Surgical assistive devices and surgical robots

Abstract

The present invention provides a surgical assisting instrument and a surgical robot. The surgical assisting instrument includes: a supporting assembly, a supporting assembly and a linear motor assembly. The linear motor assembly is connected between the supporting assembly and the supporting assembly, and includes a primary mover unit and a secondary stator unit. The primary mover unit is relatively fixed to the supporting assembly, and the secondary stator unit is relatively fixed to the supporting assembly. An air gap is formed between the primary mover unit and the secondary stator unit, and the primary mover unit can reciprocate along a predetermined straight line relative to the secondary stator unit, so that the supporting assembly can reciprocate along a predetermined straight line relative to the supporting assembly under the drive of the primary mover unit. The surgical assisting instrument with this arrangement can not only support the arm of the surgeon, but also provide linear displacement for the arm placed thereon through the linear motor assembly, thereby reducing the impact of the shaking of the arm, and further, can also achieve the purpose of responding to the movement of the surgeon's arm.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical auxiliary instrument and a surgical robot. Background Art

[0002] With the improvement of science and technology, the use of medical devices is becoming more and more widespread. In some complex surgical conditions, such as microsurgery, the surgeon needs to stand or sit for a long time and support his arms very stably under a microscope to perform the operation. Therefore, the surgeon's arms need to be supported to reduce arm shaking. And when the surgeon's arms are supported by the support device, the support device needs to respond to the movement of the arm and reduce unnecessary arm shaking. However, existing surgical equipment does not yet have an arm support device design that can meet the conditions of microsurgery. Summary of the invention

[0003] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, a surgical auxiliary instrument is provided, including: a supporting assembly, which includes a supporting side for supporting the arm of a surgeon, and a supporting side opposite to the supporting side; a supporting assembly, which is movably connected to the supporting side of the supporting assembly; and a linear motor assembly, which is connected between the supporting assembly and the supporting assembly, the linear motor assembly including a primary mover unit and a secondary stator unit, the primary mover unit is relatively fixed to the supporting assembly, the secondary stator unit is relatively fixed to the supporting assembly, an air gap is formed between the primary mover unit and the secondary stator unit, and the primary mover unit and the secondary stator unit can reciprocate along a predetermined straight line relative to the secondary stator unit, so that the supporting assembly can reciprocate along a predetermined straight line relative to the supporting assembly under the drive of the primary mover unit.

[0004] The surgical auxiliary instrument with this setting can be used by the surgeon to place his arm on the surgical auxiliary instrument during use. The surgical auxiliary instrument can not only support the arm, but also, since a linear motor assembly is arranged between the supporting assembly and the supporting assembly, the primary mover unit and the secondary stator unit of the linear motor assembly can move relative to each other along a predetermined straight line, thereby providing a linear displacement for the arm placed on the surgical auxiliary instrument. When the surgical auxiliary instrument is applied to a surgical robot, the linear motor assembly can be connected to the controller of the surgical auxiliary device, wherein when the surgeon's arm moves, the supporting assembly will undergo a linear displacement relative to the supporting assembly, and the linear motor assembly can send a feedback signal to the controller for characterizing the current motion parameters of the arm (such as arm motion speed, acceleration, and arm motion force). In other words, the linear motor assembly can be used as a sensor to collect the current motion parameters of the arm, and the controller can control the linear motor assembly to work according to the feedback signal from the linear motor assembly, so that the surgical auxiliary instrument can achieve the purpose of responding to the movement of the surgeon's arm.

[0005] Exemplarily, the primary mover unit includes a plurality of permanent magnets arranged in sequence along a predetermined straight line direction, and the permanent magnets are Halbach array-type permanent magnets; the secondary stator unit includes a plurality of stator teeth arranged in sequence and spaced apart along a predetermined straight line direction, stator slots are defined between two adjacent stator teeth, and stator windings are wound on the stator teeth.

[0006] Exemplarily, each permanent magnet includes a first magnetic steel and a second magnetic steel whose magnetic poles are perpendicular to each other; and in two adjacent permanent magnets, the magnetic poles of the first magnetic steel are in opposite directions, and the magnetic poles of the second magnetic steel are in opposite directions.

[0007] Exemplarily, the permanent magnets are skewed poles tilted by n stator slot pitches, and / or the stator slots are skewed slots tilted by n stator slot pitches, where n is less than 1 and greater than 0.

