Force-sensing surgical instrument and surgical robot

Abstract

The embodiment of the invention provides a force sensing surgical instrument and a surgical robot. The force sensing surgical instrument is used for adjusting the posture of the end tool and comprises a driving box assembly and an instrument shaft. The driving box assembly comprises a driving structure and a driving cable connected with the driving structure; the instrument shaft is connected between the driving box assembly and the tail end tool and provided with a guide structure extending in the first direction, and the driving cable penetrates through the guide structure to be connected with the tail end tool. The driving structure drives the driving cable to drive the end tool to adjust the posture or state; the instrument shaft is provided with a first sensing structure to detect stress parameters of the end tools, and the stress parameters are used for representing the sum of stress of the end tools. A second sensing structure is arranged in the driving box assembly to detect the traction force of the driving cable, the stress parameters and the traction force are used for obtaining clinical feedback force, the magnitude of the clinical feedback force is used for representing the characteristics of different human tissues, the precision of the clinical feedback force can be determined by the lifting force sensing surgical instrument, and the surgical precision and safety are improved.

Description

Technical Field

[0001] The present application relates to the field of medical device technology, and in particular to a force-sensing surgical instrument and a surgical robot. Background Art

[0002] In minimally invasive surgical robots, the main console transmits the doctor's operating instructions through human-computer interaction, and controls the end tool carried by the operating arm to sense the driving force of the surgical instrument to perform surgical actions.

[0003] In related technologies, a force sensor installed at the proximal or distal end of a force-sensing surgical instrument collects the total force acting on the end tool, and uses the total force as clinical feedback force. The clinical feedback force is used to characterize the force acting on the end tool from human tissue, so as to feedback the characteristics of different human tissues.

[0004] However, since the force source of the end tool is not limited to human tissue, there is a deviation between the total force and the actual clinical feedback force, which may cause errors in the operating instructions given by the doctor based on the total force, thereby affecting the accuracy and safety of the operation. Summary of the Invention

[0005] The embodiments of the present application provide a force-sensing surgical instrument and a surgical robot, which are conducive to improving the accuracy of the clinical feedback force determined by the force-sensing surgical instrument and improving the accuracy and safety of surgery.

[0006] The present application provides a force-sensing surgical instrument for adjusting the posture of an end tool. The force-sensing surgical instrument includes:

[0007] a drive box assembly comprising a drive structure and a drive cable connected to the drive structure;

[0008] The instrument shaft is connected between the drive box assembly and the end tool, and is provided with a guide structure extending along a first direction, through which the drive cable passes and is connected to the end tool; the drive structure is used to drive the drive cable to adjust the posture or state of the end tool;

[0009] Among them, the instrument shaft is provided with a first sensing structure for detecting the force parameters of the end tool, and the force parameters are used to represent the sum of the forces on the end tool; a second sensing structure is provided in the drive box assembly for detecting the pulling force of the drive cable. The force parameters and pulling force are used to obtain clinical feedback force, and the magnitude of the clinical feedback force is used to characterize the characteristics of different human tissues.

[0010] In a feasible implementation, the drive box assembly further includes:

[0011] A reversing wheel shaft, fixedly connected to the second sensing structure;

[0012] A reversing guide wheel is rotatably connected to the reversing wheel shaft along its axis; a driving cable extending from the guide structure passes around the reversing guide wheel and then switches to extend in a second direction, and is guided to the driving structure along the second direction; the first direction and the second direction are perpendicular to each other;

[0013] The second sensing structure includes a main body and a sensing element, and the sensing element is arranged at a position of the main body corresponding to the reversing wheel shaft.

[0014] In a feasible implementation, the main body is provided with a mounting hole extending along the axis of the reversing wheel shaft, and the reversing wheel shaft is passed through the mounting hole; the sensor is clamped between the reversing wheel shaft and the inner wall of the mounting hole.

[0015] In a feasible implementation, a first elastic member is provided on the inner wall of the mounting hole, and the sensor is clamped between the first elastic member and the reversing wheel shaft.

[0016] In a feasible implementation, the sensing element is provided on the inner wall of the mounting hole along the first direction; or,

[0017] The sensor is arranged on the inner wall of the mounting hole along the second direction.

[0018] In a possible implementation, the main body has a wire threading groove, which faces the instrument axis, so that the driving cable passing through the guide structure extends to the reversing guide wheel through the wire threading groove.

[0019] In a feasible implementation, the drive box assembly further includes a base and a rotary wheel, wherein the rotary wheel is connected to the base so as to rotate around the axis of the rotary wheel;

[0020] The instrument shaft is coaxially fixedly connected to the rotary wheel, and the driving cable passing through the guide structure extends through the rotary wheel to the reversing guide wheel;

[0021] A first wire-passing hole extending along a first direction is provided in the instrument shaft, and the first wire-passing hole is for the driving cable to pass through.

[0022] In a feasible implementation, the instrument shaft further includes a rotary shaft, and the rotary shaft is coaxially and fixedly connected to the rotary wheel;

[0023] The first sensing structure is connected between the rotary shaft and the end tool; the first wire hole is arranged in the first sensing structure.

[0024] In a feasible implementation, there are multiple driving cables, and the inner wall of the first cable hole is curved along the arrangement direction of the multiple driving cables in the guide structure; or,

[0025] There are multiple first wire-passing holes, each of which is for a driving cable to pass through, and the multiple first wire-passing holes are staggered along the arrangement direction of the multiple driving cables in the guide structure.

[0026] In a feasible implementation, the instrument shaft further includes:

[0027] The adapter sleeve is fixedly connected to the first sensing structure through the adapter sleeve; the adapter sleeve includes a flushing port for transporting pure water and other cleaning agents to the first wire hole;

[0028] The sealing gasket is sleeved in the adapter sleeve and is located on a side of the flushing port close to the rotary shaft. The sealing gasket is provided with a second wire hole corresponding to the first wire hole.

[0029] In a feasible implementation, the adapter sleeve is further provided with a positioning plate inscribed in the inner wall of the adapter sleeve; the sealing gasket is provided on a side of the positioning plate close to the rotary shaft;

[0030] The first sensing structure and the rotary shaft extend to abut against one end of the positioning plate and the sealing gasket facing away from each other; and a third wire passing hole corresponding to the second wire passing hole is provided on the positioning plate.

[0031] In a feasible implementation, the drive box assembly further includes:

[0032] base;

[0033] A lever hinge fixedly connected to the base;

[0034] A lever link, connected to the lever hinge at an intermediate position and having a first end and a second end opposite to each other; a second sensing structure connected to the first end;

[0035] The reversing guide wheel is connected to the second end. The driving cable passing through the guide structure is wound around the reversing guide wheel and then converted to extend along the second direction and guided to the driving structure along the second direction.

[0036] In a feasible implementation, the first sensing structure is configured as a first uniaxial sensor for detecting the axial force exerted on the end tool along its own axis; wherein the axial force and the pulling force are used to obtain the axial component of the clinical feedback force to characterize the characteristics of different human tissues.

[0037] An embodiment of the present application also provides a surgical robot, including an end tool, a main console, and the aforementioned force-sensing surgical instrument. The main console is used to receive input operation instructions to control the force-sensing surgical instrument to adjust the posture of the end tool.

[0038] In one feasible implementation, the surgical robot further includes a signal processing module electrically connected to the first sensing structure and the second sensing structure to receive a first electrical signal transmitted by the first sensing structure and a second electrical signal transmitted by the second sensing structure; the first electrical signal includes information for representing a force parameter, and the second electrical signal includes information for representing a pulling force;

[0039] The signal processing module is used to perform data processing on the first electrical signal and the second electrical signal to obtain a third electrical signal, where the third electrical signal contains information for characterizing clinical feedback force.

[0040] In a feasible implementation, the surgical robot further includes a signal processing module;

[0041] The signal processing module is electrically connected to the first uniaxial sensor and the second sensing structure to receive a fourth electrical signal from the first uniaxial sensor and a second electrical signal transmitted by the second sensing structure; the fourth electrical signal includes information for representing the axial force, and the second electrical signal includes information for representing the pulling force;

[0042] The signal processing module is used to perform data processing on the fourth electrical signal and the second electrical signal to obtain a fifth electrical signal, where the fifth electrical signal contains information for characterizing the axial component of the clinical feedback force.

[0043] The embodiment of the present application provides a force-sensing surgical instrument and a surgical robot. A first sensing structure is provided on the instrument shaft. The instrument shaft is connected to the end tool. When the end tool is subjected to a force, the force will also act on the first sensing structure, so that the force on the end tool can be sensed by the first sensing structure to obtain the force parameters. A second sensing structure is provided in the drive box assembly. The pulling force on the drive cable is measured by the second sensing structure, and the pulling force also acts on the end tool. Then, the force parameters include clinical feedback force and pulling force. Thus, the pulling force is decoupled from the force parameters, that is, the clinical feedback force can be obtained, eliminating the measurement interference of the pulling force, improving the accuracy of the clinical feedback force determined by the force-sensing surgical instrument, and improving the accuracy and safety of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic structural diagram of the main console in the surgical robot provided in an embodiment of the present application;

[0045] Figure 2 Schematic diagram of the structure of the imaging platform of the surgical robot provided in an embodiment of the present application;

[0046] Figure 3 This is a schematic structural diagram of an operating table in a surgical robot provided in an embodiment of the present application;

[0047] Figure 4A This is a schematic diagram of the structure of a force sensing surgical instrument provided in an embodiment of the present application. Figure 1 ;

[0048] Figure 4B This is a schematic diagram of the structure of a force sensing surgical instrument provided in an embodiment of the present application. Figure 2 ;

[0049] Figure 5AThis is a schematic structural diagram of a drive box assembly in a force-sensing surgical instrument provided in an embodiment of the present application;

