Surgical robot system and surgical instrument thereof

Abstract

The invention provides a surgical robot system and a surgical instrument thereof. The surgical robot system and the surgical instrument thereof help to improve the precision and accuracy of the contact force measurement at the tail end of the surgical instrument. The surgical instrument includes a mechanical structure, a cannula and a force sensor, and the mechanical structure includes an instrument rod and a tail end executor connected with the tail end of the instrument rod; the cannula fixedly or detachably sleeves the tail end of the instrument rod; the force sensor comprises a sensitive component and a peripheral measurement module connected with the sensitive component, and the sensitive component is arranged on the cannula and used for obtaining deformation information of the cannula; the peripheral measuring module acquires stress measured by the sensitive component according to the deformation information obtained by the sensitive component and obtains the equivalent resultantforce and equivalent torque of force applied to the cannula by the instrument rod according to the stress measured by the sensitive component, the position of the sensitive component and the direction of a sensitive axis of the sensitive component, and therefore the contact force applied to the tail end executor of the surgical instrument is obtained.

Description

Technical field [0001] The present invention relates to the technical field of medical devices, in particular to a surgical robot system and surgical instruments. Background technique [0002] Robot-assisted surgery systems are usually realized by master-slave control, and are divided into two parts: master-end equipment (doctor's end) and slave-end equipment (patient's end). The main-end equipment is usually based on the design of a robotic arm, a spatial multi-dimensional mouse, a joystick, etc., which can realize multi-dimensional movement in space. The slave device is generally a multi-degree-of-freedom robotic arm, with surgical instruments (such as needle holders, electrocoagulation forceps, electrosurgical cautery probes, tissue holders, scissors, etc.) clamped at the ends. During the operation, the display device displays the 3D image of the internal organs transmitted by the endoscope. The doctor operates the master-end equipment according to the image information, and ...

AI Technical Summary

Problems solved by technology

[0012] The purpose of the present invention is to provide a surgical robot system and its surgical instruments to solve one or more of the problems in the prior art, such as the low measurement accuracy of the contact force at the end of the surgical instrument and the high scrap rate of sensors.

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