设在所述第一基准座620上的第一限位槽，所述第一运动座630与所述第一限位槽限位配合。The displacement detection mechanism 600 includes a first limit structure 650, the first limit structure 650 is configured to limit the displacement range of the second manipulation member 200b moving along the moving track, the first limit The structure 650 can adopt various structural forms. For example, in one of the embodiments, the first limiting structure 650 can include a first limiting groove opened on the first reference seat 620, and the first moving seat 630 is limitedly matched with the first limiting groove.

参阅图16至图21所示，所述第三转向检测机构700包括第二限位结构750，所述第二限位结构750被配置为用于限制所述第二操纵部件200b沿着所述转动轨迹转动的转动范围，第二限位结构750可以采用多种结构形式，例如在其中一个实施例中，所述第二限位结构750可以包括开设在所述第二基准座720上的第二限位槽，所述第二运动座730与所述第二限位槽限位配合，第二限位槽形成为弧形，可以匹配第二运动座730相对于第二基准座720的转动，并在第二限位槽的尽头对第二运动座730形成限制，从而限定出第二运动座730相对于第二基准座720的转动角度范围，第二运动座730可以通过设置的限位凸起、限位柱体等结构与第二限位槽形成限位配合，从而实现所述第二运动座730与所述第二限位槽的限位配合，在此不做限定。16 to 21, the third steering detection mechanism 700 includes a second limit structure 750, the second limit structure 750 is configured to limit the second operating member 200b along the For the rotation range of the rotation track, the second limiting structure 750 can adopt various structural forms. For example, in one of the embodiments, the second limiting structure 750 can include a first Two limiting grooves, the second moving seat 730 is limitedly matched with the second limiting groove, and the second limiting groove is formed in an arc shape, which can match the rotation of the second moving seat 730 relative to the second reference seat 720 , and limit the second kinematic base 730 at the end of the second limiting groove, thereby limiting the range of rotation angles of the second kinematic base 730 relative to the second reference base 720, the second kinematic base 730 can pass through the set limit Structures such as protrusions and limit cylinders form a limit fit with the second limit groove, so as to realize the limit fit between the second moving seat 730 and the second limit groove, which is not limited here.

当第二装置基座100b同时具有移动轨迹和转动轨迹，使第二操纵部件200b同时沿着移动轨迹和转动轨迹进行运动，形成移动和转动叠加的运动形式时，可以通过位移检测机构600和转动检测机构的结合实现对第二操纵部件200b相对于第二装置基座100b的装配，例如在其中一个实施例中，所述第二基准座720可以设置在所述第二装置基座100b上，所述第一基准座620沿着所述转动轨迹活动设置在所述第二基准座720上，所述第二操纵部件200b沿着所述移动轨迹活动设置在所述第一基准座620上，进而通过第一基准座620 设置在第二装置基座100b上，形成位移检测机构600和转动检测机构的结合，或者所述第一基准座620设置在所述第二装置基座100b上，所述第二基准座720沿着所述移动轨迹活动设置在所述第一基准座620上，所述第二操纵部件200b沿着所述转动轨迹活动设置在所述第二基准座720上，进而通过第二基准座720设置在第二装置基座100b上，形成位移检测机构600和转动检测机构的结合。When the second device base 100b has a moving track and a rotating track at the same time, so that the second manipulating member 200b moves along the moving track and the rotating track at the same time to form a motion form in which the movement and rotation are superimposed, the displacement detection mechanism 600 and the rotation The combination of the detection mechanism realizes the assembly of the second manipulating part 200b relative to the second device base 100b, for example, in one of the embodiments, the second reference base 720 can be set on the second device base 100b, The first reference seat 620 is movably arranged on the second reference seat 720 along the rotation track, and the second manipulation member 200b is movably arranged on the first reference seat 620 along the movement track, And then through the first reference seat 620 Set on the second device base 100b to form a combination of the displacement detection mechanism 600 and the rotation detection mechanism, or the first reference base 620 is set on the second device base 100b, and the second reference base 720 is along the The second manipulating member 200b is movably arranged on the first reference seat 620 along the moving track, and the second manipulating member 200b is movably arranged on the second reference seat 720 along the rotation track, and then set by the second reference seat 720 On the second device base 100b, a combination of a displacement detection mechanism 600 and a rotation detection mechanism is formed.

当位移检测机构600和转动检测机构中具有第一运动座630和第二运动座730时，在其中一个实施例中，所述第一基准座620还可以设置在所述第二运动座730上，通过所述第二运动座730活动设置在所述第二基准座720上，所述第二操纵部件200b设置在所述第一运动座630上，通过所述第一运动座630活动设置在所述第一基准座620上，或者所述第二基准座720还可以设置在所述第一运动座630上，通过所述第一运动座630活动设置在所述第一基准座620上，所述第二操纵部件200b设置在所述第二运动座730上，通过所述第二运动座730活动设置在所述第二基准座720上。When the displacement detection mechanism 600 and the rotation detection mechanism have the first kinematic base 630 and the second kinematic base 730, in one of the embodiments, the first reference base 620 can also be arranged on the second kinematic base 730 , set on the second reference base 720 through the second kinematic base 730, the second manipulation member 200b is set on the first kinematic base 630, and set on the first kinematic base 630 through the On the first reference seat 620, or the second reference seat 720 can also be set on the first kinematic base 630, and the first kinematic base 630 is movably arranged on the first reference base 620, The second manipulating member 200b is arranged on the second kinematic base 730 , and is movably arranged on the second reference base 720 through the second kinematic base 730 .

本领域技术人员可以根据需求选择位移检测机构600和转动检测机构的不同结合方式，已形成不同的装配结构，满足在第二装置基座100b上对移动轨迹和转动轨迹的结合，在此不做限定。Those skilled in the art can choose different combinations of the displacement detection mechanism 600 and the rotation detection mechanism according to the needs, and have formed different assembly structures to meet the combination of the movement track and the rotation track on the second device base 100b, which will not be discussed here. limited.