[0050] Figure 5B yes Figure 5A A schematic structural diagram of the second sensing structure and the driving cable in the driving box assembly shown;

[0051] Figure 5C yes Figure 5A A schematic structural diagram of the drive box assembly from one perspective;

[0052] Figure 5D yes Figure 5A A schematic structural diagram of the drive box assembly from another perspective;

[0053] Figure 5E yes Figure 5A A structural schematic diagram of the drive box assembly from another perspective;

[0054] Figure 6 5 is a schematic diagram of the structure of the drive cable and the reversing guide wheel in the drive box assembly;

[0055] Figure 7 This is another structural schematic diagram of a drive box assembly in a force-sensing surgical instrument provided in an embodiment of the present application;

[0056] Figure 8 This is another structural schematic diagram of a drive box assembly in a force-sensing surgical instrument provided in an embodiment of the present application;

[0057] Figure 9A This is a schematic diagram of the assembly of a slewing capstan, a slewing driving wheel, and a slewing fixed wheel in a drive box assembly provided in an embodiment of the present application;

[0058] Figure 9B for Figure 9A Schematic diagram of the separation of the slewing winch, slewing drive wheel and slewing fixed wheel;

[0059] Figure 10A A schematic diagram of the exploded structure of the instrument shaft in the force-sensing surgical instrument provided in an embodiment of the present application;

[0060] Figure 10B A schematic structural diagram of the force-sensing surgical instrument from the perspective of the instrument axis in an embodiment of the present application;

[0061] Figure 10C for Figure 10A or Figure 10B A schematic structural diagram of a first sensing structure in the shaft of the device shown;

[0062] Figure 10D for Figure 10C A schematic structural diagram of the first sensing structure from one perspective;

[0063] Figure 10E for Figure 10A or Figure 10B Another schematic diagram of the structure of the first sensing structure in the instrument shaft is shown;

[0064] Figure 11 for Figure 10A A schematic diagram of the structure of the sealing ring in the instrument shaft shown;

[0065] Figure 12A for Figure 10A A schematic diagram of the structure of the adapter sleeve in the instrument shaft at one viewing angle;

[0066] Figure 12B for Figure 10A Schematic diagram of the cross-sectional structure of the adapter sleeve in the instrument shaft shown Figure 1 ;

[0067] Figure 12C for Figure 10A Schematic diagram of the cross-sectional structure of the adapter sleeve in the instrument shaft shown Figure 2 ;

[0068] Figure 13 Another structural schematic diagram of the drive box assembly in the force-sensing surgical instrument provided in an embodiment of the present application.

[0069] Description of reference numerals:

[0070] 2000-main console; 3000-operating trolley; 4000-imaging platform; 6000-force sensing surgical instrument; 6201-end tool;

[0071] 3100 - operator's robotic arm; 4100 - display screen; 6100 - drive box assembly; 2100 - projection display module; 2200 - main operator;

[0072] 61-rope groove; 62-first wall; 220-main operator; 610-main body; 601-bottom wall; 602-side wall; 603-first through-hole; 604-second through-hole; 605-threading groove; 620-second through-hole; 621-first protrusion; 622-second protrusion; 623-positioning plate; 6231-third through-hole; 624-diversion hole; 630-threading area; 6100a-driving structure ; 6101-base; 6102-support base; 6103-second sensing structure; 6104, 6602-reversing guide wheel; 6105-stranded wire fixing wheel; 6106-horizontal pulley fixing seat; 6107-driving capstan; 6108-horizontal pulley axle; 6109-horizontal pulley; 6110-life driving disk; 6111-life display card; 6112-reversing wheel axle; 6114-rotating wheel; 611 5 - slewing winch; 6116 - slewing drive wheel; 6117 - slewing fixed wheel; 6118 - drive cable; 6119 - RFID chip; 6200 - instrument shaft; 6202 - first sensing structure; 6203 - sealing gasket; 6204 - adapter sleeve; 6205 - slewing shaft; 6301 - first wire hole; 6302 - support section; 6303 - flushing port; 6304 - hinged end; 631 - pitch wheel ;632-hinge axis;6305-first protruding area;6306-second protruding area;6604-lever link;6605-lever hinge;6606-second sensing structure;62041-first groove;62051-second groove;d1-first dimension;T1-first direction;T2-second direction;T3-third direction;6002-first plane;6003-second plane;6004-fixing hole. DETAILED DESCRIPTION

[0073] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0074] In the description of the embodiments of the present application, it should be noted that the terms "inside" and "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second" and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. Unless otherwise specified, the "proximal end" in this embodiment can be used to indicate the end of the component close to the main console, and the "distal end" or "end" can be used to indicate the end of the component away from the main console.

[0075] In the description of the embodiments of this application, it should be noted that, unless otherwise specified or limited, the terms "connected" and "connection" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of this application based on the specific circumstances.

[0076] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0077] Surgical robots are widely used in minimally invasive surgery. They primarily consist of a master console and a slave manipulator arm. The master console receives commands from the surgeon through human-machine interaction. Based on these commands, the slave manipulator arm drives the force-sensing end-use tool attached to the surgical instrument to perform surgical maneuvers, such as opening and closing, swinging, or pitching.

[0078] In related technologies, a force sensor installed at the proximal or distal end of a force-sensing surgical instrument collects the total force acting on the end tool, and uses the total force as clinical feedback force. The clinical feedback force is used to characterize the force acting on the end tool from human tissue, so as to feedback the characteristics of different human tissues.

[0079] In some embodiments, the clinical feedback force can be the resistance encountered when the end tool is advanced deep into human tissue, such as tissue pressure when puncturing tissue; in some embodiments, the clinical feedback force can be the adhesion force encountered when the end tool is withdrawn from the human body, such as the rebound force caused by tissue adhesion after electrocoagulation.

[0080] Accordingly, the clinical feedback force can feedback the hardness difference of tissues, such as the hardness difference between tumors and normal tissues; the clinical feedback force can also feedback the critical force of the end tool penetrating the tissue during suturing, avoiding excessive insertion and damaging deep blood vessels or nerves.

[0081] However, since the force source of the end tool is not limited to human tissue, there is a deviation between the total force and the actual clinical feedback force, which may cause errors in the operating instructions given by the doctor who rely on the total force as the clinical feedback force, thereby affecting the accuracy and safety of the operation.

[0082] In some embodiments, the movement of the end tool is driven by a proximal cable, and the cable's pulling force is directly superimposed on the total force acting on the end tool through the transmission path. For example, in the direction of cable extension (i.e., from the proximal end to the distal end of the force-sensing surgical instrument), the total force acting on the end tool, collected by the proximal or distal force sensor, includes a coupling error between the clinical feedback force and the cable's pulling force. During complex surgical procedures, such as rapid movement of the end tool or sudden changes in cable pulling force, this coupling error is further amplified. Fluctuations in cable pulling force can significantly interfere with the force signal in the direction of cable extension, leading to distorted tactile feedback, affecting the surgeon's judgment of tissue characteristics, and increasing surgical risk.

[0083] In view of the above problems, some embodiments of the present application provide a force-sensing surgical instrument for adjusting the posture of an end tool. The end tool can be a surgical instrument such as a hemostat, tissue forceps, or a needle holder.

[0084] The structure of the force-sensing surgical instrument according to the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0085] Figure 1 It is a structural diagram of the main console in the surgical robot provided in an embodiment of the present application. Figure 2 Schematic diagram of the structure of the imaging platform of the surgical robot provided in an embodiment of the present application; Figure 3 It is a schematic structural diagram of the operating trolley in the surgical robot provided in an embodiment of the present application.

[0086] like Figures 1 to 3 As shown, in the embodiment of the present application, the surgical robot mainly includes a main console 2000, an operating table 3000 and an imaging platform 4000.

[0087] Here, the main console 2000 serves as the control brain of the surgical robot and includes a projection module 2100 and a master operator 2200. The projection module 2100 displays a real-time image of the surgical area, providing the surgeon with a clear field of view. The master operator 220 receives the surgeon's input based on the image displayed on the projection module 2100, enabling human-machine interaction.

[0088] The doctor observes the image displayed on the projection module 2100 and controls the master manipulator 2200 to send instructions to the main console. The main console 2000 then transmits the instructions to the operating table 3000, which controls the slave manipulator arm 3100 on board to perform the surgical operation. The force sensing surgical instrument 6000 equipped with the slave manipulator arm 3100 drives the end tool 6201 at its end (see Figure 4A or Figure 4B ) to perform actual surgical operations inside the patient's body while ensuring the safety of the operation through clinical feedback.

[0089] Among them, the main operator 2200 is equipped with a force feedback device to realize interaction with the doctor and display the end tool force signal and the surgical operation area.

[0090] The imaging platform 4000 serves as an independent image processing unit, and its display screen 4100 is primarily used for monitoring and debugging. For example, it displays the raw signal collected from the manipulator arm 3100 or the intermediate image being processed, allowing other staff to confirm the image quality.

[0091] Figure 4A This is a schematic diagram of the structure of a force sensing surgical instrument provided in an embodiment of the present application. Figure 1 ; Figure 4B This is a schematic diagram of the structure of a force sensing surgical instrument provided in an embodiment of the present application. Figure 2 . Figure 5A This is a schematic diagram of the structure of a drive box assembly in a force sensing surgical instrument provided by an embodiment of the present application. Figures 4A to 5A As shown, in some embodiments, a force-sensing surgical instrument 6000 is used to adjust the posture of an end tool 6201 . The force-sensing surgical instrument 6000 includes a drive box assembly 6100 and an instrument shaft 6200 , and the end tool 6201 is mounted on the end of the instrument shaft 6200 .