[0008] Exemplarily, the value range of n is 0.3 to 0.6.

[0009] Exemplarily, the stator winding adopts fractional-slot concentrated winding.

[0010] Exemplarily, the support assembly and / or the supporting assembly is made of a lightweight material.

[0011] Exemplarily, the stator winding is coated with a packaging layer formed by epoxy potting glue having a thermal conductivity greater than a predetermined threshold.

[0012] Exemplarily, the linear motor assembly also includes a linear magnetic grating encoder, which includes: a magnetic scale, which is relatively fixed to the supporting assembly, and the magnetic scale includes a first magnetic grating and a second magnetic grating extending along a predetermined straight line direction; and a linear encoder reading head, which is relatively fixed to the supporting assembly and can move along the extension direction of the magnetic scale when the supporting assembly moves relative to the supporting assembly.

[0013] Exemplarily, a guide portion is provided on the supporting assembly, and a guide adapter portion is provided on the supporting assembly. The guide portion cooperates with the guide adapter portion to guide the movement direction of the supporting assembly relative to the supporting assembly.

[0014] Exemplarily, the guiding portion includes a guide rail disposed on the supporting assembly, and the guide rail extends along a predetermined straight line direction; the guiding adapter portion includes a slider disposed on the supporting assembly, and the slider is disposed on the guide rail and can slide along the guide rail; and / or the guiding portion includes a slider disposed on the supporting assembly, the guiding adapter portion includes a guide rail disposed on the supporting assembly, and the guide rail extends along a predetermined straight line direction, and the slider is disposed on the guide rail and can slide along the guide rail.

[0015] Exemplarily, the supporting assembly includes a supporting inner ring having an arc-shaped supporting surface on the supporting side; the supporting assembly includes a supporting outer ring, which is coaxially arranged with the supporting inner ring, and the predetermined straight line direction is the axial direction of the supporting inner ring.

[0016] Exemplarily, the supporting assembly and the support assembly are interlocked with each other to form a chamber therebetween, and the linear motor assembly is disposed in the chamber.

[0017] Exemplarily, a first concave-convex groove is provided on the edge of the supporting component extending along the predetermined straight line direction, and a second concave-convex groove is provided on the edge of the supporting component extending along the predetermined straight line direction. The first concave-convex groove and the second concave-convex groove are interlocked to seal the chamber.

[0018] Exemplarily, the support assembly includes a pivot support portion, and the support assembly is supported in a rotatable manner around a predetermined axis with the pivot support portion as a fulcrum, and the predetermined axis is perpendicular to the predetermined straight line direction.

[0019] According to another aspect of the present invention, a surgical robot is provided, comprising any one of the surgical auxiliary instruments described herein and a controller, wherein the controller is connected to a linear motor assembly and is used to control the linear motor assembly to perform corresponding actions according to control data, wherein the control data comprises a feedback signal from the linear motor assembly.

[0020] A series of simplified concepts are introduced in the summary of the invention, which will be further described in detail in the detailed description. The summary of the invention does not mean to attempt to define the key features and essential technical features of the claimed technical solution, nor does it mean to attempt to determine the scope of protection of the claimed technical solution.

[0021] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The following drawings of the present invention are used as part of the present invention for understanding the present invention. The drawings show the embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0023] Figure 1 is a cross-sectional view of a surgical assisting instrument according to an exemplary embodiment of the present invention;

[0024] Figure 2 for Figure 1 A schematic diagram of the primary mover unit shown; and

[0025] Figure 3 for Figure 1 Schematic diagram of the secondary stator unit is shown.

[0026] The above drawings include the following reference numerals:

[0027] 100, supporting assembly; 101, supporting side; 102, supporting side; 110, guiding portion; 120, supporting inner ring; 130, first concave-convex groove; 200, supporting assembly; 210, guiding adapter portion; 220, supporting outer ring; 230, second concave-convex groove; 240, pivoting supporting portion; 300, linear motor assembly; 310, primary mover unit; 311, first magnetic steel; 312, second magnetic steel; 320, secondary stator unit; 321, stator tooth pole; 322, stator slot; 400, linear magnetic encoder; 410, magnetic scale; 420, linear encoder reading head. DETAILED DESCRIPTION