参阅图22所示，本申请还提供了一种医疗装置，医疗装置例如可以为医疗台车等可移动的设备，所述医疗装置包括主体部002以及与所述主体部002相连接的所述操纵装置001，医疗装置上可以匹配相应的控制装置、驱动装置，操纵装置001与控制装置和驱动装置连接。操纵装置001可以通过上述方式获取足够的转动信息，然后将转动信息发送给控制装置进行处理，形成可以控制驱动装置运动的操纵指令，驱动装置则最终实施对医疗装置的运动，满足操纵者的操纵需求。或者，操纵装置001可以通过上述方式获取位移信息和转动信息，然后将位移信息和转动信息发送给控制装置进行处理，形成可以控制驱动装置运动的操纵指令，驱动装置则最终实施对医疗装置的运动，满足操纵者的操纵需求。Referring to FIG. 22 , the present application also provides a medical device, which may be a mobile device such as a medical trolley, the medical device includes a main body 002 and the main body 002 connected to the medical device. The manipulating device 001 can be matched with the corresponding control device and driving device on the medical device, and the manipulating device 001 is connected with the control device and the driving device. The manipulation device 001 can obtain enough rotation information through the above method, and then send the rotation information to the control device for processing to form a manipulation instruction that can control the movement of the drive device, and the drive device will finally implement the movement of the medical device to meet the manipulation requirements of the operator. need. Alternatively, the manipulator 001 can acquire displacement information and rotation information in the above manner, and then send the displacement information and rotation information to the control device for processing to form manipulation instructions that can control the movement of the drive device, and the drive device finally implements the movement of the medical device. , to meet the manipulation needs of the manipulator.

操纵者对医疗装置进行控制时，可以控制第一操纵部件200a沿着转动轨迹转动，例如可以沿着水平方向转动以及沿着垂直方向转动，传感器件可以获取转动信息，然后反馈给控制装置，在对医疗装置进行转向控制时，控制装置可以控制驱动装置的电机差速运转，带动两个驱动轮不同速转动，满足医疗装置转向，在此过程中还可以通过控制转动幅度来控制医疗装置的转弯半径大小，在对医疗装置进行移动控制时，控制装置可以控制驱动装置的电机正转、电机反转及电机转速，带动两个驱动轮正转、反转及加速、减速，满足医疗装置前进、倒退及加速、减速。或者，操纵者对医疗装置进行控制时，可以控制第二操纵部件200b沿着位移信息移动以及沿着转动轨迹转动，例如可以沿着水平方向移动第二操纵部件200b，第三传感器件610可以获取位移信息，然后反馈给控制装置，在对医疗装置进行移动控制时，控制装置可以控制驱动装置的电机正转、电机反转及电机转速，带动两个驱动轮正转、反转及加速、减速，满足医疗装置前进、倒退及加速、减速，或者可以沿着水平方向转动，第四传感器件710可以获取转动信息，然后反馈给控制装置，在对医疗装置进行转向控制时，控制装置可以控制驱动装置的电机差速运转，带动两个驱动轮不同速转动，满足医疗装置转向，在此过程中还可以通过控制转动幅度来控制医疗装置的转弯半径大小。When the operator controls the medical device, he can control the first manipulating member 200a to rotate along the rotation track, for example, it can rotate along the horizontal direction and along the vertical direction. The sensor device can obtain the rotation information, and then feed it back to the control device. When controlling the steering of the medical device, the control device can control the differential speed of the motor of the driving device to drive the two driving wheels to rotate at different speeds to meet the steering of the medical device. In the process, the turning of the medical device can also be controlled by controlling the rotation range When controlling the movement of the medical device, the control device can control the forward rotation of the motor, the reverse rotation of the motor, and the speed of the motor, and drive the two driving wheels to rotate forward, reverse, accelerate, and decelerate to meet the needs of the medical device. Reverse, accelerate, decelerate. Or, when the operator controls the medical device, he can control the second manipulation component 200b to move along the displacement information and rotate along the rotation track, for example, the second manipulation component 200b can be moved along the horizontal direction, and the third sensor device 610 can acquire The displacement information is then fed back to the control device. When controlling the movement of the medical device, the control device can control the motor of the drive device to rotate forward, reverse and the speed of the motor, and drive the two driving wheels to rotate forward, reverse and accelerate and decelerate. , to meet the forward, reverse, acceleration and deceleration of the medical device, or to rotate along the horizontal direction, the fourth sensor 710 can obtain the rotation information, and then feed it back to the control device. When controlling the steering of the medical device, the control device can control the driving The motor of the device runs at a differential speed, which drives the two driving wheels to rotate at different speeds to meet the steering of the medical device. In the process, the turning radius of the medical device can also be controlled by controlling the rotation range.

参阅图23和图24所示，本申请还提供了一种手术机器人，所述手术机器人包括所述医疗装置以及与所述医疗装置连接并用于承载手术器械004的承载端003。由于所述操纵装置001、所述医疗装置的功能原理以及技术效果均在前文详述，在此便不再赘述，任何有关于所述操纵装置001、所述医疗装置的技术内容，均可参考前文的记载。Referring to FIG. 23 and FIG. 24 , the present application also provides a surgical robot, which includes the medical device and a carrying end 003 connected to the medical device and used to carry a surgical instrument 004 . Since the functional principles and technical effects of the manipulating device 001 and the medical device are described in detail above, they will not be repeated here. Any technical content related to the manipulating device 001 and the medical device can be referred to previous records.

本申请还提供了一种运动操纵方法，包括如下步骤：提供基座单元以及活动装配在所述基座单元上的操纵单元；获取所述操纵单元相对于所述基座单元运动的至少一个运动信息；根据至少一个所述运动信息生成操纵指令。The present application also provides a motion manipulation method, comprising the following steps: providing a base unit and a manipulation unit movably assembled on the base unit; acquiring at least one movement of the manipulation unit relative to the base unit information; generating a manipulation instruction according to at least one of said movement information.

首先，在一个实施例中，该运动操纵方法可以采用为提供第一装置基座以及活动装配在所述第一装置基座上的第一操纵部件；获取所述第一操纵部件相对于所述第一装置基座转动的至少一个转动信息；根据至少一个所述转动信息生成操纵指令。结合参考前文的记载，该运动操纵方法可以应用在包括但不限于医疗装置等可移动设备上，可移动设备可以为医疗设备或非医疗设备，本领域技术人员可以根据需求选择操纵装置001的使用场景，在此不做限定。First, in one embodiment, the motion manipulation method can be employed to provide a first device base and a movable assembly A first manipulation component on the base of the first device; acquiring at least one piece of rotation information of the first manipulation component relative to the base of the first device; generating a manipulation instruction according to at least one piece of rotation information. With reference to the previous description, the motion manipulation method can be applied to mobile devices including but not limited to medical devices. The mobile devices can be medical devices or non-medical devices. Those skilled in the art can choose the use of the manipulation device 001 according to their needs. The scene is not limited here.