[0092] The drive box assembly 6100 includes a drive structure 6100a and a drive cable 6118 connected to the drive structure 6100a. The instrument shaft 6200 is connected between the drive box assembly 6100 and the end tool 6201. A guide structure extending along a first direction T1 is provided, through which the drive cable 6118 passes and is connected to the end tool 6201. The drive structure 6100a is used to drive the drive cable 6118 to adjust the posture or state of the end tool 6201. The first direction T1 can be the axial direction of the instrument shaft 6200.

[0093] The instrument shaft 6200 is provided with a first sensing structure 6202 for detecting the force parameters of the end tool 6201, and the force parameters are used to represent the total force of the end tool 6201; the drive box assembly 6100 is provided with a second sensing structure 6103 for detecting the pulling force of the drive cable 6118. The force parameters and the pulling force are used to obtain clinical feedback force, and the magnitude of the clinical feedback force is used to characterize the characteristics of different human tissues.

[0094] In some embodiments, the posture of the end tool 6201 may include, but is not limited to, yaw or pitch, etc. The state of the end tool 6201 may include, but is not limited to, opening and closing, etc.

[0095] It should be understood that the number of drive cables 6118 can be one, two, or another number. Different drive cables 6118 are used to adjust different degrees of freedom of the end tool 6201 to place the end tool 6201 in different postures and states.

[0096] For example, when the drive cable 6118 is used to adjust the degree of freedom of opening and closing of the end tool 6201, the drive structure 6100a can drive the end tool 6201 to open or close by tightening or releasing the drive cable 6118. It is understood that the degree of opening or closing can be determined by the degree of tightening or releasing the drive cable 6118.

[0097] As another example, when the drive cable 6118 is used to adjust the pitch freedom of the end tool 6201, the drive structure 6100a can drive the end tool 6201 to pitch down or pitch up by tightening or releasing the drive cable 6118. It will be understood that the degree of pitching or pitching can be determined by the degree of tightening or releasing the drive cable 6118. Pitching can refer to the end tool 6201 swinging about a third direction T3, where the third direction T3 is perpendicular or approximately perpendicular to the first direction T1.

[0098] For another example, when the drive cable 6118 is used to adjust the yaw degree of freedom of the end tool 6201, the drive structure 6100a can drive the end tool 6201 to deflect clockwise or counterclockwise along its own axis by tightening or releasing the drive cable 6118. It will be understood that the angle of deflection can be determined by the degree of tightening or releasing the drive cable 6118.

[0099] Through the above solution, a first sensing structure 6202 is provided on the instrument shaft 6200, which is connected to the end tool 6201. When the end tool 6201 is subjected to a force, the force also acts on the first sensing structure 6202. Thus, the force acting on the end tool 6201 can be sensed by the first sensing structure 6202, thereby obtaining a force parameter. A second sensing structure 6103 is provided on the drive box assembly 6100, and the pulling force on the drive cable 6118 is measured by the second sensing structure 6103. The pulling force also acts on the end tool 6201. Therefore, the force parameter includes the clinical feedback force and the pulling force. Thus, the pulling force is decoupled from the force parameter, thereby obtaining the clinical feedback force. This eliminates interference in the measurement of the pulling force, improves the accuracy of the clinical feedback force determined by the force-sensing surgical instrument 6000, and enhances surgical precision and safety.

[0100] In some embodiments, the drive box assembly 6100 further includes a reversing pulley assembly, which is configured to convert the extension direction of the drive cable 6118 extending from the guide structure from a first direction T1 to a second direction T2, enabling the cable to be wound around the drive structure 6100a along the second direction T2, thereby preventing the drive cable 6118 from becoming entangled and affecting transmission efficiency. A second sensing structure 6103 can be disposed at the reversing pulley assembly to measure the pulling force of the drive cable 6118. The pulling force is directed in the extension direction of the drive cable 6118, i.e., in the axial direction of the drive cable 6118.

[0101] In some embodiments, the second sensing structure 6103 is configured as a single-axis sensor to detect the force exerted by the drive cable 6118 along its own axis, thereby obtaining the pulling force exerted by the drive cable 6118 on the end tool 6201 along the first direction T1. Accordingly, based on the force parameters and the pulling force, the pulling force can be decoupled from the force parameters to improve the measurement accuracy of the axial component of the clinical feedback force. This axial force component reflects the tissue resistance experienced by the end tool 6201 along its own axis, providing data support for identifying the characteristics of different human tissues.

[0102] In some embodiments, the second sensing structure 6103 can also be configured as a multi-axis sensor to detect the forces exerted by the drive cable 6118 in multiple directions. This allows for not only the axial pulling force exerted by the drive cable 6118 on the end tool 6201 but also forces acting in other directions on the end tool 6201. By decoupling the forces in multiple directions, the forces exerted on the end tool 6201 by external tissue can be more accurately reproduced, improving the accuracy of clinical feedback force measurements and simultaneously capturing a richer range of human tissue characteristics.

[0103] In some examples, the second sensing structure 6103 may be a 3-axis sensor or a 6-axis sensor, etc. The embodiment of the present application does not limit the sensor type of the second sensing structure 6103 and can be determined according to actual conditions.

[0104] Figure 5B yes Figure 5A A schematic structural diagram of the second sensing structure and the driving cable in the driving box assembly shown; Figure 5C yes Figure 5A A schematic structural diagram of the drive box assembly from one perspective; Figure 5D yes Figure 5A A schematic structural diagram of the drive box assembly from another perspective; Figure 5E yes Figure 5A A structural diagram of the drive box assembly from another perspective is shown; Figures 5A to 5E As shown, in some embodiments, the drive box assembly 6100 further includes a reversing shaft 6112 and a reversing guide wheel 6104. The reversing shaft 6112 is fixedly connected to the second sensing structure 6103, and the reversing guide wheel 6104 is rotatably connected to the reversing shaft 6112 along its own axis. The drive cable 6118, which passes through the guide structure, passes around the reversing guide wheel 6104, then transitions to extend in a second direction T2 and is guided to the drive structure 6100a along the second direction T2. The first direction T1 and the second direction T2 are perpendicular to each other. In this way, the reversing shaft 6112 and the reversing guide wheel 6104 enable the drive cable 6118 to transition between the first direction T1 and the second direction T2, avoiding the problem of cross-tangling that occurs when the drive cable 6118 is directly guided to the drive structure 6100a after passing through the guide structure. This optimizes the transmission path of the drive cable 6118 and makes the structure more compact. In addition, the driving cable 6118 continues to extend in the second direction T2 after passing the reversing guide wheel 6104, which can prevent the driving cable 6118 from generating interference components in other directions on the second driving structure 6103, thereby improving the detection accuracy of the pulling force.

[0105] By arranging the first direction T1 and the second direction T2 perpendicular to each other, the force generated by the drive cable 6118 during reversal can be precisely decomposed: the pulling force in the first direction T1 acts entirely on the reversing wheel shaft 6112 along the first direction T1, without any interference in the second direction T2; and the pulling force in the second direction T2 similarly does not generate a force component in the first direction T1. This ensures that the second sensing structure 6103 only detects the pulling force in the target direction (the axial direction of the drive cable 6118), thereby improving the accuracy and reliability of the measured pulling force.

[0106] Figure 6 yes Figure 5A The schematic diagram of the structure of the driving cable and the reversing guide wheel in the driving box assembly is shown in FIG. Figure 6 As shown, in some embodiments, the reversing guide wheel 6104 is provided with a rope groove 61 extending along its own circumference, and the rope groove 61 is used to pass the drive cable 6118. The axial dimension of the rope groove 61 along the reversing wheel shaft 6112 matches the axial diameter of the drive cable 6118 to prevent the drive cable 6118 from swinging along the axial direction of the reversing wheel shaft 6112. This improves the efficiency of the drive cable 6118 in transmitting the pulling force to the end tool 6201, reduces pulling force loss, makes the measured pulling force closer to the axial force applied by the drive cable 6118 on the end tool 6201, and improves the accuracy of the clinical feedback force obtained by decoupling the pulling force from the force parameters.

[0107] In some examples, the cross-section of the rope groove 61 along the axial direction of the reversing wheel shaft 6112 can be configured as a semicircle, and the diameter of the semicircle is consistent with the diameter of the driving cable 6118, so that the driving cable 6118 can be stably wound in the semicircular rope groove 61.

[0108] like Figure 6 As shown, in some examples, the cross-section of the rope groove 61 along the axial direction of the reversing pulley shaft 6112 can be configured as an arcuate shape, with the opening of the arcuate rope groove 61 facing outward from the reversing pulley shaft 6112. The first dimension d1 of the arcuate rope groove 61 is at least partially larger than the diameter of the drive cable 6118, so that the drive cable 6118 can be stably clamped between the two side walls of the arcuate rope groove 61, thereby reducing the contact area between the drive cable 6118 and the inner wall of the rope groove 61 and reducing the transmission efficiency of the frictional lifting force. The first dimension d1 is the dimension of the rope groove 61 along the axial direction of the reversing pulley shaft 6112.

[0109] like Figure 5BAs shown, in some embodiments, the second sensing structure 6103 includes a main body and a sensing element (not shown), which can be provided on the reversing guide wheel 6104 or the reversing wheel shaft 6112. In this way, the driving cable 6118 is located in the rope groove 61, and the pulling force of the driving cable 6118 acts on the reversing guide wheel 6104 and the reversing wheel shaft 6112. The sensing element can sense the force exerted by the driving cable 6118 on the reversing guide wheel 6104 or the reversing wheel shaft 6112, and then can obtain the pulling force of the driving cable 6118 based on the force transmission law and the force.

[0110] The reversing guide wheel 6104 is rotatably connected to the reversing wheel shaft 6112 along its own axis. In other words, the reversing guide wheel 6104 can rotate around the axis of the reversing wheel shaft 6112. For example, when the driving cable 6118 is tightened, the reversing guide wheel 6104 rotates around its axis in a first clockwise direction; when the driving cable 6118 is released, the reversing guide wheel 6104 rotates around its axis in a second clockwise direction, and the first clockwise direction is opposite to the second clockwise direction.