[0028] In the following description, a large number of details are provided so that the present invention can be thoroughly understood. However, those skilled in the art will appreciate that the following description only exemplifies preferred embodiments of the present invention, and the present invention can be implemented without one or more such details. In addition, in order to avoid confusion with the present invention, some technical features known in the art are not described in detail. Before describing in detail the surgical assisting instrument and the surgical robot having the surgical assisting instrument provided in the embodiments of the present invention, it is necessary to explain the related technologies as follows:

[0029] In the related art, under some complex surgical conditions, such as microsurgery, the surgeon needs to stand or sit for a long time and support his arms very stably under a microscope to perform surgical operations, so the surgeon's arms need to be supported to reduce arm shaking. After research, the inventor found that if the surgeon's arms are supported, the surgeon's surgical pressure can be reduced and arm shaking can be reduced. However, if an arm support device is used to support the surgeon's arms, the arm support device must be able to respond to and follow the movement of the arm to facilitate the surgeon's arm movements and eliminate unnecessary arm shaking to reduce the adverse consequences caused by arm shaking. However, existing surgical equipment does not yet have such an arm support device design that can meet the conditions of microsurgery.

[0030] Therefore, in order to reduce arm shaking of a surgeon, according to one aspect of the present invention, a surgical assisting instrument is provided, which can respond to and follow the arm movement while reducing arm shaking of the surgeon.

[0031] like Figure 1 As shown, the surgical assisting instrument may include a supporting assembly 100 , a supporting assembly 200 and a linear motor assembly 30 .

[0032] The support assembly 100 may include a support side 101 and a support side 102. The support side 101 and the support side 102 may be disposed opposite to each other. The support side 101 may be used to support the arm of the operator. The support side 101 of the support assembly 100 may be designed as an ergonomic structure to facilitate supporting the arm. The support assembly 200 is movably connected to the support side 102 of the support assembly.

[0033] The linear motor assembly 300 can be connected between the support assembly 100 and the support assembly 200 to drive the movement of the support assembly 100. The linear motor assembly 300 may include a primary mover unit 310 and a secondary stator unit 320. The primary mover unit 310 and the secondary stator unit 320 may generate a magnetic field, and under the interaction of the magnetic field, the primary mover unit 310 and the secondary stator unit may undergo linear displacement. The primary mover unit 310 may be relatively fixed to the support assembly 100. The secondary stator unit 320 may be relatively fixed to the support assembly 200. The fixing method may include snap-fit ​​connection, threaded connection, welding, etc. An air gap may be formed between the primary mover unit 310 and the secondary stator unit 320. By changing the magnetic field between the primary mover unit 310 and the secondary stator unit 320, the primary mover unit 310 may be reciprocatingly movable along a predetermined straight line relative to the secondary stator unit 320. The movement of the primary mover unit 310 can also drive the supporting assembly 100 to reciprocate along a predetermined straight line relative to the supporting assembly 200 .

[0034] When the surgical assistant with this configuration is used by the surgeon, the surgeon can place the arm on the surgical assistant. The surgical assistant not only supports the arm, but also, because a linear motor assembly is provided between the supporting assembly 100 and the supporting assembly 200, the primary mover unit 310 and the secondary stator unit 320 of the linear motor assembly can move relative to each other along a predetermined straight line, thereby providing a linear displacement for the arm placed on the surgical assistant. When the surgical assisting instrument is applied to a surgical robot, the linear motor assembly 300 can be connected to the controller of the surgical robot. When the surgeon's arm moves, the supporting assembly 100 will undergo a linear displacement relative to the supporting assembly 200, and the linear motor assembly 300 can send a feedback signal to the controller that is used to characterize the current motion parameters of the arm (such as arm motion speed, acceleration, arm motion force and other parameters). In other words, the linear motor assembly can be used as a sensor to collect the current motion parameters of the arm, and the controller can control the linear motor assembly 300 to work according to the feedback signal from the linear motor assembly, so that the surgical assisting instrument can achieve the purpose of responding to the surgeon's arm movement.

[0035] In the process of implementing the technical solution of the present application, the inventor discovered that when the surgical auxiliary instrument is used under complex surgical conditions, if a traditional linear motor is used in a linear motor assembly, there will be problems such as large inertia, slow dynamic response speed, and inability to eliminate unnecessary jitter. Therefore, in order to solve these problems, some preferred embodiments of the linear motor assembly are also provided in the embodiments of the present invention. Some preferred embodiments of the linear motor assembly are described in more detail below.

[0036] In some preferred embodiments, the linear motor assembly adopts a permanent magnet linear synchronous motor.