第一装置基座和第一操纵部件提供了直接用来供用户操纵的操纵装置001，并根据第一操纵部件相对于第一装置基座的相对运动情况形成可以控制可移动设备运动的相应指令，其中，可移动设备至少需要满足前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等基本动作，同时，可移动设备的运动也包括前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等相结合的复合运动，例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，本领域技术人员可以根据需求对相应运动动作设置相应指令，在此不做限定。The first device base and the first manipulating part provide a manipulating device 001 directly used for manipulation by the user, and according to the relative movement of the first manipulating part relative to the first device base, corresponding instructions can be formed to control the movement of the movable device , among them, the movable equipment needs to meet at least basic actions such as forward, backward, accelerated forward, accelerated backward, decelerated forward, decelerated backward, left turn and right turn, and the movement of the movable device also includes forward, backward, accelerated forward, Combined compound movements such as accelerating backward, decelerating forward, decelerating backward, turning left and turning right, such as turning left while moving forward, turning right while moving forward, turning left while moving backward, turning right while moving backward, etc. Those skilled in the art can set corresponding instructions for corresponding motion actions according to requirements, which is not limited here.

在上述运动操纵方法中，操纵指令可以包括一个转动信息或多个转动信息，例如，在其中一个实施例中，所述第一操纵部件沿着第一定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第一转动角度信息，其中，所述第一转动角度信息至少包括第一正角度转动信息和第一负角度转动信息。所述第一操纵部件沿着第二定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第二转动角度信息，其中，所述第二转动角度信息至少包括第二正角度转动信息和第二负角度转动信息。所述操纵指令至少包括前进指令、后退指令、左转向指令和右转向指令。In the above motion manipulation method, the manipulation instruction may include one rotation information or multiple rotation information, for example, in one embodiment, the first manipulation component rotates along the first fixed axis relative to the first device The base rotates to generate first rotation angle information belonging to the rotation information, wherein the first rotation angle information includes at least first positive angle rotation information and first negative angle rotation information. The first manipulating member rotates relative to the first device base along a second fixed-axis rotation track to generate second rotation angle information belonging to the rotation information, wherein the second rotation angle information includes at least the first Two positive angle rotation information and a second negative angle rotation information. The manipulation instructions include at least a forward instruction, a backward instruction, a left steering instruction and a right steering instruction.

除此之外，对于例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，本领域技术人员还可以根据设置前进+左转指令、前进+右转指令、后退+左转指令、后退+右转指令等，相应的指令均可以依靠第一操纵部件相对于第一装置基座的相对运动情况生成，在此不做限定。In addition, for compound actions such as turning left while moving forward, turning right while moving forward, turning left while moving backward, and turning right while moving backward, those skilled in the art can also set forward + left turn command, forward + Corresponding commands, such as right turn command, back + left turn command, back + right turn command, etc., can all be generated depending on the relative movement of the first operating member relative to the base of the first device, which is not limited here.

在其中一个实施例中，在运动操纵方法中，可以根据所述第一正角度转动信息生成所述左转向指令，这将可以使左转向指令能够指示可移动设备实施左向转动的运动，同样，可以根据所述第一负角度转动信息生成所述右转向指令，这将可以使右转向指令能够指示可移动设备实施右向转动的运动。同时，可以根据所述第二正角度转动信息生成所述前进指令，这将可以使前进指令能够指示可移动设备实施前进、加速前进等运动，同样，可以根据所述第二负角度转动信息生成所述后退指令，这将可以使后退指令能够指示可移动设备实施后退、加速后退等运动。In one of the embodiments, in the motion manipulation method, the left steering command may be generated according to the first positive angle rotation information, which will enable the left steering command to instruct the mobile device to perform a leftward turning motion, and also , the right turning instruction may be generated according to the first negative angle rotation information, which will enable the right turning instruction to instruct the mobile device to perform a movement of turning right. At the same time, the forward command can be generated according to the second positive angle rotation information, which will enable the forward command to instruct the mobile device to perform movements such as forward movement and accelerated forward movement. Likewise, the forward command can be generated according to the second negative angle rotation information. The back command, which will enable the back command to instruct the mobile device to perform movements such as back, acceleration and back.

在其中一个实施例中，所述左转向指令至少包括左转差速控制命令，当可移动设备具有左行驶轮和右行驶轮时，可以根据所述左转差速控制命令控制不同侧行驶轮之间的左转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速小于右行驶轮的转速，进而保证可移动设备实施稳定的左转向运动。In one of the embodiments, the left steering command at least includes a left-turn differential control command, and when the movable device has left and right driving wheels, the driving wheels on different sides can be controlled according to the left-turn differential control command. The left-turn differential rotation between them can control the motors on different sides to implement differential rotation, so that the driving wheels on different sides can form a differential rotation, so that the speed of the left driving wheel is lower than that of the right driving wheel, thereby ensuring that the movable equipment Implement a steady left-turning motion.

同样，所述右转向指令至少包括右转差速控制命令，当可移动设备具有左行驶轮和右行驶轮时，可以根据所述右转差速控制命令控制不同侧行驶轮之间的右转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速大于右行驶轮的转速，进而保证可移动设备实施稳定的右转向运动。Likewise, the right steering instruction includes at least a right turning differential control command, and when the movable device has left and right driving wheels, right turning between driving wheels on different sides can be controlled according to the right turning differential control command. Differential speed rotation, for example, it is possible to control the motors on different sides to implement differential speed rotation, and then make the driving wheels on different sides form differential speed rotation, so that the speed of the left driving wheel is greater than the speed of the right driving wheel, thereby ensuring the stable right steering of the movable equipment sports.

接着，在另一个实施例中，该运动操纵方法可以采用为提供第二装置基座以及活动装配在所述第二装置基座上的第二操纵部件；获取所述第二操纵部件相对于所述第二装置基座移动的位移信息，以及所述第二操纵部件相对于所述第二装置基座转动的转动信息；根据所述位移信息和/或所述转动信息生成操纵指令。结合参考前文的记载，该运动操纵方法可以应用在包括但不限于医疗装置等可移动设备上，可移动设备可以为医疗设备或非医疗设备，本领域技术人员可以根据需求选择操纵装置001的使用场景，在此不做限定。Next, in another embodiment, the movement manipulation method can be adopted as providing a second device base and a second manipulation part movably assembled on the second device base; The displacement information of the movement of the base of the second device, and the rotation information of the rotation of the second manipulation member relative to the base of the second device; generating a manipulation command according to the displacement information and/or the rotation information. With reference to the previous description, the motion manipulation method can be applied to mobile devices including but not limited to medical devices. The mobile devices can be medical devices or non-medical devices. Those skilled in the art can choose the use of the manipulation device 001 according to their needs. The scene is not limited here.

