US-20260124759-A1 - MASTER MANIPULATOR CONTROL APPARATUSES AND ROBOTS INCLUDING THE SAME

Abstract

The present disclosure provides a master manipulator. The master manipulator may include an arm assembly including at least one arm joint mechanism and a wrist assembly movably connected with the arm assembly. The wrist assembly may allow an operator to perform a corresponding operation. The wrist assembly may include at least one wrist joint mechanism. The master manipulator may also include a support assembly configured to support at least one of the arm assembly and the wrist assembly.

Inventors

• Mingchun ZHAI
• Wei Jiao
• Meng Qu
• Yuan Zhong
• Huan Liu
• Wen Li
• Kun Yang
• Yuanyuan Zhou

Assignees

• WUHAN UNITED IMAGING SURGICAL CO., LTD.

Dates

Publication Date

20260507

Application Date

20251222

Priority Date

20210226

Claims (20)

1. 1 . A master manipulator, comprising: a base; a handle body rotatable relative to the base around a central axis of the handle body; a clamping device connected to the handle body, wherein the clamping device is operable to open or close; a detection element disposed on the base; a trigger element disposed at an end of the handle body adjacent to the base and drivingly connected with the clamping device, wherein opening or closing of the clamping device drives the trigger element to move along a reference direction and causes a change in an output signal of the detection element, the reference direction being coincident with or parallel to the central axis of the handle body.
2. 2 . The device according to claim 1 , wherein the handle body is internally provided with a first channel extending along the reference direction; the master manipulator further comprises a first rod and a transmission mechanism, the first rod being disposed within the first channel and movable relative to the handle body along the reference direction; the clamping device is drivingly connected with the first rod via the transmission mechanism, wherein opening or closing of the clamping device drives the first rod to move along the reference direction via the transmission mechanism; the trigger element is disposed at a first end of the first rod adjacent to the detection element.
3. 3 . The device according to claim 1 , wherein the trigger element comprises a magnet, and the detection element includes at least one Hall sensor.
4. 4 . The device according to claim 3 , wherein a polarity direction of the magnet is arranged along the reference direction, and along the reference direction, a projection of the magnet at least partially overlaps a projection of the at least one Hall sensor.
5. 5 . The device according to claim 4 , wherein along the reference direction, the projection of the magnet completely covers the projection of the at least one Hall sensor.
6. 6 . The device according to claim 4 , wherein the at least one Hall sensor includes a first Hall sensor and a second Hall sensor, and along the reference direction, an overlapping area between a projection of the first Hall sensor and the projection of the magnet is larger than an overlapping area between a projection of the second Hall sensor and the projection of the magnet.
7. 7 . The device according to claim 3 , wherein the detection element includes a plurality of Hall sensors distributed in a circumferential direction; along the first direction, a projection of the magnet is located within a central region around by projections of the plurality of Hall sensors, and the projection of the magnet covers at least a portion of each of the projections of the plurality of Hall sensors.
8. 8 . The device according to claim 2 , further comprising a clutch button, a second rod, and a clutch detection component, wherein the clutch button is disposed on the handle body, the clutch detection component is disposed on the base, the second rod is disposed within the first channel, and the clutch button is operable to drive the second rod to move relative to the handle body along the reference direction.
9. 9 . The device according to claim 8 , wherein the base is provided with an accommodation cavity, the clutch detection component and the detection element are disposed within the accommodation cavity, and a part of the first rod and a part of the second rod extend into the accommodation cavity.
10. 10 . The device according to claim 9 , wherein the second rod is a hollow rod, the first rod passes through the second rod, and a degree of freedom of the first rod along the reference direction and a degree of freedom of the second rod along reference direction are relatively independent.
11. 11 . The device according to claim 10 , wherein an end of the second rod adjacent to the base comprises a trigger part, the trigger part is provided with an accommodation space, and the trigger element is disposed within the accommodation space.
12. 12 . The device according to claim 11 , wherein the clutch detection component includes a C-shaped photoelectric sensor, and the trigger part comprises a light shielding plate.
13. 13 . The device according to claim 8 , wherein the clutch detection component is configured in an annular shape or distributed along an annular arrangement, and the detection element is disposed on an inner side of the clutch detection component.
14. 14 . The device according to claim 8 , wherein the clutch button includes a first button and a second button, and the first button and the second button are each independently movable relative to the handle body along the reference direction.
15. 15 . The device according to claim 14 , wherein the first button includes a first driving part, the second button includes a second driving part, and the second rod include a first driven part and a second driven part; along the reference direction, the first driven part and the first driving part are located on a same side of the second rod, and a projection of the first driven part along the reference direction at least partially overlaps a projection of the first driving part along the reference direction; along the reference direction, the second driven part and the second driving part are located on a same side of the second rod, and a projection of the second driven part along the reference direction at least partially overlaps a projection of the second driving part along the reference direction.
16. 16 . The device according to claim 15 , wherein the first driven part is located on a side of the first driving part away from the base, and the second driven part is located on a side of the second driving part away from the base.
