HAND CONTROLLER FOR USE IN ROBOT SURGERY SYSTEM OPERATOR'S CONTROLLER Russian patent published in 2020 - IPC A61B34/37 B25J9/18 B25J13/06 

FIELD: medicine.

SUBSTANCE: invention relates to medical equipment. Hand controller (100) for the control operator controller of the robot-surgical complex includes a handle with finger grippers (110) and a control unit of the hand controller. Handle has elongated ergonomic body (120) and is functionally configured to provide rotation function of the surgical instrument around one axis. Body in upper part (121) has base (130) with platform for attachment to element, which is part of operator controller, which provides the manipulator with the surgical instrument rotation control function and / or deviation of the surgical instrument from its longitudinal axis. Base platform is functionally configured to transmit electrical signals. Control unit is located inside the body of the operator's controller element fixed on the base platform. Finger grips are movable and rotate around their own axis coinciding with handle lengthwise axis (123) in sagittal plane to provide closure or opening function of surgical branches. Inside the body of the handle there are mechanisms for turning the handle and finger grips on one axis. Sensor of handle turn mechanism provides electric signals corresponding to change of position of handle body at deviation of operator's hand in sagittal plane relative to transverse axis of hand lying in frontal plane, and transmits them to controller of hand controller through platform of handle body base. Sensor of finger grip rotation mechanism provides electric signals corresponding to change of finger grips position when fingers of operator move in sagittal plane relative to transverse axis of hand lying in frontal plane, and transmits them to control unit of hand controller through platform of handle body base. Hand controller control unit is configured to transfer the motion of the handle and / or finger grips into the corresponding movement of the surgical instrument and to transfer the movement of the surgical instrument into the corresponding movement of the handle and / or finger grips.

EFFECT: reduced load on operator's hand, high accuracy of determining the position of the hand and increasing the range of hand movement with providing feedback, tactile sensations and mobility by using the proposed architecture of the hand controller, which minimizes limitations on the ability of the surgeon to manipulate the surgical instrument.

6 cl, 11 dwg