第二装置基座和第二操纵部件提供了直接用来供用户操纵的操纵装置001，并根据第二操纵部件相对于第二装置基座的相对运动情况形成可以控制可移动设备运动的相应指令，其中，可移动设备至少需要满足前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等基本动作，同时，可移动设备的运动也包括前进、后退、加速前进、加速后退、减速前进、减速后退、左转向和右转向等相结合的复合运动，例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，本领域技术人员可以根据需求对相应运动动作设置相应指令，在此不做限定。The second device base and the second manipulating part provide a manipulating device 001 directly used for manipulation by the user, and form corresponding instructions that can control the movement of the movable device according to the relative movement of the second manipulating part relative to the second device base. Among them, the movable device must at least meet the basic actions such as forward, backward, accelerated forward, accelerated backward, decelerated forward, decelerated backward, left turn and right turn. At the same time, the movement of the movable device also includes forward, backward, accelerated forward , Accelerate backward, decelerate forward, decelerate backward, turn left and turn right, etc., such as compound movements such as turning left while moving forward, turning right while moving forward, turning left while moving backward, turning right while moving backward, etc. Those skilled in the art can set corresponding instructions for corresponding motion actions according to requirements, which is not limited here.

在上述运动操纵方法中，位移信息和转动信息都可以用来生成上述操纵指令，在其中一个实施例中，所述第二操纵部件沿着直线移动轨迹相对于所述第二装置基座移动，所述位移信息为线性位移信息，其中，所述线性位移信息至少包括正位移信息、正加速位移信息、负位移信息和负加速位移信息。所述第二操纵部件沿着定轴转动轨迹相对于所述第二装置基座转动，所述转动信息为转动角度信息，其中，所述转动角度信息至少包括正角度转动信息和负角度转动信息。所述操纵指令至少包括前进指令、后退指令、左转向指令和右转向指令。In the above motion manipulation method, both the displacement information and the rotation information can be used to generate the above manipulation command. In one embodiment, the second manipulation component moves relative to the second device base along a linear movement track, The displacement information is linear displacement information, wherein the linear displacement information at least includes positive displacement information, positive acceleration displacement information, negative displacement information, and negative acceleration displacement information. The second manipulation member rotates relative to the second device base along a fixed-axis rotation track, and the rotation information is rotation angle information, wherein the rotation angle information includes at least positive angle rotation information and negative angle rotation information . The manipulation instructions include at least a forward instruction, a backward instruction, a left steering instruction and a right steering instruction.

除此之外，对于例如前进的同时左转、前进的同时右转、后退的同时左转、后退的同时右转等复合动作，本领域技术人员还可以根据设置前进+左转指令、前进+右转指令、后退+左转指令、后退+右转指令等，相应的指令均可以依靠第二操纵部件相对于第二装置基座的相对运动情况生成，在此不做限定。In addition, for compound actions such as turning left while moving forward, turning right while moving forward, turning left while moving backward, and turning right while moving backward, those skilled in the art can also set forward + left turn command, forward + Corresponding commands, such as right turn command, back + left turn command, back + right turn command, etc., can be generated depending on the relative movement of the second operating component relative to the base of the second device, which is not limited here.

基于上述对位移信息、转动信息、操纵指令的分类，在其中一个实施例中，在运动操纵方法中，可以根据所述正位移信息或所述正加速位移信息生成所述前进指令，也可以根据所述正位移信息和所述正加速位移信息的结合生成所述前进指令，这将可以使前进指令能够指示可移动设备实施前进、加速前进等运动。同样，可以根据所述负位移信息或所述负加速位移信息生成所述后退指令，也可以根据所述负位移信息和所述负加速位移信息生成所述后退指令，这将可以使前进指令能够指示可移动设备实施后退、加速后退等运动。Based on the above classification of displacement information, rotation information, and manipulation instructions, in one embodiment, in the motion manipulation method, the forward instruction can be generated according to the positive displacement information or the positive acceleration displacement information, or can be generated according to The combination of the positive displacement information and the positive acceleration displacement information generates the forward instruction, which will enable the forward instruction to instruct the mobile device to perform motions such as forward movement and accelerated movement. Similarly, the retreat command can be generated according to the negative displacement information or the negative acceleration displacement information, or the retreat command can be generated according to the negative displacement information and the negative acceleration displacement information, which will enable the forward command to Instruct the mobile device to perform movements such as back, acceleration and back.

在其中一个实施例中，在运动操纵方法中，可以根据所述正角度转动信息生成所述左转向指令，这将可以使左转向指令能够指示可移动设备实施左向转动的运动，同样，可以根据所述负角度转动信息生成所述右转向指令，这将可以使右转向指令能够指示可移动设备实施右向转动的运动。In one of the embodiments, in the motion manipulation method, the left steering command can be generated according to the positive angle rotation information, which will enable the left steering command to instruct the mobile device to perform a leftward turning motion. Similarly, it can The right turning command is generated according to the negative angle rotation information, which will enable the right turning command to instruct the movable device to perform a right turning motion.

而且，所述左转向指令至少包括左转差速控制命令，当可移动设备具有左行驶轮和右行驶轮时，可以根据所述左转差速控制命令控制不同侧行驶轮之间的左转差速转动，例如可以控制不同侧电机实施差速转动，进而使不同侧的行驶轮形成差速转动，使左行驶轮的转速小于右行驶轮的转速，进而保证可移动设备实施稳定的左转向运动。Moreover, the left steering instruction includes at least a left turning differential control command, and when the movable device has left and right driving wheels, the left turning between the driving wheels on different sides can be controlled according to the left turning differential control command. Differential speed rotation, for example, can control different side motors to implement differential speed rotation, and then make the driving wheels on different sides form differential speed rotation, so that the speed of the left driving wheel is lower than the speed of the right driving wheel, thereby ensuring the stable left steering of the movable equipment sports.

本申请还提供了一种可读存储介质，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现所述运动操纵方法。The present application also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the motion manipulation method is realized.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各个技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。因此，本申请专利的保护范围应以所附权利要求为准。 The above-mentioned embodiments only express several implementation modes of the present application, and the description thereof is relatively specific and detailed, but should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims

一种操纵装置，其特征在于，所述操纵装置包括：A manipulation device, characterized in that the manipulation device comprises:

基座单元，具有至少一个运动轨迹；a base unit having at least one motion profile;

操纵单元，所述操纵单元沿着至少一个所述运动轨迹活动设置在所述基座单元上；a manipulation unit, the manipulation unit is movably arranged on the base unit along at least one of the motion tracks;

