Medical devices for manipulating surgical tools

Abstract

The invention discloses a medical device. The medical device comprises a parallel manipulator. The parallel manipulator has an end platform connected to a surgical tool and a base platform connected to a machine module. The machine module is connected to the surgical tool via a transmission shaft arranged between the end platform and the base platform.

Description

Technical Field

[0001] The present disclosure relates generally to medical devices, and more particularly, to a medical device having a transmission shaft disposed between an end platform and a base platform of a parallel manipulator and configured to transmit mechanical force. Background Art

[0002] The parallel mechanism can position and orient the end platform with up to six or more degrees of freedom. The end platform of the parallel mechanism can be used to support medical devices, such as diagnostic devices or surgical tools. Because the end platform of the parallel mechanism can be made extremely small, the mechanism can be used for both surgical procedures through large surgical openings and endoscopic procedures through small surgical openings or body orifices.

[0003] Because the end platform can be manipulated with high precision and dexterity, the parallel mechanism is particularly suitable for performing surgical operations by remote control. The mechanism can adjust the position of the end platform, making the mechanism suitable for medical applications that require precise micro-movement. However, it has a motor for controlling the surgical tools mounted on the end platform, which will cause additional weight and force to the end platform during operation. The additional weight and force can affect the response time and the accuracy of the range / path of the operation plan. Therefore, in order to improve the accuracy of the medical device, it is necessary to minimize the force affecting the end platform of the parallel manipulator. Summary of the invention

[0004] In view of this, it is necessary to provide a medical device with a transmission shaft to solve the above technical problems.

[0005] In order to achieve the above-mentioned purpose, one aspect of the present disclosure relates to a medical device including: a parallel manipulator, an adapter, a transmission shaft and an axial motor, the parallel manipulator having: an end platform; and a base platform mechanically connected to the end platform, the adapter having: a body detachably connected to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; the transmission shaft is a transmission shaft rotatably supported by the end platform, the transmission shaft having: a transmission yoke configured to transmit mechanical force to the receiving yoke; a flexible rod connected to the transmission yoke; and a sliding member connected to the flexible rod, the axial motor being configured to generate mechanical force to drive the transmission shaft, the axial motor having a drive shaft slidably engaged to the sliding member.

[0006] Another aspect of the present disclosure relates to a medical device comprising: a parallel manipulator, a sensor system mechanically attached to the end platform, an adapter detachably connected to the sensor system, a transmission shaft, and an axis motor, the parallel manipulator having: an end platform; and a base platform mechanically connected to the end platform, the adapter having: a body; and a receiving shaft rotatably supported by the body, the transmission shaft being rotatably supported by the end platform and configured to transmit the mechanical force to the receiving shaft; the axis motor being drivingly connected to the transmission shaft and configured to transmit the mechanical force to the transmission shaft.

[0007] According to one aspect of the present disclosure, it is possible to provide a medical device capable of improving the accuracy of the medical device by minimizing noise from a transmission shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] In order to be able to understand the above features of the present disclosure in detail, the disclosure briefly summarized above may be described in more detail by reference to embodiments (some of which are shown in the accompanying drawings). However, it should be noted that the accompanying drawings only show typical embodiments of the present disclosure and therefore should not be regarded as limiting the scope of the present disclosure, as the present disclosure may admit other embodiments with equivalent effects.

[0009] Figure 1 shows a 3D representation of a medical device according to some embodiments of the present disclosure;

[0010] Figure 2 shows a cross-sectional view of a medical device according to some embodiments of the present disclosure;

[0011] Figure 3 shows an exploded view of a medical device according to some embodiments of the present disclosure;

[0012] Figure 4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure;

[0013] Figure 4B shows a cross-sectional view of a transmission shaft according to some embodiments of the present disclosure;

[0014] Figure 5 shows an exploded view of a transmission shaft according to some embodiments of the present disclosure;

[0015] Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure;

[0016] Figure 7 shows a perspective view of a machine module according to some embodiments of the present disclosure;

[0017] Figure 8An exploded view of a drive shaft, a parallel manipulator, and a machine module according to some embodiments of the present disclosure is shown;

[0018] Fig. 9 shows a cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure;

[0019] Fig.10 shows a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure;

[0020] Fig.11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure;

[0021] Fig.12 An exploded view of a force sensor according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0022] The present disclosure will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. However, the present disclosure can be implemented in many different forms and should not be construed as being limited to the exemplary embodiments set forth herein. Specifically, these exemplary embodiments are provided to make the present disclosure thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. The same reference numerals always refer to the same elements.