[0111] In some embodiments, the sensor is located at the portion of the main body corresponding to the reversing wheel shaft 6112. Similarly, the drive cable 6118 is located within the rope groove 61, and the pulling force of the drive cable 6118 acts on the main body via the reversing guide wheel 6104 and the reversing wheel shaft 6112. Thus, by locating the sensor at the portion of the main body corresponding to the reversing wheel shaft 6112, since the reversing wheel shaft 6112 is fixedly connected to the second sensing structure 6103, there is no friction between the two, thereby preventing friction from interfering with the detection of the pulling force, thereby improving the accuracy of the measured pulling force of the drive cable 6118.

[0112] In some embodiments, the main body is provided with a mounting hole (not shown) extending axially along the reversing shaft 6112. The reversing shaft 6112 is inserted into the mounting hole, and a sensor is sandwiched between the reversing shaft 6112 and the inner wall of the mounting hole. Thus, when the pulling force of the drive cable 6118 is transmitted to the reversing shaft 6112 via the reversing guide wheel 6104, the force acts radially on the mounting hole. The built-in sensor and the reversing shaft 6112 form the shortest force transmission path, improving the accuracy of the measured force.

[0113] In some embodiments, the sensing element may be configured as a strain gauge, a fiber Bragg grating (FBG), or a micro-electro-mechanical system (MEMS) sensing structure. The present application does not impose any specific restrictions on the type of sensing element. For example, the MEMS may be a piezoelectric MEMS, a capacitive MEMS, or a piezoresistive MEMS.

[0114] Some sensors will deform when sensing force, such as strain gauges, FBGs, capacitive MEMS, or piezoresistive MEMS. The deformed sensor will be squeezed against the main body, and long-term action can easily lead to damage to the sensor. In order to improve the service life of the sensor, in some embodiments, a first elastic member (not shown) is provided on the inner wall of the mounting hole, and the sensor is clamped between the first elastic member and the reversing wheel shaft 6112. In this way, when the sensor is deformed, the first elastic member is also deformed, and the force on the sensor is relieved by the first elastic member, thereby improving the service life of the sensor.

[0115] In some embodiments, the first elastic member may be constructed as an elastic pad or other structure. The embodiment of the present application does not limit the structure of the first elastic member.

[0116] like Figure 5B As shown, the main body of the second sensing structure 6103 is a block structure, having a bottom wall 601 and a side wall 602 extended from the bottom wall 601. The second sensing structure 6103 can be fixed to the drive box assembly 6100 at various angles, thereby improving the flexibility of the structural layout of each structure in the drive box assembly 6100.

[0117] like Figure 5A or Figure 5C As shown, in some embodiments, the bottom wall 601 is fixed to the support base 6102, and the side wall 602 extends away from the support base 6102. In this way, the main body of the second sensing structure 6103 extends entirely along the first direction T1. To allow the drive cable 6118 extending from the guide structure to be wound around the reversing guide wheel 6104, the bottom wall 601 defines a first through-hole 603 extending along the first direction T1. This allows the drive cable 6118 extending in the first direction T1 to be wound around the reversing guide wheel 6104 through the first through-hole 603. This arrangement frees up space in the first direction T1, reduces the design dimensions of the drive box assembly 6100 in the first direction T1, and makes the structure compact in the first direction T1.

[0118] In some examples, when the drive box assembly 6100 is in the working position, the bottom wall 601 is connected to the support base 6102, and the main body extends vertically away from the instrument axis 6200. Accordingly, the support base 6102 also has a hole corresponding to the first through hole 603 for the drive cable 6118 to pass through.

[0119] Figure 7 FIG. 1 is another structural diagram of a drive box assembly in a force sensing surgical instrument provided in an embodiment of the present application. Figure 7As shown, in some embodiments, the bottom wall 601 is fixed to the drive box assembly 6100. As a result, the main body of the second sensing structure 6103 extends entirely along the second direction T2. To allow the drive cable 6118 extending from the guide structure to be wound around the reversing guide wheel 6104, the side wall 602 defines a second through-hole 604 extending along the first direction T1. This allows the drive cable 6118 extending in the first direction T1 to be wound around the reversing guide wheel 6104 through the second through-hole 604. This arrangement frees up space in the second direction T2, reduces the design dimensions of the drive box assembly 6100 in the second direction T2, and makes the structure compact in the second direction T2.

[0120] In some examples, when the driving box assembly 6100 is in the working position, the bottom wall 601 is fixed to the wall of the driving box assembly 600 extending in the vertical direction, and the main body as a whole extends in the horizontal direction.

[0121] Figure 8 This is another structural diagram of a drive box assembly in a force sensing surgical instrument provided in an embodiment of the present application. Figure 8 As shown, in some embodiments, the bottom wall 601 is fixed to the top wall of the drive box assembly 6100 facing away from the instrument axis 6200, and the side wall 602 extends in the direction toward the instrument axis 6200. Then, the bottom wall 601 and the side wall 602 form a threading groove 605, and the drive cable 6118 passing through the self-guide structure can be wound around the reversing guide wheel 6104 through the threading groove 605. In other words, the main body has a threading groove 605, and the threading groove 605 faces the instrument axis 6200, so that the drive cable 6118 passing through the self-guide structure extends to the reversing guide wheel 6104 through the threading groove 605, without the need for additional holes in the bottom wall 601 or the side wall 602, thereby simplifying the overall structure of the second sensing structure 6103.

[0122] In some examples, when the drive box assembly 6100 is in the operating position, the bottom wall 601 is connected to the top wall of the drive box assembly 6100, and the main body extends vertically toward the instrument axis 6200. Accordingly, the support seat 6102 has a hole corresponding to the threading groove 605 for the passage of the drive cable 6118. It is understood that the reversing guide wheel 6104 is disposed within the threading groove 605.

[0123] like Figures 5A to 11 As shown in any example, in some embodiments, the sensor is disposed on the inner wall of the mounting hole along the first direction T1. In this case, the sensor can sense the force acting on the sensor by the drive cable 6118 in the second direction T2. Based on the pulley principle, the pulling force of the drive cable 6118 in the second direction T2 is equal to the pulling force of the drive cable 6118 in the first direction T1. Therefore, the pulling force of the drive cable 6118 can be determined. It is understood that the inner wall along the first direction T1 can be understood as the inner wall whose tangent direction is the first direction T1.

[0124] Continue reading Figures 5A to 11 In some embodiments, the sensor element is disposed on the inner wall of the mounting hole along the second direction T2. In this case, the sensor element can sense the force acting on the sensor element by the drive cable 6118 in the first direction T1, thereby obtaining the pulling force of the drive cable 6118. The optional nature of the above two solutions enhances the layout flexibility of the second sensing structure 6103 and improves the adaptability of the drive box assembly 6100 in different application spaces.

[0125] In some embodiments, the number of drive cables 6118 is two or more, such as 2, 3, 4, 6, 8 or other numbers. The embodiment of the present application does not limit the number of drive cables 6118.

[0126] In some embodiments, the number of sensing elements is at least equal to the number of drive cables 6118 , so that the sensing elements can sense the pulling force on the corresponding drive cables 6118 , thereby obtaining the total pulling force exerted by the drive cables 6118 on the end tool 6201 .

[0127] like Figures 5A to 11 As shown, in order to adjust multiple degrees of freedom of the end tool 6201, in some embodiments, the number of drive cables 6118 is 6, and every two drive cables 6118 are used to adjust one degree of freedom of the end tool 6201; at this time, the drive box assembly 6100 also includes a support seat 6102, and the drive structure 6100a includes three groups of sub-drive structures, each sub-drive structure is used to cooperate with two drive cables to adjust one degree of freedom of the end tool 6201.

[0128] Here, the support base 6102 can be fixedly connected to the base 6101 by fasteners, such as screws. It is understandable that the support base 6102 can also be fixedly connected to the base 6101 by a pin or other means. This application does not limit the fixed connection method between the base 6101 and the support base 6102.

[0129] Next, using a sub-drive structure as an example, we will explain how it cooperates with two drive cables to adjust a degree of freedom of the end tool 6201. The sub-drive structure includes a strand retaining wheel 6105 and a drive capstan 6107. The drive capstan 6107 is connected to the base 6101 and the support base 6102, rotating about its axis. The strand retaining wheel 6105 is coaxially fixedly connected to the drive capstan 6107. Two drive cables 6118, extending from the guide structure, pass around the reversing guide wheel 6104, then switch to extend in the second direction T2 and are guided along the second direction T2 to the drive structure 6100a. One of the drive cables 6118 is wound around the drive capstan 6107 in the third clockwise direction, and the other is wound around the capstan fixing wheel 6105 in the fourth clockwise direction. By controlling the drive capstan 6107 to rotate in the third or fourth clockwise direction, one of the two drive cables 6118 is selectively tightened or the other is released, thereby adjusting the degree of freedom of the end tool 6201. The axis of the drive capstan 6107 is parallel or approximately parallel to the first direction T1. Furthermore, the third clockwise direction is opposite to the fourth clockwise direction.

[0130] like Figure 5A 、 Figure 7 or Figure 8 As shown, in some embodiments, the drive box assembly 6100 further includes a horizontal pulley mounting base 6106, which is fixedly connected to the support base 6102. A horizontal pulley shaft 6108 is inserted into the horizontal pulley mounting base 6106 along a first direction T1. A horizontal pulley 6109 is rotatably connected to the horizontal pulley shaft 6108 along its axial direction. The axial direction of the horizontal pulley shaft 6108 is parallel or approximately parallel to the first direction T1. The drive cable 6118 extending from the guide structure passes around the reversing guide wheel 6104, then switches to extend in a second direction T2. It is then wound around the circumference of the horizontal pulley 6109 in the second direction T2 and then guided to the stranding cable mounting wheel 6105 or the drive capstan 6107. This ensures that the drive cable 6118 does not become entangled.