检测单元，所述检测单元被配置为用于获取所述操纵单元沿着至少一个所述运动轨迹运动的至少一个运动信息。A detection unit configured to acquire at least one motion information of the manipulation unit moving along at least one of the motion trajectories.
根据权利要求1所述的操纵装置，其特征在于，所述基座单元包括第一装置基座，所述第一装置基座具有的运动轨迹采用为转动轨迹；所述操纵单元包括第一操纵部件，所述第一操纵部件沿着至少一个所述转动轨迹活动设置在所述第一装置基座上；所述检测单元包括至少一个转向检测机构，所述转向检测机构包括至少一个传感器件，所述传感器件被配置为用于获取所述第一操纵部件沿着至少一个所述转动轨迹转动的至少一个转动信息。The manipulating device according to claim 1, wherein the base unit comprises a first device base, and the motion track of the first device base is adopted as a rotation track; the manipulating unit comprises a first manipulating components, the first manipulation component is movably arranged on the base of the first device along at least one of the rotation tracks; the detection unit includes at least one steering detection mechanism, and the steering detection mechanism includes at least one sensor device, The sensor device is configured to acquire at least one rotation information of the rotation of the first manipulation member along at least one of the rotation tracks.
根据权利要求2所述的操纵装置，其特征在于，所述转向检测机构包括第一转向检测机构和第二转向检测机构；The steering device according to claim 2, wherein the steering detection mechanism comprises a first steering detection mechanism and a second steering detection mechanism;

所述第一转向检测机构包括第一传感器件，所述第一传感器件被配置为用于获取所述第一操纵部件沿着第一转动轨迹转动的第一转动信息；The first steering detection mechanism includes a first sensor device configured to acquire first rotation information of the rotation of the first manipulation member along a first rotation track;

所述第二转向检测机构包括第二传感器件，所述第二传感器件被配置为用于获取所述第一操纵部件沿着第二转动轨迹转动的第二转动信息。The second steering detection mechanism includes a second sensor device configured to acquire second rotation information of rotation of the first manipulation member along a second rotation track.
根据权利要求3所述的操纵装置，其特征在于，所述第一转动轨迹为第一定轴转动轨迹，所述第一转动信息为第一转动角度信息；The manipulating device according to claim 3, wherein the first rotation trajectory is a first fixed-axis rotation trajectory, and the first rotation information is first rotation angle information;

所述第二转动轨迹为第二定轴转动轨迹，所述第二转动信息为第二转动角度信息。The second rotation track is a second fixed-axis rotation track, and the second rotation information is second rotation angle information.
根据权利要求4所述的操纵装置，其特征在于，所述第一定轴转动轨迹的转动轴线和所述第二定轴转动轨迹的转动轴线相互垂直。The manipulating device according to claim 4, wherein the rotation axis of the first fixed-axis rotation track and the rotation axis of the second fixed-axis rotation track are perpendicular to each other.
根据权利要求3所述的操纵装置，其特征在于，所述操纵装置包括：The manipulating device according to claim 3, wherein the manipulating device comprises:

转动部件，所述转动部件沿着所述第一转动轨迹转动设置在所述第一装置基座上，所述第一操纵部件沿着所述第二转动轨迹转动设置在所述转动部件上。A rotating component, the rotating component is rotatably arranged on the first device base along the first rotating track, and the first manipulation member is rotatably arranged on the rotating member along the second rotating track.
根据权利要求6所述的操纵装置，其特征在于，所述第一传感器件设置在所述第一装置基座上，所述转动部件与所述第一传感器件的检测端连接；The manipulation device according to claim 6, wherein the first sensor device is arranged on the base of the first device, and the rotating part is connected to the detection end of the first sensor device;

所述第二传感器件设置在所述转动部件上，所述第一操纵部件与所述第二传感器件的检测端连接。The second sensing device is arranged on the rotating part, and the first manipulating part is connected with the detecting end of the second sensing device.
根据权利要求7所述的操纵装置，其特征在于，所述第一转向检测机构包括转动座和第一转动件，所述转动座和所述第一转动件分别设置在所述第一装置基座和所述转动部件上，所述转动座上开设有第一转动孔，所述第一转动件沿着所述第一转动轨迹转动设置在所述第一转动孔内，所述转动部件通过所述转动座或第一转动件与所述第一传感器件的检测端连接；The operating device according to claim 7, wherein the first steering detection mechanism includes a rotating seat and a first rotating member, and the rotating seat and the first rotating member are respectively arranged on the base of the first device. On the seat and the rotating part, a first rotating hole is opened on the rotating seat, and the first rotating part is arranged in the first rotating hole along the first rotating track, and the rotating part passes through The rotating seat or the first rotating member is connected to the detecting end of the first sensor device;

所述第一操纵部件包括第一持握部和第二持握部，所述第一持握部设置在所述转动部件上，所述第二持握部沿着所述第二转动轨迹相对于所述第一持握部转动，并与所述第二传感器件的检测端连接。The first manipulation part includes a first grip part and a second grip part, the first grip part is arranged on the rotating part, and the second grip part is opposite to each other along the second rotation track. Rotate on the first holding part and connect with the detection end of the second sensor device.
根据权利要求8所述的操纵装置，其特征在于，所述第一操纵部件包括连接套，所述连接套设置在所述转动部件上，所述第一持握部通过所述连接套与所述转动部件连接；The manipulating device according to claim 8, wherein the first manipulating part comprises a connecting sleeve, the connecting sleeve is arranged on the rotating part, and the first holding part is connected with the connecting sleeve through the connecting sleeve. The connection of the rotating parts;

所述第一操纵部件包括固定套的转动套，所述固定套设置在所述转动部件上，所述转动套与所述固定套转动连接，所述第二持握部通过所述转动套和所述固定套与所述转动部件转动连接。The first manipulating part includes a rotating sleeve of a fixed sleeve, the fixed sleeve is arranged on the rotating part, the rotating sleeve is rotationally connected with the fixed sleeve, and the second holding part passes through the rotating sleeve and the rotating sleeve. The fixed sleeve is rotatably connected with the rotating component.
根据权利要求6所述的操纵装置，其特征在于，所述第一转向检测机构包括第一阻尼结构，所述第一阻尼结构被配置为用于向所述转动部件沿着所述第一转动轨迹的转动施加阻力； The steering device according to claim 6, wherein the first steering detection mechanism comprises a first damping structure, and the first damping structure is configured to rotate toward the rotating member along the first The rotation of the trajectory exerts resistance;

所述第二转向检测机构包括复位结构，所述复位结构被配置为用于向所述第一操纵部件沿着所述第二转动轨迹的转动施加回复力。The second steering detection mechanism includes a reset structure configured to apply a restoring force to the rotation of the first manipulation member along the second rotation trajectory.
根据权利要求10所述的操纵装置，其特征在于，所述第一阻尼结构包括设置在所述第一装置基座和所述转动部件之间的第一弹性件；The manipulation device according to claim 10, wherein the first damping structure comprises a first elastic member disposed between the base of the first device and the rotating part;

所述复位结构包括设置在所述转动部件和所述第一操纵部件之间的第二弹性件。The reset structure includes a second elastic member arranged between the rotating part and the first operating part.
根据权利要求9所述的操纵装置，其特征在于，所述第一转向检测机构包括第一阻尼结构，所述第一阻尼结构包括弹簧，所述弹簧套装在所述第一转动件上，所述弹簧的两端分别与所述转动座和所述第一转动件摩擦接触；The steering device according to claim 9, wherein the first steering detection mechanism includes a first damping structure, the first damping structure includes a spring, and the spring is sleeved on the first rotating member, so The two ends of the spring are respectively in frictional contact with the rotating seat and the first rotating member;