[0023] The terms used herein are only for the purpose of describing specific implementation examples and are not intended to limit the present disclosure. Unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" used herein are intended to include plural forms as well. It will be further understood that when the terms "comprise / comprising" or "include / including" or "has / having" are used herein, the presence of the stated features, regions, integers, steps, operations, elements and / or parts is specified, but the presence or addition of one or more other features, regions, integers, steps, operations, elements, parts and / or combinations thereof is not excluded.

[0024] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present disclosure belongs. It will be further understood that terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless explicitly defined as such herein.

[0025] Figure 1 A 3D representation view of a medical device according to some embodiments of the present disclosure is shown. Figure 2A cross-sectional view of a medical device according to some embodiments of the present disclosure is shown. Figure 3 An exploded view of a medical device according to some embodiments of the present disclosure is shown. In some embodiments, the medical device 1 includes a parallel manipulator, a drive shaft 12, and an adapter 13. The parallel manipulator includes an end platform 11-1, a base platform 11-2, and a plurality of arms 11-3 operably connected between the end platform 11-1 and the base platform 11-2. The drive shaft 12 is disposed between the end platform 11-1 and the base platform 11-2. In addition, the drive shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, the adapter 13 is configured to clamp a surgical tool T1, such as a drill bit, a trocar, or a saw blade. In some embodiments, the medical device 1 also includes a sensor system 14 disposed between the adapter 13 and the end platform 11-1. The sensor system 14 is configured to monitor the forces applied and received by the adapter 13.

[0026] In some embodiments, the medical device 1 further comprises a housing 15, a handle 16 and a control module 17. The base platform 11-2 is mechanically attached to the housing 15 and houses a machine module 19, which is configured to manipulate the movement of the plurality of arms 11-3, which in turn controls the movement of the end platform 11-1. The machine module 19 comprises a plurality of actuators for manipulating the plurality of arms 11-3 accordingly and an axis motor for manipulating the transmission shaft 12. The handle 16 enables the user to hold and manipulate the medical device 1 during operation. The control module 17 enables the user to trigger, stop or adjust the action of the surgical tool T1 or perform other functions of the medical device 1.

[0027] Parallel manipulators can be classified based on the degrees of freedom, the number of arms, the order of joints in each arm, and the type of actuator. In some embodiments, the parallel manipulator can be a six-DOF parallel manipulator with six degrees of freedom (6-DOF). In some embodiments, the plurality of arms 11-3 includes six arms. In some embodiments, each arm 11-3 has a first joint connected to an actuator under the base platform 11-2, a second joint connected to the end platform 11-1, and a third joint between the first joint and the second joint. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In one

[0028] In some embodiments, the first joint is a prismatic joint (or a linear joint). In some embodiments, the second joint is a spherical joint. In some embodiments, the third joint is a universal joint. The universal joint is formed by two rotating joints.

[0029] In some embodiments, the medical device 1 further includes a first positioning unit 18-1 and a second positioning unit 18-2. The first positioning unit 18-1 and the second positioning unit 18-2 respectively include a plurality of markers for emitting electromagnetic signals, sound waves, heat or other perceptible signals, and an adapter for mounting the markers in a specific direction / angle relative to the device body. In some embodiments, the markers and the adapter are used in conjunction with a spatial sensor to implement a target tracking function during operation. The second positioning unit 18-2 can be disposed in the area between the adapter 13 and the end platform 11-1. In some embodiments, the second positioning unit 18-2 is disposed on the end platform 11-1. In other embodiments, the second positioning unit 18-2 is disposed on the adapter 13. In other embodiments, the second positioning unit 18-2 is disposed on the tool T1.