[0131] In some embodiments, the drive box assembly 6100 further includes a radio frequency identification (RFID) chip 6119 , which is used to record lifespan data and usage data of the drive box assembly 6100 .

[0132] In some embodiments, the drive box assembly 6100 further includes a lifespan drive disk 6110 and a lifespan display card 6111. The lifespan drive disk 6110 reads data from the radio frequency identification chip 6119 and displays the remaining lifespan of the drive box assembly 6100 via the lifespan display card 6111. Specifically, the lifespan drive disk 6110 is connected to the base 6101 and the support base 6102 by rotating along its own axis. The lifespan drive disk 6110 rotates based on the read lifespan data, driving the lifespan display card 6111 to move linearly along the axis of the lifespan drive disk 6110.

[0133] It is understandable that a linear conversion structure is connected between the life display card 6111 and the life drive disk 6110, and the present application does not limit the specific type of the linear conversion structure.

[0134] In some embodiments, the drive box assembly 6100 further includes a base 6101 and a rotating wheel 6114, which is rotatably connected to the base 6101 about its axis. The instrument shaft 6200 is coaxially fixedly connected to the rotating wheel 6114, and a drive cable 6118 extending from the guide structure extends through the rotating wheel 6114 to the reversing guide wheel 6104. The instrument shaft 6200 is provided with a first cable hole 6301 extending in a first direction T1, and the first cable hole 6301 is provided for the drive cable 6118 to pass through. In this way, the drive cable 6118 passes through the first cable hole 6301, which can radially limit the radial range of motion of the drive cable 6118, thereby reducing its swing in the guide structure and improving the transmission efficiency of the pulling force. In particular, when there are multiple driving cables 6118, it is possible to avoid the multiple driving cables 6118 from being entangled to generate radial force along the second direction T2 or the third direction T3, thereby affecting the accuracy of the pulling force measured by the sensor.

[0135] Here, when the rotatable wheel 6114 rotates about its own axis in a first clockwise direction, it drives both the instrument shaft 6200 and the end tool 6201 to rotate about their own axis in the first clockwise direction, thereby adjusting the degree of freedom of the end tool 6201 along its axis in the first clockwise direction. When the rotatable wheel 6114 rotates about its own axis in a second clockwise direction, it drives both the instrument shaft 6200 and the end tool 6201 to rotate about their own axis in the second clockwise direction, thereby adjusting the degree of freedom of the end tool 6201 along its axis in the second clockwise direction.

[0136] It should be noted that the first clockwise direction and the second clockwise direction are opposite clockwise directions, and the corresponding relationship can be configured according to actual circumstances. In some examples, the first clockwise direction can be clockwise and the second clockwise direction can be counterclockwise. The embodiments of the present application do not limit the corresponding relationship between the first clockwise direction and the second clockwise direction and clockwise and counterclockwise.

[0137] Figure 9A This is a schematic diagram of the assembly of a slewing capstan, a slewing driving wheel, and a slewing fixed wheel in a drive box assembly provided in an embodiment of the present application; Figure 9B for Figure 9A The diagram shows the separation of the slewing winch, slewing drive wheel and slewing fixed wheel. Figure 9A and Figure 9B As shown, in some embodiments, the drive box assembly 6100 further includes a slewing winch 6115, a slewing driving wheel 6116, a slewing fixed wheel 6117, a first slewing cable, and a second slewing cable. The slewing winch 6115 is connected to the base 6101 and rotates about its own axis. The slewing driving wheel 6116 and the slewing fixed wheel 6117 are fixedly mounted on the slewing winch 6115. One end of the first slewing cable is fixed to the slewing driving wheel 6116. After being wound around the slewing driving wheel 6116 and the slewing wheel 6114 in a third clockwise direction along the second direction T2, the other end of the first slewing cable is fixed to the slewing wheel 6114, so that the rotation of the slewing driving wheel 6116 is transmitted to the slewing wheel 6114 via the first slewing cable, thereby driving the slewing wheel 6114 to rotate. One end of the second rotating cable is fixed to the rotating fixed wheel 6117. After being wound around the rotating fixed wheel 6117 and the rotating wheel 6114 in the fourth clockwise direction along the second direction T2, the other end is fixed to the rotating wheel 6114. This transmits the rotation of the rotating fixed wheel 6117 to the rotating wheel 6114 via the second rotating cable, thereby driving the rotation of the rotating wheel 6114. The axes of the rotating wheel 6114, the rotating capstan 6115, the rotating drive wheel 6116, and the rotating fixed wheel 6117 are parallel or approximately parallel to the first direction T1.

[0138] When the slewing winch 6115 is driven to rotate in the third clockwise direction, the slewing drive wheel 6116 and the slewing fixed wheel 6117 both rotate in the third clockwise direction. Consequently, the first slewing cable is tightened on the slewing drive wheel 6116 and released on the slewing wheel 6114, exerting a rotational torque in the third clockwise direction on the slewing wheel 6114. The second slewing cable is released on the slewing fixed wheel 6117 and tightened on the slewing wheel 6114, exerting a rotational torque in the fourth clockwise direction on the slewing wheel 6114. The difference in rotational torque between the first and second slewing cables on the slewing wheel 6114 drives the slewing wheel 6114 to rotate in the third clockwise direction.

[0139] When the slewing winch 6115 is driven to rotate in the fourth clockwise direction, the slewing drive wheel 6116 and the slewing fixed wheel 6117 both rotate in the fourth clockwise direction. Then, the first slewing cable is released from the slewing drive wheel 6116 and tightened at the slewing wheel 6114, thereby applying a rotational torque in the third clockwise direction to the slewing wheel 6114. The second slewing cable is tightened at the slewing fixed wheel 6117 and released at the slewing wheel 6114, thereby applying a rotational torque in the fourth clockwise direction to the slewing wheel 6114. Based on the difference in rotational torque between the first and second slewing cables on the slewing wheel 6114, the slewing wheel 6114 is driven to rotate in the fourth clockwise direction.

[0140] It should be noted that the difference in rotational torque between the first rotating cable and the second rotating cable on the rotating wheel 6114 can be configured by adjusting the axial diameter ratio of the rotating driving wheel 6116 and the rotating fixed wheel 6117, which will not be repeated here.

[0141] In order to enable the drive cable 6118 to pass through the rotary wheel 6114 and extend to the reversing guide wheel 6104, in some embodiments, the rotary wheel 6114 is rotatably connected to the base 6101 through a connecting flange, and the rotary wheel 6114 is provided with a through hole along its own axis, and the through hole is used for the drive cable 6118 to pass through, thereby increasing the setting space of the through hole, preventing the drive cable 6118 from rubbing against the inner wall of the rotary wheel 6114, so that the force exerted by the drive cable 6118 on the sensor is equal to the pulling force exerted by the drive cable 6118 on the end tool 6201, thereby improving the accuracy of determining the clinical feedback force.

[0142] like Figure 9B As shown, in some embodiments, the slewing drive wheel 6116 is symmetrically provided with a first flat surface 6002 along its own axis. The first flat surface 6002 is inscribed on the inner sidewall of the slewing drive wheel 6116 and extends along the axial direction of the slewing drive wheel 6116. The slewing capstan 6115 is symmetrically provided with a second flat surface 6003 along its own axis. The second flat surface 6003 is circumscribed on a portion of the arc surface of the outer sidewall of the slewing capstan 6115 and extends along the axial direction of the slewing capstan 6115. The slewing drive wheel 6116 is sleeved on the slewing capstan 6115. The slewing drive wheel 6116 and the slewing capstan 6115 rotate synchronously coaxially through the first flat surface 6002 and the second flat surface 6003.

[0143] In some embodiments, the rotating fixed wheel 6117 is provided with two fixing holes 6004 symmetrically arranged along its own axis, and the two fixing holes 6004 extend along its own axis. After fasteners are passed through the two fixing holes 6004, they are locked to the relative outer side walls of the rotating capstan 6115, thereby realizing coaxial and synchronous rotation of the rotating fixed wheel 6117 and the rotating capstan 6115.

[0144] Figure 10AA schematic diagram of the exploded structure of the instrument shaft in the force-sensing surgical instrument provided in an embodiment of the present application; Figure 10B A schematic structural diagram of the force-sensing surgical instrument from the perspective of the instrument axis in an embodiment of the present application; Figure 10C for Figure 10A or Figure 10B Schematic diagram of the structure of the first sensing structure in the instrument shaft. Figures 10A to 10C As shown, in some embodiments, the instrument shaft 6200 further includes a rotary shaft 6205, which is coaxially fixedly connected to the rotary wheel 6114. The first sensing structure 6202 is connected between the rotary shaft 6205 and the end tool 6201. A first cable hole 6301 is provided in the first sensing structure 6202. This first cable hole 6301 limits the radial freedom of movement of the drive cable 6118 at the first sensing structure 6202, preventing the swing of the drive cable 6118 from affecting the force measurement accuracy of the first sensing structure 6202, thereby improving the accuracy of the force parameter detection by the first sensing structure 6202.

[0145] Here, when the rotating wheel 6114 rotates along the third clockwise direction, it drives the rotating shaft 6205, the first sensing structure 6202 and the end tool 6201 to rotate synchronously along the third clockwise direction, so that there is no interaction force between the first sensing structure 6202 and the end tool 6201, and the force measured by the first sensing structure 6202 is consistent with the force of the end tool 6201.