[0037] For example, Figure 2 As shown, the primary mover unit 310 may include a plurality of permanent magnets arranged in sequence along a predetermined straight line direction. The primary mover unit 310 having permanent magnets may generate a fixed magnetic field. Figure 3 As shown, the secondary stator unit 320 may include a plurality of stator teeth 321 arranged in sequence and spaced apart in a predetermined straight line direction. A stator slot 322 may be defined between two adjacent stator teeth 321. A stator winding (not shown) may be wound around the stator teeth 321. The stator teeth 321 and the stator slots 322 may be arranged in sequence with each other and extend in a predetermined straight line direction. The stator winding may be wound around the stator teeth 321 and filled in two adjacent stator slots 322. The stator winding may include a copper wire wound around the stator teeth 321.

[0038] Exemplarily, the stator winding can adopt fractional slot concentrated winding. In concentrated winding, after each winding coil is wound on the corresponding stator tooth pole 321, it can enter the next adjacent stator tooth pole 321 for winding, without having to cross the adjacent stator tooth pole for winding. In this way, the winding coils have no overlap and are well insulated from each other. In addition, the length of the coil end can be shorter, so that the size of the drive linear motor assembly can be better controlled, which is conducive to reducing product costs.

[0039] When the stator winding is energized, a magnetic field can be formed around the stator winding to drive the primary mover unit to move along the linear motor assembly in a predetermined linear direction. As the current on each stator winding changes, the magnetic field can also change accordingly. The primary mover unit 310 can move under the effect of the change in the magnetic field of the secondary stator unit 320, thereby showing that the support assembly 100 moves linearly relative to the support assembly 200.

[0040] The performance of the linear motor assembly is related to factors such as the number of permanent magnets, the magnetic flux intensity of the permanent magnets, and the current size on the stator winding. In the linear motor assembly 300 in the embodiment of the present invention, the permanent magnet can be a Halbach array type permanent magnet. The Halbach array can gather magnetic lines of force on one side of the magnet and weaken the magnetic lines of force on the other side by arranging permanent magnets with different magnetization directions according to a certain rule, thereby obtaining a relatively ideal unilateral magnetic field. Through this kind of regularly arranged permanent magnets, the field strength in a unit direction can be enhanced, so as to achieve the strongest magnetic field with the least amount of permanent magnets.

[0041] Compared to other linear drive motors, the linear motor assembly 300 with a Halbach array type permanent magnet does not need to be equipped with a reducer, so that the inertia of the linear motor assembly is reduced and the response speed can be improved. Moreover, in the process of transmitting power, the motor drive assembly can also reduce power loss because no reducer is required. Furthermore, since there is no need to set a reducer, the size of the linear motor assembly 300 can also be reduced, making the integration of the linear motor assembly 300 higher. In addition, since there is no need to set a reducer, the magnitude of the arm movement force can be accurately measured through the feedback signal of the linear motor assembly (which can be expressed as a current signal), the system structure is simplified, and the reliability is greatly increased.

[0042] For example, each permanent magnet may include a first magnetic steel 311 and a second magnetic steel 312 whose magnetic poles are perpendicular to each other, and in two adjacent permanent magnets, the magnetic poles of the first magnetic steel 311 are opposite in direction, and the magnetic poles of the second magnetic steel 312 are opposite in direction. By means of such regularly arranged permanent magnets, the magnetic field strength in a unit direction can be enhanced, so as to achieve the strongest magnetic field with the least number of permanent magnets.

[0043] Exemplarily, in the primary mover unit 310, the permanent magnet may be of an oblique pole design tilted by n stator slot pitches. In the secondary stator unit, the stator slot 322 may be of an oblique slot design tilted by n stator slot pitches. The linear motor assembly may arbitrarily select one or more of the oblique pole design and the oblique slot design according to the usage. Among them, n may be less than 1 and greater than 0. Taking the oblique slot type as an example, the stator slot 322 may have a first end and a second end that are interconnected. If the stator slot 322 is not inclined, then starting from the first end, in the plane where the primary mover unit 310 moves, extending in the vertical direction of the moving direction of the primary mover unit 310 is the second end of the stator slot 322. If the inclination n is 1, then starting from the first end, extending in the vertical direction of the moving direction of the primary mover unit 310, it will reach the second end of the adjacent stator slot 322, and so on. The principles of the oblique pole design and the oblique slot design are generally the same, the difference being that the permanent magnets arranged on the primary mover unit are inclined. It should be noted that compared with the inclined slot design, the inclined pole design has better processability.