[0030] Figure 4A A perspective view of a drive shaft is shown according to some embodiments of the present disclosure. Figure 4B 4 shows a cross-sectional view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, the drive shaft 40 is rotatably supported by the end platform and slidably engaged to the base platform. In some embodiments, the drive shaft 40 includes a portion configured to transmit mechanical force to a surgical tool (i.e., Figure 1 The surgical tool T1 in the embodiment of the present invention comprises a transmission yoke 41, a flexible rod 42 connected to the transmission yoke 41, and a sliding member 43 connected to the flexible rod 42. In some embodiments, the flexible rod 42 is an elastic structure. The flexible rod 42 structurally adapts to the applied force and returns to the original structure when the force is removed. The flexible rod 42 is hard enough to withstand and transmit the mechanical force from the shaft motor. In an exemplary embodiment, the flexible rod 42 is a spring tube having multiple layers. In some embodiments, the flexible rod 42 has four layers (i.e., Figure 4B In some embodiments, the maximum distance between the end platform and the base platform is greater than the length of the flexible rod, and the minimum distance between the end platform and the base platform is substantially the same as the length of the flexible rod. In this way, when the medical device is not in use, the flexible rod is not subjected to pressure.

[0031] In some embodiments, during operation of the medical device, when the end platform and the base platform are at a minimum distance, only the flexible rod is exposed between the end platform and the base platform. In other embodiments, during operation of the medical device, when the end platform and the base platform are at a minimum distance, the flexible rod and a portion of the slider are exposed between the end platform and the base platform. In other words, when the end platform and the base platform are at a minimum distance, the slider is substantially flat relative to the base platform.

[0032] On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the end platform and the base platform are at the maximum distance, the overlap between the slider and the drive shaft is not less than 5mm. However, in other embodiments, when the end platform and the base platform are at the maximum distance, the overlap between the slider and the drive shaft may be less than 5mm. In other words, the minimum overlap between the slider and the drive shaft does not exceed 5mm. During operation, force may be applied to the flexible rod, resulting in deformation. The elasticity of the flexible rod allows it to have an angular deviation of 30° from the central axis of the slider, and return to its original shape without deformation when the applied force is removed.

[0033] In some embodiments, when the end platform is at a minimum distance from the base platform, the slider is substantially flat relative to the base platform. In addition, the length of the flexible rod is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, when the end platform is at a minimum distance from the base platform, the slider is substantially flat relative to the base platform.

[0034] In some embodiments, the flexible rod has a length that is less than the minimum distance between the end platform and the base platform. In other embodiments, when the end platform and the base platform are at the minimum distance, the slider is recessed from the base platform. In addition, the length of the flexible rod is greater than the minimum distance between the end platform and the base platform. However, during the period when the end platform and the base platform are at the minimum distance, the flexible rod is in a normal state. In some embodiments, the normal state of the flexible rod is that the flexible rod is in a relatively stress-free state. Therefore, the flexible rod maintains its original shape (i.e., without stretching, bending or compression) in the normal state.

[0035] In an exemplary embodiment, the length L40 of the transmission shaft 40 is substantially 11.5 cm (i.e., 11.495 cm). In an exemplary embodiment, the length L42 of the flexible rod 42 is substantially 5.5 cm (i.e., 5.475 cm). In an exemplary embodiment, the diameter D42 of the flexible rod 42 is substantially 0.38 cm. In an exemplary embodiment, the diameter D43 of the sliding member 43 is substantially 1 cm. In an exemplary embodiment, the length L43 of the sliding member 43 is substantially 3 cm (i.e., 2.995 cm). In an exemplary embodiment, the diameter D41 of the widened portion of the transmission yoke 41 is substantially 1.3 cm. However, the above dimensions are merely examples and should not be used to limit the scope of the present disclosure.