[0146] like Figure 10C As shown, the end tool 6201 may be subjected to forces in various directions within the surgical operation area. In order to obtain all the forces acting on the end tool 6201, in some embodiments, the first sensing structure 6202 includes a support segment 6302 and multiple groups of sensing components (not shown in the figure). The multiple groups of sensing components are arranged on the support segment 6302, and the multiple groups of sensing components are respectively used to collect force signals in different directions, thereby measuring the force parameters of the end tool 6201.

[0147] In some embodiments, the sensing element may be a strain gauge, FBG, or MEMS sensing structure. The present application does not impose any specific restrictions on the type of sensing element. For example, the MEMS may be a piezoelectric MEMS, a capacitive MEMS, or a piezoresistive MEMS.

[0148] Some types of sensing parts will deform when sensing force signals, such as strain gauges, FBGs, capacitive MEMS, or piezoresistive MEMS. The deformed sensing part will squeeze the support section 6302, and long-term contact can easily cause damage to the sensing part. In order to improve the service life of the sensing part, in some embodiments, the support section 6302 is configured to be elastic. In this way, the deformation of the sensing part drives the support section 6302 to deform together, and the elasticity of the support section 6302 is used to unload the force on the sensing part, thereby improving the service life of the sensing part.

[0149] In some embodiments, the first sensing structure 6202 is configured as a first uniaxial sensor to detect the axial force applied to the end tool 6201 along its own axis. This embodiment of the present application does not limit the sensor type of the first sensing structure 6202. Accordingly, the axial force and the pulling force are used to obtain the axial component of the clinical feedback force to characterize the characteristics of different human tissues.

[0150] In some examples, the difference between the axial force and the pulling force is the axial component of the clinical feedback force, and the positive or negative value of the difference indicates the direction in which the axial component acts on the end tool 6201.

[0151] In some embodiments, the first sensing structure 6202 can also be configured as a three-axis sensor, so as to measure the force applied to the end tool 6201 in the first direction T1, the second direction T2 and the third direction T3, thereby improving the comprehensiveness of clinical feedback force acquisition.

[0152] In some embodiments, the first sensing structure 6202 can also be configured as a 6-axis sensor, so that it can also measure the first torque M1, the second torque M2 and the third torque M3 in the first direction T1, the second direction T2 and the third direction T3, further improving the comprehensiveness of clinical feedback force acquisition.

[0153] In some embodiments, the rotating wheel 6114 and the rotating shaft 6205 can be fixed by welding.

[0154] In some embodiments, the rotating wheel 6114 and the rotating shaft 6205 can be fixed by plugging together using a protrusion-groove structure. The protrusion-groove structure includes a protrusion and a groove, one of which is provided at the end of the rotating wheel 6114 facing the rotating shaft 6205, and the other is provided at the end of the rotating shaft 6205 facing the rotating wheel 6114. The rotating wheel 6114 and the rotating shaft 6205 are coaxially connected and fixed by plugging together using the protrusion and groove.

[0155] In some examples, a protrusion is provided on the rotating wheel 6114, and a groove is provided on the rotating shaft 6205. The protrusion can be formed by extending outward along the axial direction of the rotating wheel 6114 from a portion of the end surface of the rotating wheel 6114 facing the rotating shaft 6205; the groove can be formed by extending outward along the axial direction of the rotating shaft 6205 from a portion of the end surface of the rotating shaft 6205 facing the rotating wheel 6114. The profile dimensions of the protrusion and the groove match to ensure stable insertion.

[0156] In some embodiments, the protrusion can be configured as a keyway shape, and the groove can also be configured as a keyway shape. Accordingly, the size of the protrusion is consistent with the size of the groove.

[0157] Similarly, the technical solution of the groove being provided on the rotating wheel 6114 and the protrusion being provided on the rotating shaft 6205 can refer to the implementation method of the protrusion being provided on the rotating wheel 6114 and the groove being provided on the rotating shaft 6205, and will not be repeated here.

[0158] It should be noted that the above-mentioned welding and plugging are only examples of fixedly connecting the rotating wheel 6114 and the rotating shaft 6205, and the embodiment of the present application does not limit the method of fixedly connecting the rotating wheel 6114 and the rotating shaft 6205.

[0159] In some embodiments, the first sensing structure 6202 is hinged to the end tool 6201 so that the end tool 6201 can adjust the pitch degree of freedom relative to the axial direction of the hinge axis.

[0160] In some examples, the end of the first sensing structure 6202 is provided with an outwardly extending hinge end 6304. A hinge axis 632 is fixedly mounted on the hinge end 6304 along the radial direction of the first sensing structure 6202. A pitch wheel 631 of the end tool 6201 is connected to the hinge axis 632 and rotatably rotates along the axial direction of the hinge axis 632. When the pitch wheel 631 rotates, it drives the end tool 6201 to adjust the pitch degree of freedom. The axial direction of the hinge axis 632 is parallel or approximately parallel to the third direction T3.

[0161] In some examples, the drive cable 6118 passes through the rotary shaft 6205 and the first sensing structure 6202 and then winds circumferentially around the pitch wheel 631. When the drive cable 6118 is tightened, the pitch wheel 631 rotates in a first clockwise direction; when the drive cable 6118 is released, the pitch wheel 631 rotates in a second clockwise direction, with the first clockwise direction and the second clockwise direction being opposite, thereby adjusting the pitch degree of freedom of the end tool 6201.

[0162] In some embodiments, the first sensing structure 6202 and the end tool 6201 are also fixed by plugging together through a convex-groove structure. The embodiment of plugging together and fixing the first sensing structure 6202 and the end tool 6201 can refer to the implementation method of plugging together and fixing the rotating wheel 6114 and the rotating shaft 6205 through a convex-groove structure.

[0163] In some embodiments, the technical solution for connecting the first sensing structure 6202 to the rotating shaft 6205 can refer to the implementation method for connecting the rotating wheel 6114 to the rotating shaft 6205, and will not be repeated here.

[0164] Figure 10D for Figure 10C A structural diagram of a first sensing structure from one perspective is shown. Figure 10D As shown, in order to prevent the multiple drive cables 6118 from becoming entangled with each other within the guide structure and affecting transmission efficiency and accuracy, in some embodiments, the inner wall of the first wire-passing hole 6301 is curved along the arrangement direction (third direction T3) of the multiple drive cables 6118 within the guide structure. In this way, after the multiple drive cables 6118 are passed through the first wire-passing hole 6301, the different positions of the curved inner wall in the arrangement direction can confine the drive cables 6118 to different activity areas. Even if the drive cables 6118 swing in their own radial direction, they will not become entangled with other drive cables 6118, and no radial force (force in the second direction T2 or the third direction T3) will be generated on the first sensing structure 6202. This reduces interference with the force parameter detection of the first sensing structure 6202 and improves the accuracy of the force parameter detection. Specifically, when the instrument shaft 6200 rotates around its own axis p, the driving cable 6118 will not be entangled with each other in the cavity of the first sensing structure 6202 due to the limitation of the first wire hole 6301, and thus will not generate radial component force on the first sensing structure 6202, thereby improving the accuracy of force parameter detection.

[0165] For example, the end tool 6201 swings around the third direction T3 to achieve pitch, and the inner wall of the first wire hole 6301 is bent along the arrangement direction of the multiple drive cables 6118 in the guide structure (the third direction T3). The three drive cables 6118 pass through the first wire hole 6301. Since the inner wall of the first wire hole 6301 is bent along the arrangement direction of the multiple drive cables 6118 in the guide structure (the third direction T3), the range of radial movement of the three drive cables 6118 is staggered, and the three drive cables 6118 will not be entangled with other drive cables 6118 when shaking along their own radial direction.

[0166] In some examples, the first sensing structure 6202 has a first wall 62 in the radial direction, and the first wire-passing hole 6301 has multiple wire-threading areas 630. A first protruding area 6305 and a second protruding area 6306 are formed between two adjacent wire-threading areas 630. The first protruding area 6305 protrudes toward the first wall 62, and the second protruding area 6306 protrudes away from the first wall 62. In this way, one of the adjacent wire-threading areas 630 is close to the first wall 62, and the other is away from the first wall 62. This prevents the drive cable 6118 from becoming entangled during radial swing. The inner walls of each wire-threading area 630 can also limit the swing of the drive cable 6118, thereby enhancing the restraining effect on the drive cable 6118. Furthermore, because the wire-threading areas 630 are connected, the area that may rub against the drive cable 6118 is reduced, thereby reducing the impact of friction.

[0167] In some embodiments, in order to achieve bidirectional adjustment of the end tool 6201 in one degree of freedom, the number of drive cables 6118 is arranged in pairs, such as 2, 4, 6 or other values. Accordingly, the threading areas 630 of the first threading holes 6301 are arranged in pairs, so that the two drive cables 6118 corresponding to one degree of freedom are installed in pairs in the first threading holes 6301 arranged in pairs.

[0168] Figure 10E for Figure 10A or Figure 10B Another structural diagram of the first sensing structure in the instrument shaft is shown. Figure 10E As shown, in some embodiments, there are multiple first cable holes 6301, each of which is for a drive cable 6118 to pass through. The multiple first cable holes 6301 are staggered along the arrangement direction of the multiple drive cables 6118 within the guide structure (which can be understood as the third direction T3). In this way, the radial range of motion of the drive cable 6118 corresponds to the first cable hole 6301. Different first cable holes 6301 are staggered in the third direction T3, so that the drive cables 6118 will not be entangled with each other, thereby reducing interference with the force parameter detection of the first sensing structure 6202 and improving the accuracy of the force parameter detection.