[0044] The linear motor assembly with this configuration can reduce the vibration and noise generated by the primary mover unit 310 during the movement of the secondary stator unit 320, and can also reduce the torque fluctuation generated by the primary mover unit 310 during the movement.

[0045] Exemplarily, the value range of n is 0.3 to 0.6. Preferably, n can be 0.51. Among them, 0.5 is the slot pitch of the stator slot 322, and 0.01 is the safety margin selected in consideration of the manufacturing process error. According to physical experiments, if n is 0.5, the output torque fluctuation can be reduced by more than 10 times, but at the same time the output torque will only be reduced by 8% to 10%, and the torque fluctuation can already meet clinical needs. However, if it is tilted by 1 slot pitch, although the torque fluctuation will be further reduced, the torque will also be lost by more than 15%. In summary, preferably, n can be selected as 0.51.

[0046] In addition, the primary mover unit in the traditional linear drive motor cannot use non-magnetic materials to make the rotor core, otherwise the n-level and s-level magnetic steel on the primary mover unit cannot form a closed loop. Therefore, the primary mover unit in the traditional linear drive motor is mostly made of steel, such as silicon steel or No. 10 steel, etc. The primary mover unit is heavy and has a large moment of inertia. In the surgical auxiliary instrument provided by the embodiment of the present invention, since the permanent magnet on the primary mover unit 310 of the linear motor assembly adopts a Halbach array permanent magnet, the Halbach array permanent magnet can generate a unilateral magnetic field distribution, so the magnetic steel bracket of the primary mover unit 310 does not need to use magnetic materials to provide a path for the magnetic field, that is, the magnetic steel bracket of the primary mover unit 310 can be made of non-magnetic materials, so that it can not only provide a larger selection space for selecting materials for the magnetic steel bracket of the primary mover unit, but also make the primary mover unit have a lower moment of inertia and higher response performance. For example, in some exemplary embodiments, the support assembly 100 can be directly used as a magnetic steel support of the primary mover unit 310, and the support assembly 200 can be directly used as a stator core of the secondary stator unit 320. For example, the support assembly 100 can be made of light materials, such as metal materials such as aluminum alloy and titanium alloy, or non-metallic materials such as plastic and resin. Light materials can reduce the weight of the support assembly 100.

[0047] In this way, without changing the output torque of the linear motor assembly 300, the inertia of the support assembly 100 is reduced, thereby reducing the inertia of the linear motor assembly, and the moving speed of the support assembly 100 can be improved, thereby improving the response speed of the linear motor assembly 300. Preferably, the lightweight material may include a carbon fiber material. The carbon fiber material has the advantages of light weight, high strength, no rust and corrosion resistance, and can provide good mechanical properties for the support assembly 100.

[0048] The stator winding may be coated with a packaging layer, and the packaging layer may be made of an epoxy potting compound having a thermal conductivity greater than a predetermined threshold. For a linear motor assembly 300 used in a surgical auxiliary instrument, coating the stator winding with a packaging layer may prevent liquids and the like from entering the stator winding, thereby preventing the stator winding from being damaged in an environment of repeated disinfection and cleaning in an operating room. At the same time, since the thermal conductivity of the packaging layer is relatively high, it may also have a good heat dissipation effect on the linear motor assembly. Preferably, the epoxy potting compound may be made of an epoxy resin having a high thermal conductivity.

[0049] Exemplarily, the linear motor assembly may further include a linear magnetic grating encoder 400. The linear magnetic grating encoder may include a magnetic scale 410 and a linear encoder reading head 420. The magnetic scale 410 may be relatively fixed to the supporting assembly 100 and extend along a predetermined straight line direction. The linear encoder reading head 420 may be relatively fixed to the supporting assembly 200 and may be movable along the extension direction of the magnetic scale when the supporting assembly 100 moves relative to the supporting assembly 200. With the relative displacement between the linear encoder reading head 420 and the magnetic scale 410, the relative position relationship between the supporting assembly 100 and the supporting assembly 200 may be obtained based on the magnetic pole change information. Furthermore, the relative speed and acceleration between the supporting assembly 100 and the supporting assembly 200 may also be obtained.