所述第二转向检测机构包括复位结构，所述复位结构包括扭簧，所述扭簧的两端分别与所述固定套和所述转动套连接。The second steering detection mechanism includes a reset structure, the reset structure includes a torsion spring, and the two ends of the torsion spring are connected to the fixed sleeve and the rotating sleeve respectively.
根据权利要求6所述的操纵装置，其特征在于，所述第一转向检测机构包括第一限位结构，所述第一限位结构被配置为用于限制所述转动部件沿着所述第一转动轨迹转动的转动角度范围；The steering device according to claim 6, wherein the first steering detection mechanism includes a first limit structure, and the first limit structure is configured to limit the rotation of the rotating part along the first - the rotation angle range of the rotation track;

所述第二转向检测机构包括第二限位结构，所述第二限位结构被配置为用于限制所述第一操纵部件沿着所述第二转动轨迹转动的转动角度范围。The second steering detection mechanism includes a second limit structure configured to limit the rotation angle range of the first manipulation member along the second rotation track.
根据权利要求9所述的操纵装置，其特征在于，所述第一转向检测机构包括第一限位结构，所述第一限位结构包括开设在所述第一装置基座上的限位槽，所述转动部件与所述限位槽限位配合；The operating device according to claim 9, wherein the first steering detection mechanism includes a first limit structure, and the first limit structure includes a limit groove opened on the base of the first device , the rotating part is limitedly matched with the limiting groove;

所述第二转向检测机构包括第二限位结构，所述第二限位结构包括开设在所述固定套上的第一限位台阶和开设在所述转动套上的第二限位台阶，所述第一限位台阶与所述第二限位台阶限位配合。The second steering detection mechanism includes a second limit structure, and the second limit structure includes a first limit step set on the fixed sleeve and a second limit step set on the rotating sleeve, The first limiting step is limitedly matched with the second limiting step.
根据权利要求1所述的操纵装置，其特征在于，所述基座单元包括第二装置基座，所述第二装置基座具有的运动轨迹采用为移动轨迹；所述操纵单元包括第二操纵部件，所述第二操纵部件沿着至少一个所述移动轨迹活动设置在所述第二装置基座上；所述检测单元包括位移检测机构，所述位移检测机构设置在所述第二装置基座上，所述位移检测机构包括至少一个第三传感器件，所述第三传感器件被配置为用于获取所述第二操纵部件沿着所述移动轨迹移动的位移信息。The manipulating device according to claim 1, wherein the base unit comprises a second device base, and the motion track of the second device base is used as a moving track; the manipulating unit comprises a second manipulating component, the second manipulation component is movably arranged on the base of the second device along at least one of the moving tracks; the detection unit includes a displacement detection mechanism, and the displacement detection mechanism is arranged on the base of the second device On the base, the displacement detection mechanism includes at least one third sensor device, and the third sensor device is configured to acquire displacement information of the second manipulation member moving along the movement track.
根据权利要求15所述的操纵装置，其特征在于，所述操纵装置包括：The manipulating device according to claim 15, wherein the manipulating device comprises:

第三转向检测机构，设置在所述第二装置基座上，所述第三转向检测机构包括至少一个第四传感器件；所述第二装置基座具有至少一个转动轨迹，所述第二操纵部件沿着至少一个所述转动轨迹活动设置在所述第二装置基座上，所述第四传感器件被配置为用于获取所述第二操纵部件沿着所述转动轨迹转动的转动信息。The third steering detection mechanism is arranged on the base of the second device, and the third steering detection mechanism includes at least one fourth sensing device; the base of the second device has at least one rotation track, and the second manipulation The components are movably arranged on the base of the second device along at least one of the rotation tracks, and the fourth sensor device is configured to acquire rotation information of the rotation of the second manipulation component along the rotation tracks.
根据权利要求16所述的操纵装置，其特征在于，所述移动轨迹为直线移动轨迹，所述位移信息为线性位移信息；The manipulating device according to claim 16, wherein the moving track is a linear moving track, and the displacement information is linear displacement information;

所述转动轨迹为定轴转动轨迹，所述转动信息为转动角度信息。The rotation track is a fixed-axis rotation track, and the rotation information is rotation angle information.
根据权利要求17所述的操纵装置，其特征在于，所述直线移动轨迹的移动直线与所述定轴转动轨迹的转动轴线相互垂直。The manipulating device according to claim 17, wherein the moving line of the linear moving track is perpendicular to the rotation axis of the fixed-axis rotating track.
根据权利要求16所述的操纵装置，其特征在于，所述位移检测机构包括第一基准座，所述第一基准座设置在所述第二装置基座上，所述第二操纵部件沿着所述移动轨迹活动设置在所述第一基准座上；The manipulating device according to claim 16, wherein the displacement detection mechanism includes a first reference seat, the first reference seat is arranged on the base of the second device, and the second manipulating member is along the The movement trajectory is movable set on the first reference seat;

所述第三转向检测机构包括第二基准座，所述第二基准座设置在所述第二装置基座上，所述第二操纵部件沿着所述转动轨迹活动设置在所述第二基准座上。The third steering detection mechanism includes a second reference seat, the second reference seat is arranged on the base of the second device, and the second manipulation member is movably arranged on the second reference seat along the rotation track. seat.
根据权利要求19所述的操纵装置，其特征在于，所述位移检测机构包括第一运动座，所述第一运动座沿着所述移动轨迹活动设置在所述第一基准座上，所述第二操纵部件通过所述第一运动座沿着所述移动轨迹移动；The manipulating device according to claim 19, wherein the displacement detection mechanism comprises a first kinematic base, and the first kinematic base is movably arranged on the first reference base along the moving track. The second manipulating member moves along the moving track through the first kinematic seat;

所述第三转向检测机构包括第二运动座，所述第二运动座沿着所述转动轨迹活动设置在所述第二基准座上，所述第二操纵部件通过所述第二运动座沿着所述转动轨迹转动。The third steering detection mechanism includes a second kinematic seat, and the second kinematic seat is movably arranged along the rotation track On the second reference seat, the second manipulating member is rotated along the rotation track by the second kinematic seat.
根据权利要求20所述的操纵装置，其特征在于，所述第三传感器件设置在所述第一基准座上，所述第一运动座与所述第三传感器件的检测端连接；The manipulating device according to claim 20, wherein the third sensor device is arranged on the first reference base, and the first motion base is connected to the detection end of the third sensor device;

