Surgical robot system and its surgical instruments

Abstract

The invention provides a surgical robot system and a surgical instrument thereof, which help to improve the precision and accuracy of the contact force measurement at the end of the surgical instrument. The surgical instrument includes a mechanical structure, a sleeve and a force sensor, the mechanical structure includes an instrument rod and an end effector connected to the end of the instrument rod; the sleeve is fixed or detachably sleeved on the end of the instrument rod; the The force sensor includes a sensitive element and a peripheral measurement module connected to the sensitive element. The sensitive element is arranged on the casing to obtain deformation information of the casing; the peripheral measurement module obtains the measurement of the sensitive element according to the deformation information obtained by the sensitive element. Obtained stress, and according to the stress measured by the sensitive element, the position of the sensitive element and the direction of the sensitive axis of the sensitive element, the equivalent resultant force and the equivalent moment of the applied force of the instrument rod received by the cannula are obtained, and then Obtain the contact force experienced by the end effector of the surgical instrument.

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 implemented in a master-slave control mode, and are divided into two parts: master-end equipment (doctor end) and slave-end equipment (patient 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...

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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