[0050] Exemplarily, the magnetic scale 410 may include a first magnetic grid and a second magnetic grid extending in a predetermined straight line direction. There may be a difference between the first magnetic grid and the second magnetic grid, that is, there may not be a one-to-one correspondence between the first magnetic grid and the second magnetic grid. In this way, when the linear encoder reading head 420 moves on the magnetic scale 410, the position of the linear encoder reading head 420 can be accurately measured according to the difference in the change of the magnetic poles on the first magnetic grid and the second magnetic grid.

[0051] For example, the magnetic pole pitch of the first magnetic grid and the second magnetic grid can be 1.5-2 mm. If the magnetic pole pitch is too small, the manufacturing and assembly difficulty will be too large; if the magnetic pole pitch is too large, the number of magnetic poles accommodated on the magnetic scale will be reduced, so the encoding accuracy will be difficult to ensure. In the above scheme, the magnetic pole pitch is designed to be 1.5-2 mm, which can achieve an encoder accuracy of not less than 17 bits.

[0052] Exemplarily, a guide portion 110 may be provided on the support assembly 100. A guide adapter portion 210 may be provided on the support assembly 200. The guide portion 110 and the guide adapter portion 210 may cooperate to guide the movement direction of the support assembly 100 relative to the support assembly 200. The guide portion 110 and the guide adapter portion 210 may play a role in limiting the movement direction, so that the support assembly 100 moves on a fixed route. It can be understood that the guide portion 110 and the guide adapter portion 210 appear in groups, and in the surgical auxiliary instrument, multiple groups of guide portions 110 and guide adapter portions 210 may be provided. Thereby, the guiding effect on the support assembly 100 is strengthened, and the stability between the support assembly 100 and the support assembly 200 can also be improved.

[0053] Exemplarily, the guide portion 110 may include a guide rail disposed on the supporting assembly 100. The guide rail may extend along a predetermined straight line direction. The guide adapter portion 210 may include a slider disposed on the supporting assembly 200. The slider may be disposed on the guide rail and may slide along the guide rail. The guide portion 110 may also include a slider disposed on the supporting assembly 100, and the guide adapter portion 210 may also include a guide rail disposed on the supporting assembly 200. The guide rail may extend along a predetermined straight line direction, and the slider may be disposed on the guide rail and may slide along the guide rail. In short, the supporting assembly 100 and the supporting assembly 200 may be connected via the guide rail and the slider to achieve a guiding effect. In the example Figure 1 In the embodiment shown, the guide rail may also include a dovetail groove guide rail, which may have good positioning and stability, and the guide rail of this structure may also prevent the support assembly 100 from being separated from the support assembly 200 during movement. It should be noted that the above is only an example, and in actual applications, the specific structure of the guide portion and the guide adapter portion is not limited thereto.

[0054] Exemplarily, the support assembly 100 may include a support inner ring 120. The support inner ring 120 may have an arc-shaped support surface on the support side 101. The support assembly 200 may include a support outer ring 220. The support outer ring 220 and the support inner ring 120 may be coaxially arranged. The predetermined straight line direction may be the axial direction of the support inner ring 120. The support inner ring 120 and the support outer ring 220 may be combined into a semicircular surgical auxiliary instrument. The user's arm may be placed on the semicircular support inner ring 120.

[0055] For example, the support assembly 100 and the support assembly 200 may be interlocked with each other, and a chamber may be formed between the two, and the linear motor assembly 300 may be disposed in the chamber. In this way, the space formed by the support assembly 100 and the support assembly 200 may be fully utilized to reduce the size of the surgical auxiliary instrument. In addition, since the linear motor assembly 300 is disposed in the space, the linear motor assembly 300 may also be protected.

[0056] In some exemplary embodiments, Figure 1 As shown, in the space between the supporting assembly 100 and the supporting assembly 200 in the surgical auxiliary instrument provided by the present invention, 2 to 3 pairs of guide rails, a set of linear magnetic encoders and a set of linear motor assemblies can be arranged.

[0057] Exemplarily, a first concave-convex groove 130 is provided on the edge of the supporting component 100 extending along the predetermined straight line direction. A second concave-convex groove 230 is provided on the edge of the supporting component 200 extending along the predetermined straight line direction. The first concave-convex groove 130 and the second concave-convex groove 230 can be interlocked with each other to seal the chamber. For example, steps are provided on the surfaces of the first concave-convex groove 130 and the second concave-convex groove 230, and the supporting component 100 and the supporting component 200 are buckled together by splicing the steps. In this way, the chamber can be sealed, stains and liquids are difficult to enter the chamber from the outside, and the linear motor assembly 300 in the chamber is well protected.