[0169] Figure 11 for Figure 10A The schematic diagram of the structure of the sealing ring in the instrument shaft is shown in FIG. Figure 10A and Figure 11As shown, in some embodiments, the instrument shaft 6200 further includes an adapter sleeve 6204 and a sealing gasket 6203. The rotating shaft 6205 is fixedly connected to the first sensing structure 6202 via the adapter sleeve 6204. The adapter sleeve 6204 includes a flushing port 6303 for delivering pure water or other cleaning agents to the first wire hole 6301 to clean contaminants attached to the hole. The sealing gasket 6203 is sleeved within the adapter sleeve 6204 and is located on the side of the flushing port 6303 close to the rotating shaft 6205. The sealing gasket 6203 is provided with a second wire hole 620 corresponding to the first wire hole 6301. In this way, the adapter sleeve integrates a flushing port to deliver pure water and other cleaning agents to the first wire hole 6301, thereby improving the functional integration. A sealing gasket 6203 is provided on the side of the flushing port 6303 close to the rotating shaft 6205. During laparoscopic surgery, carbon dioxide is required to establish pneumoperitoneum to maintain the filling state in the abdominal cavity, so that the abdominal wall expands to form a surgical operation space. Therefore, the sealing gasket 6203 can not only maintain the stability of the pneumoperitoneum pressure, but also prevent intraoperative tissue fluid and contaminants from invading the instrument cavity. In addition, the second wire hole 620 corresponds to the first wire hole 6301, ensuring the smooth movement of the drive cable 6118 along the first direction T1. This design not only meets the functional requirements of surgical flushing, but also ensures the accuracy and reliability of the force-sensing surgical instrument 6000.

[0170] In addition, when the instrument shaft 6200 rotates around its own axis p, the drive cable 6118 will not be entangled or twisted in the cavity of the first sensing structure 6202 due to the limitation of the second wire hole 620, and will not generate radial force interference on the flushing port 6303, thereby preventing pure water and other cleaning agents from being splashed to other positions of the force-sensing surgical instrument 6000 by radial force, thereby improving safety.

[0171] Figure 12A for Figure 10A A schematic diagram of the structure of the adapter sleeve in the instrument shaft at one viewing angle; Figure 12B for Figure 10A Schematic diagram of the cross-sectional structure of the adapter sleeve in the instrument shaft shown Figure 1 ; Figure 12C for Figure 10A Schematic diagram of the cross-sectional structure of the adapter sleeve in the instrument shaft shown Figure 2 .like 12A to 12CAs shown, in some embodiments, the inner wall of the adapter sleeve 6204 is convex outward to form a first protrusion 621, and the end surface of the first sensing structure 6202 facing the adapter sleeve 6204 is concave inward to form a first groove 62041. The first sensing structure 6202 is partially coaxially sleeved within the adapter sleeve 6204, so that the first groove 62041 and the first protrusion 621 are plugged into each other, thereby achieving a fixed connection between the adapter sleeve 6204 and the first sensing structure. Because the first protrusion 621 and the first groove 62041 are connected to the interior of the adapter sleeve 6204, the sealing performance of the connection between the adapter sleeve 6204 and the first sensing structure 6202 is improved.

[0172] In some embodiments, the axial section of the first sensing structure 6202 at least partially overlaps with the flushing port 6303 of the adapter sleeve 6204, and the side wall of the first sensing structure 6202 is provided with a guide hole 624 matching the flushing port 6303, so that pure water and other cleaning agents can be transported to the first wire hole 6301 after passing through the flushing port 6303 and the guide hole 624.

[0173] To enhance the radial stability of the connection between the adapter sleeve 6204 and the first sensing structure 6202, in some embodiments, both the first protrusions 621 and the first grooves 62041 are configured to be two. The two first protrusions 621 are axially symmetrically arranged on the inner wall of the adapter sleeve 6204, while the two first grooves 62041 are axially symmetrically arranged on the inner wall of the first sensing structure 6202. This allows the first sensing structure 6202 to be partially coaxially sleeved within the adapter sleeve 6204, where the two first protrusions 621 correspondingly engage with the two first grooves 62041, thereby achieving a secure connection between the adapter sleeve 6204 and the first sensing structure 6202.

[0174] In some embodiments, the inner wall of the adapter sleeve 6204 is formed with a second protrusion 622, and the end surface of the rotary shaft 6205 facing the adapter sleeve 6204 is recessed inward to form a second groove 62051. The rotary shaft 6205 is partially coaxially sleeved within the adapter sleeve 6204, so that the second protrusion 622 and the second groove 62051 engage, thereby achieving a fixed connection between the rotary shaft 6205 and the first sensing structure. Because the second protrusion 622 and the second groove 62051 are connected within the adapter sleeve 6204, the sealing between the adapter sleeve 6204 and the rotary shaft 6205 is improved. Specifically, the first protrusion 621 is closer to the first sensing structure 6202 than the second protrusion 622.

[0175] To enhance the radial stability of the connection between the adapter sleeve 6204 and the rotating shaft 6205, in some embodiments, the number of second protrusions 622 and second grooves 62051 is two, with the two second protrusions 622 axially symmetrically arranged on the inner wall of the adapter sleeve 6204, and the two second grooves 62051 axially symmetrically arranged on the inner wall of the rotating shaft 6205. In this way, after the rotating shaft 6205 is partially coaxially sleeved within the adapter sleeve 6204, the two second protrusions 622 correspondingly engage with the two second grooves 62051, achieving a fixed connection between the adapter sleeve 6204 and the rotating shaft 6205.

[0176] In some embodiments, the technical solution of the second wire passing hole 620 can refer to the implementation of the first wire passing hole 6301, and will not be repeated here.

[0177] To further prevent tissue fluid and other contaminants from leaking into the drive cartridge assembly 6100, in some embodiments, the adapter sleeve 6204 further includes a positioning plate 623 internally connected to the inner wall of the adapter sleeve 6204. A sealing gasket 6203 is disposed on the side of the positioning plate 623 near the rotating shaft 6205. The first sensing structure 6202 and the rotating shaft 6205 extend to abut against the positioning plate 623 and the sealing gasket 6203 at their ends facing away from each other. The positioning plate 623 includes a third cable hole 6231 corresponding to the second cable hole 620. Thus, by utilizing the positioning plate 623 and extending the first sensing structure 6202 and the rotating shaft 6205 to abut against the positioning plate 623 and the sealing gasket 6203 at their ends facing away from each other, the coaxiality of the coaxial connection between the first sensing structure 6202, the adapter sleeve 6204, and the rotating shaft 6205 can be improved, thereby improving the accuracy of the extension of the drive cable 6118 along the first direction T1.

[0178] In some embodiments, the positioning plate 623 and the sealing gasket 6203 are located between the first protrusion 621 and the second protrusion 622. In other words, the first sensing structure 6202 abuts against the side of the positioning plate 623 facing away from the sealing gasket 6203, and the rotating shaft 6205 abuts against the side of the sealing gasket 6203 facing away from the positioning plate 623.

[0179] In some embodiments, the technical solution of providing the third wire-passing hole 6231 on the positioning plate 623 can refer to the implementation of providing the first wire-passing hole 6301 on the first sensing structure 6202 , and will not be repeated here.

[0180] It should be noted that the force-sensing surgical instruments provided in different embodiments are based on the same concept. The technical features and implementation methods not recorded in a certain embodiment can refer to the technical solutions of the force-sensing surgical instrument 6000 in other embodiments and will not be repeated here.

[0181] Figure 13 This is another structural diagram of the drive box assembly in the force sensing surgical instrument provided in the embodiment of the present application. Figure 13 As shown, in other embodiments of the present application, the drive box assembly may further include a lever hinge 6605, a lever connecting rod 6604, and a reversing guide wheel 6602. The lever hinge 6605 is fixedly connected to the base 6101. The lever connecting rod 6604 is connected to the lever hinge 6605 at an intermediate position and has a first end and a second end opposite to each other. The second sensing structure 6606 is connected to the first end. The reversing guide wheel 6602 is connected to the second end. The drive cable 6118 extending from the guide structure is wound around the reversing guide wheel 6602 and then converted to extend along the second direction T2. It is then guided along the second direction T2 to the horizontal pulley 6603 and ultimately to the drive structure 6601.

[0182] It should be noted that, in order to distinguish it from other embodiments, the labels of some structures have been adjusted. However, since this embodiment is based on the same inventive concept, the contents not elaborated in this embodiment can be explained with reference to any of the aforementioned embodiments. For example, the horizontal pulley 6603 can be understood with reference to the horizontal pulley 6109 in the previous text, and the driving structure 6601 can be understood with reference to the driving structure 6100a in the previous text, and they will not be repeated here.

[0183] Through the above solution, the second sensing structure 6606 is arranged at a position away from the reversing guide wheel 6602 through the lever structure (lever link 6604 and lever hinge 6605), thereby improving the flexibility of arranging the second sensing structure 6606. Specifically, according to the force balance principle of the lever, the first lever arm from the lever hinge 6605 to the first end is equal to the second lever arm from the lever hinge 6605 to the second end. Therefore, the force F' exerted by the drive cable 6118 on the first end through the reversing guide wheel 6602 and the force F" exerted by the second end on the second sensing structure 6606 are of the same magnitude. Accordingly, by collecting the force F" exerted by the second end on the second sensing structure 6606 through the second sensing structure 6606, the force F' exerted by the drive cable 6118 on the first end through the reversing guide wheel 6602 can be obtained, thereby obtaining the pulling force of the drive cable 6118.

[0184] In addition, the driving cable 6118 continues to extend in the second direction T2 after passing the reversing guide wheel 6602, which can prevent the driving cable 6118 from generating interference components in other directions on the second sensing structure 6606, thereby improving the detection accuracy of the pulling force.

[0185] Based on the same concept, an embodiment of the present application also provides a surgical robot, including an end tool 6201, a main console 2000 and a force-sensing surgical instrument 6000 of any of the aforementioned embodiments. The main console 2000 is used to receive input operation instructions to control the force-sensing surgical instrument 6000 to adjust the posture of the end tool 6201.