17. 17 . The device according to claim 15 , further comprising a second rod reset member, wherein the second rod reset member is disposed on a side of the first driven part away from the first driving part or on a side of the second driven part away from the second driving part.
18. 18 . The device according to claim 15 , further comprising a button reset component and a damping unit that interact with the clutch button.
19. 19 . The device according to claim 1 , further comprising a clutch button, a second rod, and a clutch detection component, the second rod is driven by the clutch button to switch between a trigger position and a non-trigger position, when the second rod switches between the non-trigger position and the trigger position, the clutch detection component is triggered to detect a signal change to cause a disconnection or connection between the master manipulator and a slave device.
20. 20 . A robot, comprising a robot body, an end effector, and a master manipulator, wherein the master manipulator includes: a base; a handle body rotatable relative to the base around a central axis of the handle body; a clamping device connected to the handle body, wherein the clamping device is operable to open or close; a detection element disposed on the base; a trigger element disposed at an end of the handle body adjacent to the base and drivingly connected with the clamping device, wherein opening or closing of the clamping device drives the trigger element to move along a reference direction and causes a change in an output signal of the detection element, the reference direction being coincident with or parallel to the central axis of the handle body.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS This application claims priority to Chinese Patent Application No. 202511811889.6 filed on Dec. 3, 2025, and is a continuation in part of U.S. application Ser. No. 18/456,490, filed on Aug. 26, 2023, which is a continuation of International Application No. PCT/CN2022/078261, filed on Feb. 28, 2022, which claims priority to Chinese Patent Application No. 202110218291.1, filed on Feb. 26, 2021, and Chinese Patent Application No. 202120920702.7, filed on Apr. 29, 2021, the contents of each of which are incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to the field of medical apparatus, and in particular, to a master manipulator control apparatus and a robot including the same. BACKGROUND Surgical robots can assist doctors in more precise operations during surgical operations. During a surgery operation using a surgical robot, a doctor needs to install a registration probe, a surgical instrument (e.g., a scalpel, a suture structure), or other terminal tools to a slave robotic arm of the surgical robot according to the needs of the current surgical process, and then the doctor operates the master manipulator, and the slave manipulator performs corresponding operations under the control of the master manipulator. In robotic surgery, the doctor needs to operate the master manipulator for a long time, and the operation of the master manipulator may directly affect the operation effect of the terminal tool. Therefore, it is desirable to provide a master manipulator and a robot that can be used for a doctor to operate and control one or more terminal tools, thereby improving the operation accuracy and efficiency. SUMMARY One aspect of the present disclosure provides a master manipulator. The master manipulator may include an arm assembly and a wrist assembly movably. The arm assembly may include at least one arm joint mechanism. The wrist assembly may be movably connected with the arm assembly. The wrist assembly may allow an operator to perform a corresponding operation. The wrist assembly may include at least one wrist joint mechanism. The master manipulator may also include a support assembly configured to support at least one of the arm assembly and the wrist assembly. In some embodiments, the at least one arm joint mechanism may include a first joint mechanism including a first power member, a first driving member, and a first driven member. The first joint mechanism may correspond to a first rotation axis, and the first rotation axis may be parallel to a gravity direction of the wrist assembly. In some embodiments, the at least one arm joint mechanism may include a connection assembly configured to connect the arm assembly and the wrist assembly. Some elements of the at least one arm joint mechanism may be sequentially connected in series to form at least a part of one or more first quadrilateral connection rod mechanisms. The connection assembly and some elements of the arm assembly may be sequentially connected in series to form at least a part of a second quadrilateral connection rod mechanism. Elements of the one or more first quadrilateral connection rod mechanisms and elements of the second quadrilateral connection rod mechanism may be arranged in a linkage manner to synchronously rotate around a rotation axis of the at least one joint mechanism. The rotation axis may be perpendicular to a gravity direction of the wrist assembly. In some embodiments, the at least one arm joint mechanism may include a second joint mechanism. A first rotation axis corresponding to the second joint mechanism may be perpendicular to the gravity direction of the wrist assembly. The second joint mechanism may include a second power member, a second driving member, and three second driven members sequentially connected in series. Connecting lines of the three second driven members may be approximately a parallelogram to form at least a part of one of the one or more first quadrilateral connection rod mechanisms. In some embodiments, the second power member may be installed on a first base of the support assembly and configured to drive the second driving member to rotate. One of the three second driven members may be movably connected with the base. Two non-adjacent second driven members of the three second driven members may be approximately parallel. The second driving member may be configured to drive the three second driven members to rotate around a second rotation axis. In some embodiments, the at least one arm joint mechanism may further include a third joint mechanism corresponding to a third rotation axis. The third rotation axis may be perpendicular to the gravity direction of the wrist assembly. In some embodiments, the third joint mechanism may include a third power member, a third driving member, and three third driven members sequentially connected in series. Connecting lines of the three third driven members sequentially connected in series may