[0058] Exemplarily, the support assembly 200 may include a pivot support portion 240. The support assembly 200 may be supported in a rotatable manner around a predetermined axis with the pivot support portion 240 as a fulcrum. The predetermined axis may be perpendicular to the direction of the predetermined straight line. The predetermined axis may be an axis perpendicular to the horizontal plane, and the support assembly 200 may rotate around the axis perpendicular to the horizontal plane. The predetermined straight line may be a straight line parallel to the horizontal plane, and the support assembly 100 may move linearly within the horizontal plane. Through this arrangement, the degree of freedom of the surgical auxiliary instrument may be increased, allowing the user to use the surgical auxiliary instrument more flexibly.

[0059] It should be noted that in some embodiments, the support assembly 200 can achieve 360° circumferential rotation through the pivot support portion 240, ensuring that the surgical auxiliary device as a whole can be flexibly rotated 360° circumferentially as required by the surgeon's arm movement during surgery. In other embodiments, a circumferential limit mechanism can also be provided on the pivot support portion 240, and different mechanical limits are provided for the support assembly 200 within the 360° circumferential rotation range to limit its circumferential rotation range.

[0060] It should also be noted that the surgical assisting device provided by the present invention is based on the linear motor assembly in the above embodiment, and can cooperate with the controller in the surgical robot. While achieving rapid response and follow-up to the arm movement, it can also achieve the purpose of reducing unnecessary arm shaking.

[0061] The working principle can be as follows: when the arm moves on the support component, the linear motor component sends feedback information to the controller based on the information measured by the linear magnetic encoder. The controller analyzes and processes the feedback information to identify the target motion data and jitter motion data of the arm, and generates control data based on the target motion data and jitter motion data to control the linear motor component to perform corresponding actions.

[0062] The working process can be as follows: In some embodiments, when the arm shakes due to fatigue, after the information measured by the linear magnetic encoder is sent to the controller, the controller will identify the shaking motion data based on the feedback information, and then control the linear motor assembly to make a displacement of the arm in the opposite direction of the shaking, thereby offsetting the user's arm shaking to achieve the purpose of reducing shaking. In other embodiments, when the surgeon needs to move the arm slightly, the controller analyzes and processes the feedback information to identify the target motion data of the arm, and controls the linear motor assembly to slowly and accurately translate the arm so that the arm reaches the desired position, thereby achieving the purpose of rapid response and follow-up to the arm movement.

[0063] According to another aspect of the present invention, there is also provided a surgical robot, comprising a controller and any one of the above surgical auxiliary instruments. The controller is connected to the linear motor assembly and can be used to control the linear motor assembly 300 to perform corresponding actions according to control data, wherein the control data includes a feedback signal from the linear motor assembly 300.

[0064] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by directional words such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "vertical", "horizontal", "top", "bottom", etc. is usually based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the contour of each component itself.

[0065] For ease of description, regional relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figure and other components or features. It should be understood that regional relative terms include not only the orientation of the components as described in the figure, but also different orientations in use or operation. For example, if the components in the accompanying drawings are inverted as a whole, the components "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Therefore, the exemplary term "above" may include both "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this article is intended to include all of these situations.

[0066] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, parts, components and / or combinations thereof.

[0067] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0068] The present invention has been described by the above embodiments, but it should be understood that the above embodiments are only for the purpose of example and description, and are not intended to limit the present invention to the described embodiments. In addition, it can be understood by those skilled in the art that the present invention is not limited to the above embodiments, and more variations and modifications can be made according to the teachings of the present invention, and these variations and modifications all fall within the scope of the protection claimed by the present invention. The protection scope of the present invention is defined by the attached claims and their equivalents.