[0186] It should be noted that the surgical robot is conceived corresponding to the aforementioned force-sensing surgical instrument 6000, and has corresponding technical effects as the aforementioned force-sensing surgical instrument 6000. The technical features and implementation methods not recorded in this embodiment can refer to the technical solutions of the aforementioned force-sensing surgical instrument 6000 and will not be repeated here.

[0187] In some embodiments, the surgical robot further includes a signal processing module electrically connected to the first sensing structure 6202 and the second sensing structure 6103 to receive a first electrical signal transmitted by the first sensing structure 6202 and a second electrical signal transmitted by the second sensing structure 6103; the first electrical signal includes information for representing a force parameter, and the second electrical signal includes information for representing a pulling force;

[0188] The signal processing module processes the first and second electrical signals to generate a third electrical signal containing information representing the clinical feedback force. This decouples the measurements of the first and second sensing structures 6202 and 6103 through the signal processing module, eliminating interference from cable tension and accurately extracting the clinical feedback force of the end tool 6201.

[0189] Exemplarily, after the signal processing module processes the first electrical signal, it obtains that the total force of the end tool 6201 along the first direction T1 is F1. After the signal processing module processes the second electrical signal, it obtains that the pulling force of the drive cable 6118 along the first direction T1 is F2. The signal processing module can subtract F1 and F2 to obtain the clinical feedback force along the first direction T1 as the difference between F1 and F2. The direction can be judged based on the positive or negative sign of the difference.

[0190] In some examples, the signal processing module is connected to the first sensing structure 6202 and the second sensing structure 6103 through wires to enable the first electrical signal and the second electrical signal to be transmitted to the signal processing module through the wires. The wires can pass through the first wire hole 6301, the second wire hole 620 and the third wire hole 6231 to be connected to the first sensing structure 6202.

[0191] In some embodiments, the first sensing structure 6202 is configured as a first uniaxial sensor for detecting the axial force applied to the end tool 6201 along its own axis. In this case, the signal processing module is electrically connected to the first sensing structure 6202 and the second sensing structure 6103 to receive a fourth electrical signal transmitted by the first uniaxial sensor and a second electrical signal transmitted by the second sensing structure 6103. The fourth electrical signal contains information representing the axial force, and the second electrical signal contains information representing the pulling force. The signal processing module is configured to process the fourth and second electrical signals to generate a fifth electrical signal containing information representing the axial component of the clinical feedback force. In this way, the signal processing module decouples the measured values of the first uniaxial sensor and the second sensing structure 6103, eliminating interference from the cable pulling force and accurately extracting the axial component of the clinical feedback force of the end tool 6201.

[0192] It is easy to understand that those skilled in the art can combine, split, reorganize, etc. the embodiments of the present application based on the several embodiments provided in the present application to obtain other embodiments, and these embodiments do not exceed the scope of protection of the present application.

[0193] The above specific implementation methods further explain in detail the purpose, technical solutions and beneficial effects of the embodiments of the present application. It should be understood that the above are only specific implementation methods of the embodiments of the present application and are not intended to limit the scope of protection of the embodiments of the present application. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the embodiments of the present application should be included in the scope of protection of the embodiments of the present application.

Claims

1. A force sensing surgical instrument for adjusting the posture of an end tool, characterized in that: The force sensing surgical instrument comprises: a drive box assembly comprising a drive structure and a drive cable connected to the drive structure; An instrument shaft is connected between the drive box assembly and the end tool, and is provided with a guide structure extending along a first direction, through which the drive cable passes and is connected to the end tool; the drive structure is used to drive the drive cable to adjust the posture or state of the end tool; Among them, the instrument shaft is provided with a first sensing structure for detecting the force parameters of the end tool, and the force parameters are used to represent the sum of the forces on the end tool; the drive box assembly is provided with a second sensing structure for detecting the pulling force of the drive cable, and the force parameters and the pulling force are used to obtain clinical feedback force, and the magnitude of the clinical feedback force is used to characterize the characteristics of different human tissues.

2. The force sensing surgical instrument according to claim 1, characterized in that: The drive box assembly also includes: a reversing wheel shaft, fixedly connected to the second sensing structure; a reversing guide wheel, rotatably connected to the reversing wheel shaft along its axis; the drive cable extending from the guide structure passes around the reversing guide wheel and then switches to extend in a second direction, and is guided to the drive structure along the second direction; the first direction and the second direction are perpendicular to each other; The second sensing structure includes a main body and a sensing element, and the sensing element is arranged at a position of the main body corresponding to the reversing wheel shaft.

3. The force sensing surgical instrument according to claim 2, characterized in that: The main body is provided with a mounting hole extending along the axial direction of the reversing wheel shaft, and the reversing wheel shaft is passed through the mounting hole; the sensor is clamped between the reversing wheel shaft and the inner wall of the mounting hole.

4. The force sensing surgical instrument according to claim 3, characterized in that: A first elastic member is provided on the inner wall of the mounting hole, and the sensor is clamped between the first elastic member and the reversing wheel shaft.

5. The force sensing surgical instrument according to claim 4, characterized in that: The sensing element is arranged on the inner wall of the mounting hole along the first direction; or, The sensor is arranged on the inner wall of the mounting hole along the second direction.

6. The force sensing surgical instrument according to claim 2, characterized in that: The main body has a wire threading groove, which faces the instrument shaft, so that the driving cable passing through the guide structure extends to the reversing guide wheel through the wire threading groove.

7. The force sensing surgical instrument according to claim 2, characterized in that: The drive box assembly further includes a base and a rotary wheel, wherein the rotary wheel is connected to the base so as to rotate around the axis of the rotary wheel; The instrument shaft is coaxially and fixedly connected to the rotary wheel, and the driving cable passing through the guide structure extends through the rotary wheel to the reversing guide wheel; A first wire-passing hole extending along the first direction is provided in the instrument shaft, and the first wire-passing hole is for the driving cable to pass through.

8. The force sensing surgical instrument according to claim 7, characterized in that: The instrument shaft further comprises a rotary shaft, and the rotary shaft is coaxially and fixedly connected to the rotary wheel; The first sensing structure is connected between the rotary shaft and the end tool; the first wire hole is provided in the first sensing structure.

9. The force sensing surgical instrument according to claim 8, characterized in that: There are multiple driving cables, and the inner wall of the first cable hole is curved along the arrangement direction of the multiple driving cables in the guide structure; or, There are a plurality of first wire-passing holes, each of which is for one driving cable to pass through, and the plurality of first wire-passing holes are staggered along the arrangement direction of the plurality of driving cables in the guide structure.

10. The force sensing surgical instrument according to claim 8, characterized in that: The instrument shaft further comprises: An adapter sleeve, through which the rotary shaft is fixedly connected to the first sensing structure; the adapter sleeve includes a flushing port for conveying pure water and other cleaning agents to the first wire hole; The sealing gasket is sleeved in the adapter sleeve and is located on a side of the flushing port close to the rotary shaft. The sealing gasket is provided with a second wire hole corresponding to the first wire hole.

11. The force sensing surgical instrument according to claim 10, characterized in that: The adapter sleeve is further provided with a positioning plate connected to the inner wall of the adapter sleeve; the sealing gasket is provided on a side of the positioning plate close to the rotary shaft; The first sensing structure and the rotary shaft extend to abut against one end of the positioning plate and the sealing gasket facing away from each other; a third wire passing hole corresponding to the second wire passing hole is provided on the positioning plate.

12. The force sensing surgical instrument according to claim 1, wherein: The drive box assembly also includes: base; a lever hinge fixedly connected to the base; a lever link, connected to the lever hinge at an intermediate position and having a first end and a second end opposite to each other; the second sensing structure is connected to the first end; The reversing guide wheel is connected to the second end. The driving cable passing through the guide structure is wound around the reversing guide wheel and then converted to extend along the second direction and guided to the driving structure along the second direction.

13. The force sensing surgical instrument according to any one of claims 1 to 12, characterized in that: The first sensing structure is configured as a first uniaxial sensor for detecting an axial force applied to the end tool along its own axial direction; The axial force and the pulling force are used to obtain the axial component of the clinical feedback force to characterize the characteristics of different human tissues.

14. A surgical robot, characterized in that: It comprises an end tool, a main console, and a force sensing surgical instrument according to any one of claims 1 to 12, wherein the main console is used to receive input operation instructions to control the force sensing surgical instrument to adjust the posture of the end tool.

15. The surgical robot according to claim 14, characterized in that: The surgical robot further includes a signal processing module electrically connected to the first sensing structure and the second sensing structure to receive a first electrical signal transmitted by the first sensing structure and a second electrical signal transmitted by the second sensing structure; the first electrical signal includes information for representing the force parameter, and the second electrical signal includes information for representing the pulling force; The signal processing module is used to perform data processing on the first electrical signal and the second electrical signal to obtain a third electrical signal, and the third electrical signal contains information for characterizing the clinical feedback force.

16. A surgical robot, characterized in that: It comprises an end tool, a main console, and a force-sensing surgical instrument according to claim 13, wherein the main console is used to receive input operation instructions to control the force-sensing surgical instrument to adjust the posture of the end tool.

17. The surgical robot according to claim 16, characterized in that: The surgical robot further includes a signal processing module; The signal processing module is electrically connected to the first uniaxial sensor and the second sensing structure to receive the fourth electrical signal of the first uniaxial sensor and the second electrical signal transmitted by the second sensing structure; The fourth electrical signal includes information for representing the axial force, and the second electrical signal includes information for representing the pulling force; The signal processing module is used to perform data processing on the fourth electrical signal and the second electrical signal to obtain a fifth electrical signal, where the fifth electrical signal contains information for characterizing the axial component of the clinical feedback force.

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