[0036] Figure 5An exploded view of a transmission shaft according to some embodiments of the present disclosure is shown. In some embodiments, the transmission yoke 41 and the sliding member 43 have through holes respectively, and the flexible rod 42 is inserted therein. In order to physically attach the flexible rod 42 to the transmission yoke 41 and the sliding member 43, pins 41-21, 41-22, 43-21 and 43-22 are used accordingly. Pins 41-21 and 41-22 are used to press or press one end of the flexible rod 42 to the inner surface of the through hole of the transmission yoke 41. In some embodiments, pins 41-21 and 41-22 are arranged orthogonally to each other. Therefore, the flexible rod 42 can be arranged to be biased toward one side of the transmission yoke 41. Pins 43-21 and 43-22 are used to press or press the other end of the flexible rod 42 to the inner surface of the through hole of the sliding member 43. In some embodiments, pins 43-21 and 43-22 are arranged orthogonally to each other. Therefore, the flexible rod 42 can be arranged to be biased toward one side of the sliding member 43. Although the flexible rod 42 may be off-center relative to the drive yoke 41 and the slide 43, the orthogonal positioning of the pins 41-21, 41-22, 43-21 and 43-22 ensures that the flexible rod 42 is securely fixed to the drive yoke 41 and the slide 43 during operation.

[0037] In some embodiments, the drive yoke 41 includes a protrusion 41-1 configured to transmit mechanical force to the adapter (ie, Figure 1 The projection 41-1 is configured to minimize contact with the receiving shaft of the adapter during operation to prevent noise from being generated on the adapter (that is, to avoid input of unwanted forces and moments on the adapter).

[0038] like Figure 5 As shown, the end platform 50 includes a first bearing 51 and a second bearing 52. In some embodiments, the end platform 50 also includes a washer 53 and a retaining ring 54. In some embodiments, the first bearing 51 and the second bearing 52 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to assist in the installation and positioning of the bearings. In some embodiments, the flange of the first bearing 51 is positioned on the surface of the end platform 50 that is away from the base platform (i.e., positioned on the Figure 3 In some embodiments, the flange of the second bearing 52 is positioned on the surface of the end platform 50 facing the base platform (i.e., positioned on the Figure 3 between the end platform 11-1 and the base platform 11-2).

[0039] In some embodiments, a retaining ring 54 is radially mounted on the groove 41-4 of the transmission yoke 41. The retaining ring 54 may be a C-shaped ring. In some embodiments, a washer 53 is disposed between the retaining ring 54 and the second bearing 52 to prevent the second bearing 52 from wearing. In addition, the washer 53 is used to fill the gap between the flange 41-3 of the transmission yoke 41 and the retaining ring 54. In some embodiments, the gap between the flange 41-3, the end platform 50, the washer 53, the first bearing 51 and the second bearing 52 is substantially eliminated by using the retaining ring 54. The bearings 51 and 52 may be clamped between the flange 41-3 of the transmission yoke 41 and the retaining ring 54. Therefore, the flange 41-3 of the transmission yoke 41 and the retaining ring 54 are used to help install and position the transmission yoke 41.

[0040] Figure 6 An exploded view of an adapter according to some embodiments of the present disclosure is shown. In some embodiments, the adapter includes a body and a receiving shaft 66 disposed in the body and rotatably supported by the body. The body includes a base 61 and a cover 62 mechanically attached to the base 61. The receiving shaft 66 is disposed between the base 61 and the cover 62. In some embodiments, the receiving shaft 66 includes a receiving yoke 66-1 and a chuck 66-2 opposite to the receiving yoke 66-1. The chuck 66-2 is configured to clamp a surgical tool (i.e., Figure 1 The chuck 66-2 is aligned with the through hole of the cover 62, and the surgical tool can be inserted into the through hole. The receiving yoke 66-1 is exposed to the outside of the adapter. In this way, the receiving yoke 66-1 can receive the mechanical force from the transmission shaft. The contact between the receiving yoke 66-1 and the transmission shaft is designed to be as minimal as possible to prevent noise. In some embodiments, a groove (not shown) is formed on the receiving yoke 66-1, and the groove is aligned with the protrusion (i.e., Figure 5 The protrusion 41-1) in the middle complements each other to receive mechanical force.

[0041] In some embodiments, the adapter further comprises a first bearing 63 and a second bearing 64. In some embodiments, the first bearing 63 and the second bearing 64 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to assist in the installation and positioning of the bearing. In some embodiments, the flange of the first bearing 63 is positioned on the surface of the base 61 facing the cover 62. In some embodiments, the flange of the second bearing 64 is positioned on the surface of the base 61 facing away from the cover 62.