Claims

1. A surgical assisting device, characterized in that: include: A supporting assembly, comprising a supporting side for supporting the arm of a surgical operator, and a supporting side opposite to the supporting side; a support assembly movably connected to the support side of the support assembly; and A linear motor assembly connected between the supporting assembly and the supporting assembly, the linear motor assembly comprising a primary mover unit and a secondary stator unit, the primary mover unit being relatively fixed to the supporting assembly, the secondary stator unit being relatively fixed to the supporting assembly, an air gap being formed between the primary mover unit and the secondary stator unit and being reciprocatable along a predetermined straight line relative to the secondary stator unit, so that the supporting assembly can reciprocate along the predetermined straight line relative to the supporting assembly under the drive of the primary mover unit; Wherein, the primary mover unit comprises a plurality of permanent magnets arranged in sequence along the predetermined straight line direction, and the permanent magnets are Halbach array type permanent magnets; the secondary stator unit comprises a plurality of stator tooth poles arranged in sequence and spaced apart along the predetermined straight line direction, a stator slot defined between two adjacent stator tooth poles, and a stator winding wound on the stator tooth poles; each of the permanent magnets comprises a first magnetic steel and a second magnetic steel whose magnetic pole directions are perpendicular to each other; and in the two adjacently arranged permanent magnets, the magnetic pole directions of the first magnetic steel are opposite, and the magnetic pole directions of the second magnetic steel are opposite; The linear motor assembly further comprises a linear magnetic grating encoder, wherein the linear magnetic grating encoder comprises: A magnetic scale, the magnetic scale is fixed relative to the supporting assembly, and the magnetic scale comprises a first magnetic grid and a second magnetic grid extending along the predetermined straight line direction; and A linear encoder reading head is fixed relative to the support assembly and is movable along the extension direction of the magnetic scale when the supporting assembly moves relative to the support assembly.

2. The surgical assisting instrument according to claim 1, characterized in that: The permanent magnets are skewed poles tilted by n stator slot pitches, and / or the stator slots are skewed slots tilted by n stator slot pitches, wherein n is less than 1 and greater than 0.

3. The surgical assisting instrument according to claim 2, characterized in that: The value range of n is 0.3~0.

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4. The surgical assisting instrument according to claim 1, characterized in that: The stator winding adopts fractional slot concentrated winding.

5. The surgical assisting instrument according to claim 1, characterized in that: The bearing assembly and / or the supporting assembly are made of light material.

6. The surgical assisting instrument according to claim 1, characterized in that: The stator winding is coated with a packaging layer formed by epoxy potting glue with a thermal conductivity greater than a predetermined threshold.

7. The surgical assisting instrument according to claim 1, characterized in that: The supporting assembly is provided with a guide portion, and the supporting assembly is provided with a guide adapter portion, and the guide portion cooperates with the guide adapter portion to guide the movement direction of the supporting assembly relative to the supporting assembly.

8. The surgical assisting instrument according to claim 7, characterized in that: The guide portion comprises a guide rail disposed on the supporting assembly, and the guide rail extends along the predetermined straight line direction; the guide adapter portion comprises a slider disposed on the supporting assembly, and the slider is disposed on the guide rail and can slide along the guide rail; and / or The guide portion includes a slider disposed on the supporting assembly, the guide adapter portion includes a guide rail disposed on the supporting assembly, the guide rail extends along the predetermined straight line direction, and the slider is disposed on the guide rail and can slide along the guide rail.

9. The surgical assisting instrument according to claim 1, characterized in that: The supporting assembly includes a supporting inner ring, and the supporting inner ring has an arc-shaped supporting surface on the supporting side; the supporting assembly includes a supporting outer ring, and the supporting outer ring is coaxially arranged with the supporting inner ring, and the predetermined straight line direction is the axial direction of the supporting inner ring.

10. The surgical assisting instrument according to claim 1, characterized in that: The supporting assembly and the supporting assembly are buckled with each other to form a chamber therebetween, and the linear motor assembly is arranged in the chamber.

11. The surgical assisting instrument according to claim 10, characterized in that: The edge of the supporting component extending along the predetermined straight line direction is provided with a first concave-convex groove, and the edge of the supporting component extending along the predetermined straight line direction is provided with a second concave-convex groove, and the first concave-convex groove and the second concave-convex groove are interlocked to seal the chamber.

12. The surgical assisting instrument according to claim 1, characterized in that: The support assembly includes a pivot support portion, and the support assembly is supported in a rotatable manner around a predetermined axis with the pivot support portion as a fulcrum, and the predetermined axis is perpendicular to the predetermined straight line direction.

13. A surgical robot, characterized in that: The surgical robot includes a surgical auxiliary instrument and a controller as described in any one of claims 1 to 12, and the controller is connected to the linear motor assembly and is used to control the linear motor assembly to perform corresponding actions according to control data, and the control data includes a feedback signal from the linear motor assembly.

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