所述第四传感器件设置在所述第二基准座上，所述第二运动座与所述第四传感器件的检测端连接。The fourth sensing device is arranged on the second reference seat, and the second moving seat is connected to the detection end of the fourth sensing device.
根据权利要求20所述的操纵装置，其特征在于，所述第一基准座和所述第一运动座上分别设置有导向件和导向孔，所述导向孔沿着所述移动轨迹设置，所述导向件导向装配在所述导向孔内；The manipulating device according to claim 20, wherein the first reference base and the first motion base are respectively provided with a guide piece and a guide hole, and the guide hole is arranged along the moving track, so The guide member is guided and assembled in the guide hole;

所述第二基准座和所述第二运动座之间分别设置有第二转动件和第二转动孔，所述第二转动孔沿着所述转动轨迹设置，所述第二转动件转动装配在所述第二转动孔内。A second rotating member and a second rotating hole are respectively provided between the second reference base and the second moving seat, the second rotating hole is arranged along the rotating track, and the second rotating member is rotatably assembled in the second rotation hole.
根据权利要求22所述的操纵装置，其特征在于，所述位移检测机构包括第二阻尼结构，所述第二阻尼结构被配置为用于向所述第二操纵部件沿着所述移动轨迹的移动施加第一阻力；The manipulating device according to claim 22, wherein the displacement detection mechanism comprises a second damping structure, and the second damping structure is configured to move towards the second manipulating member along the moving track. Movement applies first resistance;

所述第三转向检测机构包括第三阻尼结构，所述第三阻尼结构被配置为用于向所述第二操纵部件沿着所述转动轨迹的转动施加第二阻力。The third steering detection mechanism includes a third damping structure configured to apply a second resistance to rotation of the second manipulation member along the rotation trajectory.
根据权利要求23所述的操纵装置，其特征在于，所述第二阻尼结构包括设置在所述第一基准座和所述第一运动座之间的第一弹性件；The operating device according to claim 23, wherein the second damping structure comprises a first elastic member disposed between the first reference seat and the first motion seat;

所述第三阻尼结构包括设置在所述第二基准座和所述第二运动座之间的第二弹性件。The third damping structure includes a second elastic member disposed between the second reference seat and the second motion seat.
根据权利要求24所述的操纵装置，其特征在于，所述第一弹性件为第一弹簧，所述第一弹簧套装在所述导向件上，所述第一弹簧的两端分别沿其轴向与所述第一基准座和所述第一运动座弹性抵接；The operating device according to claim 24, wherein the first elastic member is a first spring, the first spring is sleeved on the guide member, and the two ends of the first spring are respectively along its axis elastically abut against the first reference seat and the first kinematic seat;

所述第二弹性件为第二弹簧，所述第二弹簧套装在所述第二转动件上，所述第二弹簧的两端分别与所述第二基准座和所述第二运动座摩擦接触。The second elastic member is a second spring, the second spring is sleeved on the second rotating member, and the two ends of the second spring respectively rub against the second reference seat and the second motion seat touch.
根据权利要求20所述的操纵装置，其特征在于，所述位移检测机构包括第一限位结构，所述第一限位结构被配置为用于限制所述第二操纵部件沿着所述移动轨迹移动的位移范围；The manipulating device according to claim 20, wherein the displacement detection mechanism comprises a first limit structure configured to limit the movement of the second manipulating member along the The displacement range of trajectory movement;

所述第三转向检测机构包括第二限位结构，所述第二限位结构被配置为用于限制所述第二操纵部件沿着所述转动轨迹转动的转动范围。The third steering detection mechanism includes a second limit structure configured to limit the rotation range of the second manipulation member along the rotation track.
根据权利要求26所述的操纵装置，其特征在于，所述第一限位结构包括开设在所述第一基准座上的第一限位槽，所述第一运动座与所述第一限位槽限位配合；The manipulating device according to claim 26, wherein the first limiting structure includes a first limiting groove opened on the first reference seat, and the first moving seat and the first limiting slot limit fit;

所述第二限位结构包括开设在所述第二基准座上的第二限位槽，所述第二运动座与所述第二限位槽限位配合。The second limiting structure includes a second limiting groove opened on the second reference seat, and the second moving seat is limitedly matched with the second limiting groove.
根据权利要求20-27中任一项所述的操纵装置，其特征在于，所述第二基准座设置在所述第二装置基座上，所述第一基准座沿着所述转动轨迹活动设置在所述第二基准座上，所述第二操纵部件沿着所述移动轨迹活动设置在所述第一基准座上；The manipulating device according to any one of claims 20-27, wherein the second reference seat is arranged on the base of the second device, and the first reference seat moves along the rotation track It is arranged on the second reference seat, and the second manipulation member is movably arranged on the first reference seat along the moving track;

所述第一基准座设置在所述第二装置基座上，所述第二基准座沿着所述移动轨迹活动设置在所述第一基准座上，所述第二操纵部件沿着所述转动轨迹活动设置在所述第二基准座上。The first reference seat is arranged on the base of the second device, the second reference seat is movably arranged on the first reference seat along the moving track, and the second manipulation member is arranged along the moving track. The rotation track is movably set on the second reference seat.
根据权利要求28所述的操纵装置，其特征在于，所述第一基准座设置在所述第二运动座上，通过所述第二运动座活动设置在所述第二基准座上，所述第二操纵部件设置在所述第一运动座上，通过所述第一运动座活动设置在所述第一基准座上；The manipulating device according to claim 28, characterized in that, the first reference base is arranged on the second kinematic base, and the second kinematic base is movably arranged on the second reference base, and the The second manipulation component is arranged on the first kinematic base, and is movably set on the first reference base through the first kinematic base;

所述第二基准座设置在所述第一运动座上，通过所述第一运动座活动设置在所述第一基准座上，所述第二操纵部件设置在所述第二运动座上，通过所述第二运动座活动设置在所述第二基准座上。The second reference base is set on the first kinematic base, and the first kinematic base is movably set on the first base base, and the second manipulation component is set on the second kinematic base, The second kinematic seat is movably arranged on the second reference seat.
一种医疗装置，其特征在于，所述医疗装置包括主体部以及与所述主体部相连接的如权利要求1-29中任一项所述的操纵装置。 A medical device, characterized in that the medical device comprises a main body and the manipulation device according to any one of claims 1-29 connected to the main body.
一种手术机器人，其特征在于，所述手术机器人包括如权利要求30所述的医疗装置以及与所述医疗装置连接并用于承载手术器械的承载端。A surgical robot, characterized in that the surgical robot comprises the medical device according to claim 30 and a bearing end connected to the medical device and used to carry surgical instruments.
一种运动操纵方法，其特征在于，包括如下步骤：A motion manipulation method is characterized in that, comprising the steps of:

提供基座单元以及活动装配在所述基座单元上的操纵单元；providing a base unit and a manipulation unit movably assembled on the base unit;

获取所述操纵单元相对于所述基座单元运动的至少一个运动信息；acquiring at least one movement information of the movement of the manipulation unit relative to the base unit;

根据至少一个所述运动信息生成操纵指令。Manipulation instructions are generated based on at least one piece of said motion information.
根据权利要求32所述的运动操纵方法，其特征在于，包括如下步骤：The motion manipulation method according to claim 32, comprising the steps of:

提供第一装置基座以及活动装配在所述第一装置基座上的第一操纵部件；providing a first device base and a first manipulation component movably assembled on the first device base;

获取所述第一操纵部件相对于所述第一装置基座转动的至少一个转动信息；Acquiring at least one rotation information of the rotation of the first manipulation member relative to the base of the first device;

根据至少一个所述转动信息生成操纵指令。A manipulation instruction is generated based on at least one of the rotation information.
根据权利要求33所述的运动操纵方法，其特征在于，所述第一操纵部件沿着第一定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第一转动角度信息，其中，所述第一转动角度信息至少包括第一正角度转动信息和第一负角度转动信息；The motion manipulation method according to claim 33, wherein the first manipulation member is rotated relative to the first device base along a first fixed-axis rotation trajectory, and a first rotation belonging to the rotation information is generated. angle information, wherein the first rotation angle information includes at least first positive angle rotation information and first negative angle rotation information;

所述第一操纵部件沿着第二定轴转动轨迹相对于所述第一装置基座转动，生成属于所述转动信息的第二转动角度信息，其中，所述第二转动角度信息至少包括第二正角度转动信息和第二负角度转动信息；The first manipulating member rotates relative to the first device base along a second fixed-axis rotation track to generate second rotation angle information belonging to the rotation information, wherein the second rotation angle information includes at least the first Two positive angle rotation information and a second negative angle rotation information;

所述操纵指令至少包括前进指令、后退指令、左转向指令和右转向指令。The manipulation instructions include at least a forward instruction, a backward instruction, a left steering instruction and a right steering instruction.
根据权利要求34所述的运动操纵方法，其特征在于，根据所述第一正角度转动信息生成所述左转向指令；The motion manipulation method according to claim 34, wherein the left steering command is generated according to the first positive angle rotation information;

根据所述第一负角度转动信息生成所述右转向指令；generating the right steering instruction according to the first negative angle rotation information;

根据所述第二正角度转动信息生成所述前进指令；generating the forward instruction according to the second positive angle rotation information;

根据所述第二负角度转动信息生成所述后退指令。The backward movement command is generated according to the second negative angle rotation information.
根据权利要求35所述的运动操纵方法，其特征在于，所述左转向指令至少包括左转差速控制命令，根据所述左转差速控制命令控制不同侧行驶轮之间的左转差速转动；The motion manipulation method according to claim 35, wherein the left steering command at least includes a left turning differential control command, and according to the left turning differential control command, the left turning differential between driving wheels on different sides is controlled turn;

所述右转向指令至少包括右转差速控制命令，根据所述右转差速控制命令控制不同侧行驶轮之间的右转差速转动。The right steering command includes at least a right turning differential control command, according to which the right turning differential rotation between the driving wheels on different sides is controlled.
根据权利要求32所述的运动操纵方法，其特征在于，包括如下步骤：The motion manipulation method according to claim 32, comprising the steps of:

提供第二装置基座以及活动装配在所述第二装置基座上的第二操纵部件；providing a second device base and a second manipulation component movably assembled on the second device base;

获取所述第二操纵部件相对于所述第二装置基座移动的位移信息，以及所述第二操纵部件相对于所述第二装置基座转动的转动信息；Acquiring displacement information of movement of the second manipulating member relative to the base of the second device, and rotation information of rotation of the second manipulating member relative to the base of the second device;

根据所述位移信息和所述转动信息中的至少一者生成操纵指令。A manipulation instruction is generated according to at least one of the displacement information and the rotation information.
根据权利要求37所述的运动操纵方法，其特征在于，所述第二操纵部件沿着直线移动轨迹相对于所述第二装置基座移动，所述位移信息为线性位移信息，其中，所述线性位移信息至少包括正位移信息、正加速位移信息、负位移信息和负加速位移信息；The motion manipulation method according to claim 37, wherein the second manipulation member moves relative to the second device base along a linear movement trajectory, and the displacement information is linear displacement information, wherein the The linear displacement information includes at least positive displacement information, positive acceleration displacement information, negative displacement information and negative acceleration displacement information;

所述第二操纵部件沿着定轴转动轨迹相对于所述第二装置基座转动，所述转动信息为转动角度信息，其中，所述转动角度信息至少包括正角度转动信息和负角度转动信息；The second manipulation member rotates relative to the second device base along a fixed-axis rotation track, and the rotation information is rotation angle information, wherein the rotation angle information includes at least positive angle rotation information and negative angle rotation information ;

所述操纵指令至少包括前进指令、后退指令、左转向指令和右转向指令。The manipulation instructions include at least a forward instruction, a backward instruction, a left steering instruction and a right steering instruction.
根据权利要求38所述的运动操纵方法，其特征在于，根据所述正位移信息和所述正加速位移信息中的至少一者生成所述前进指令；The motion manipulation method according to claim 38, wherein the forward command is generated according to at least one of the positive displacement information and the positive acceleration displacement information;

根据所述负位移信息和所述负加速位移信息中的至少一者生成所述后退指令；generating the retreat instruction according to at least one of the negative displacement information and the negative acceleration displacement information;

根据所述正角度转动信息生成所述左转向指令；generating the left steering instruction according to the positive angle rotation information;

根据所述负角度转动信息生成所述右转向指令。The right steering instruction is generated according to the negative angle rotation information.
根据权利要求39所述的运动操纵方法，其特征在于，所述左转向指令至少包括左转差速控制命令，根据所述左转差速控制命令控制不同侧行驶轮之间的左转差速转动；The motion manipulation method according to claim 39, characterized in that, the left turning command at least includes a left turning differential control command, and according to the left turning differential control command, the left turning differential between the driving wheels on different sides is controlled turn;

所述右转向指令至少包括右转差速控制命令，根据所述右转差速控制命令控制不同侧行驶轮之间的右转差速转动。 The right steering command includes at least a right turning differential control command, according to which the right turning differential rotation between the driving wheels on different sides is controlled.
一种可读存储介质，其特征在于，所述可读存储介质内存储有计算机程序，所述计算机程序被处理器执行时，实现权利要求32至40中任一项所述的运动操纵方法。 A readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the motion manipulation method according to any one of claims 32 to 40 is realized.