[0042] In some embodiments, the adapter further comprises a retaining ring 65. In some embodiments, the retaining ring 65 is radially mounted on the groove 66-3 of the receiving shaft 66. The retaining ring 65 may be a C-shaped ring. In some embodiments, the diameter of the receiving yoke 66-1 is greater than the diameter of the chuck 66-2. Thus, the diameter of the receiving yoke 66-1 is wider than the inner rings of the bearings 63 and 64. The bearings 63 and 64 may be clamped between the receiving yoke 66-1 and the retaining ring 65. Thus, the receiving yoke 66-1 and the retaining ring 65 are used to assist in the installation and positioning of the receiving shaft 66.

[0043] Figure 7 An isometric view of a machine module according to some embodiments of the present disclosure is shown. In some embodiments, the machine module 80 is mechanically attached to the base platform 70 of the parallel manipulator. In some embodiments, the machine module 80 includes: a plurality of actuators 81 configured to control a plurality of arms (i.e., Figure 1 and an axis motor 82 configured to generate a motor for manipulating a surgical tool (ie, Figure 1 Mechanical force of the surgical tool T1).

[0044] In some embodiments, Figure 7 As shown, the base platform 70 includes an arm base 71 and an axis base 72 surrounded by the arm base 71. The arm base 71 is used to provide structural support between the multiple arms of the parallel manipulator and the actuator 81 of the machine module 80. The axis base 72 is used to provide structural support for the axis motor 82. In some embodiments, the transmission shaft 40 is disposed in a recessed area of ​​the axis base 72. A portion of the axis motor 82 may be exposed in the recessed area of ​​the axis base 72. The transmission shaft 40 and the axis motor 82 may be slidably engaged in the recessed area of ​​the axis base 72.

[0045] Figure 8 An exploded view of a drive shaft, a parallel manipulator, and a machine module according to some embodiments of the present disclosure is shown. The shaft motor 92 of the machine module is connected to the shaft base 91 of the parallel manipulator. In some embodiments, the rotor 92-1 of the shaft motor 92 is inserted into a recessed area of ​​the shaft base 91. The drive shaft 94 is attached to the rotor 92-1 and is configured to move in the same direction as the rotor 92-1. The slider 93 of the drive shaft is slidably engaged to the shaft motor 92. In some embodiments, the slider 93 is slidably engaged to the drive shaft 94, wherein the mechanical force generated by the shaft motor is transmitted to the slider 93 through the drive shaft 94. The slider 93 has a socket, and the cross-sectional shape profile of the drive shaft 94 is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft 94. Further illustrations and related descriptions of the relationship between the drive shaft and the slider should be found in Fig. 9 It should be made public.

[0046] In some embodiments, a cylinder 95 is placed in a recessed area of ​​the shaft base 91. When the medical device is assembled, the cylinder 95 surrounds the slider 93, and the slider 93 surrounds the drive shaft 94. The cylinder 95, the slider 93, and the drive shaft 94 are in turn assembled within each other.

[0047] In some embodiments, in order to reduce the friction between the slider 93 and the drive shaft 94, the materials of the slider 93 and the drive shaft 94 are different from each other. The Young's modulus of the drive shaft 94 is different from the Young's modulus of the slider 93. In some embodiments, the material of the slider 93 is steel, and the material of the drive shaft 94 is copper. In some embodiments, the material of the slider 93 and the drive shaft 94 is an anti-friction metal polymer.

[0048] In some embodiments, in order to reduce the friction between the slider 93 and the drive shaft 94, a lubricant is applied to the outer surface of the drive shaft 94. In some embodiments, a lubricant is applied to the inner surface of the slider 93. The lubricant may include at least one of carbon powder, lubricating oil, and the like.

[0049] In some embodiments, in order to reduce the friction between the slider 93 and the cylinder 95, the materials of the slider 93 and the cylinder 95 are different from each other. The Young's modulus of the slider 93 is different from the Young's modulus of the cylinder 95. In some embodiments, the material of the slider 93 is steel, and the material of the cylinder 95 is copper. In some embodiments, the material of the slider 93 and the cylinder 95 is an anti-friction metal polymer.

[0050] In some embodiments, in order to reduce the friction between the slider 93 and the cylinder 95, a lubricant is applied on the outer surface of the slider 93. In some embodiments, a lubricant is applied on the inner surface of the cylinder 95. The lubricant may include at least one of carbon powder, lubricating oil, and the like.

[0051] Fig. 9A cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure is shown. A representative illustration of a slider 21 and a drive shaft 22 is provided to help describe the sliding engagement therebetween. The slider 21 has a socket 21-1. The cross-sectional shape profile of the surface 22-1 of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket 21-1. The socket 21-1 is configured to slide along the drive shaft 22 when necessary during the operation of the medical device. In other embodiments, an overlap is required between the drive shaft 22 and the slider 21 during operation to ensure that mechanical forces are transmitted between them. The overlap between the drive shaft 22 and the slider 21 during operation is not less than 5mm to ensure that mechanical forces are transmitted between them. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 is not greater than 5mm. In other embodiments, the range of the minimum overlap between the drive shaft 22 and the slider 21 is between 0mm and 5mm. In other embodiments, the range of the minimum overlap between the drive shaft 22 and the slider 21 is between 5mm and 100mm. In some embodiments, the depth L1 of the socket 21 - 1 is greater than the height L2 of the drive shaft 22 . In other embodiments, the depth L1 of the socket 21 - 1 is substantially the same as the height L2 of the drive shaft 22 .

[0052] In some embodiments, the cross-sectional shape profile of the socket 21-1 and the surface 22-1 of the drive shaft 22 is a polygonal shape profile. The drive shaft 22 has a plurality of facets that intersect each other to form an angled intersection. In some embodiments, the intersection between two facets is rounded or curved to prevent damage during insertion. The socket 21-1 is a closed opening that clamps the face of the drive shaft 22. The angles between the facets of the drive shaft 22 provide clamping to drive the slider 21.

[0053] In other embodiments, the drive shaft and the slider have different structures for transmitting mechanical force. The drive shaft has a protrusion. The slider has a groove corresponding to the protrusion. In the assembled medical device, the protrusion of the drive shaft is inserted into the groove of the slider. The height of the groove is sufficient so that when the slider slides off the drive shaft during operation, the protrusion remains in the groove. The protrusion is configured to slide along the corresponding groove. In addition, the drive shaft is configured to transmit mechanical force to the slider through the protrusion side wall of the drive shaft tangent to the inner side wall of the groove of the slider during movement.

[0054] In some embodiments, the drive shaft has two protrusions extending in opposite directions from each other. The slider has two grooves complementary to the two protrusions of the drive shaft. In some embodiments, the drive shaft has a dogbone drive joint and the slider is a drive cup.

[0055] Fig.10A perspective view of a receiving shaft and a transmission yoke according to some embodiments of the present disclosure is shown. In some embodiments, the transmission yoke 102 of the transmission shaft has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the transmission yoke 102. In some embodiments, the protrusion 102-1 is cylindrical. The receiving shaft 101 has a receiving yoke 101-1. The receiving yoke 101-1 has a groove 101-2 that is structurally complementary to the at least one protrusion 102-1 of the transmission yoke 102. When assembling the medical device, the top of the body 102-2 is inserted into the recessed area of ​​the receiving yoke 101-1. During operation, the transmission yoke 102 is configured to transmit mechanical force to the receiving yoke 101-1 through the side wall of the protrusion 102-1 tangent to the inner side wall of the groove 101-2. In this way, the contact between the receiving yoke 101-1 and the transmission yoke 102 is minimal during operation to prevent the transmission yoke 102 from generating excess noise.

[0056] In some embodiments, the transmission yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the side wall of the transmission yoke 102 in opposite directions. The two protrusions 102-1 are spaced 180° apart from each other. The receiving yoke 101-1 has two grooves 101-2 that are complementary to the two protrusions 102-1. In the same manner as the two protrusions 102-1, the two grooves 101-2 are arranged opposite to each other. In some embodiments, the transmission yoke 102 is a dog-bone drive joint, and the receiving yoke 101-1 is a drive cup.

[0057] During operation, noise from the drive shaft is minimized as much as possible so as not to cause problems when monitoring the movement of the surgical tool. In some embodiments, a sensor system may be used to monitor the surgical tool. Fig.11 A cross-sectional view of a force sensor according to some embodiments of the present disclosure is shown. Fig.12 An exploded view of a force sensor according to some embodiments of the present disclosure is shown. In some embodiments, the sensor system 110 is disposed between the end platform 130 and the adapter 120. The sensor system 110 is configured to measure the force of the adapter 120. The sensor system 110 has a through hole in which a receiving shaft 121 rotatably supported by a bearing 122 and a transmission shaft 140 rotatably supported by a bearing 131 meet.

[0058] In some embodiments, the sensor system 110 includes a force relay 111 and a force sensor 112 mechanically coupled to the force relay 111. The force relay 111 is detachably coupled to the adapter 120. In some embodiments, the force relay 111 has grooves and protrusions that interlock with grooves and protrusions of the adapter 120.

[0059] In some embodiments, the force sensor 112 is mechanically attached to the force relay 111 and the end platform 130, and is configured to convert the force applied to the adapter 120 into an electrical signal. In some embodiments, the force sensor 112 is mechanically attached to the force relay 111 and the end platform 130 using fasteners 113 embedded around the periphery of the through hole of the force sensor 112. In some embodiments, a plurality of holes are formed on the front and rear surfaces of the force sensor 112 to accommodate the fasteners 113 for the force relay 111 and the end platform 130, respectively. In some embodiments, the fasteners 113 of the force relay 111 are staggered with the fasteners 113 of the end platform 130. In some embodiments, the fasteners 113 for the force relay 111 are not aligned with the fasteners 113 for the end platform 130, and do not overlap them in projection.

[0060] In some embodiments, force sensor 112 is an annular load cell (also called a load washer or through-hole load cell). Force sensor 112 converts a force such as tension, compression, pressure, or torque into an electrical signal. In some embodiments, the force applied to force sensor 112 is proportional to the change in the electrical signal.

[0061] In some embodiments, in addition to the predetermined force and the predetermined torque, the force applied to the adapter 120 also includes a force deviation and a torque deviation measured during operation. The force deviation represents the influence on the direction of the receiving shaft when a surgical tool disposed on the receiving shaft 121 contacts and applies a force to a target object such as a bone during operation. The torque deviation represents the influence on the movement of the receiving shaft when a surgical tool disposed on the receiving shaft 121 contacts and applies a force to a target object such as a bone during operation.

[0062] In some embodiments, the sensor system 110 is used to control the position and direction / angle of the surgical tool during operation. In some embodiments, the sensor system signal is connected to the controller. During operation, an operation plan with a predetermined range, a predetermined path or a combination thereof is received by the controller. The sensor system measures force deviation, torque deviation or a combination thereof. Force deviation and torque deviation are deviations from a predetermined range (i.e., a predetermined force and a predetermined torque) of the operation plan. The direction / angle and position of the surgical tool are adjusted based on the force deviation and torque deviation. The direction / angle and position of the surgical tool are adjusted by controlling the actuator that moves the parallel manipulator. The movement of the surgical tool is adjusted by controlling the mechanical force from the shaft motor. In some embodiments, the transmission shaft may cause noise on the sensor system. Therefore, in some embodiments, a low-pass filter is further electrically connected to the sensor system to remove noise.

[0063] Therefore, one aspect of the present disclosure provides a medical device, which includes: a parallel manipulator having an end platform and a base platform mechanically connected to the end platform; an adapter having a body detachably connected to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a transmission shaft rotatably supported by the end platform, the transmission shaft having a transmission yoke configured to transmit mechanical force to the receiving yoke, a flexible rod connected to the transmission yoke, and a sliding member connected to the flexible rod; and an axial motor configured to generate mechanical force to drive the transmission shaft, the axial motor having a drive shaft slidably engaged to the sliding member.

[0064] In some embodiments, the medical device further comprises a sensor system disposed between the end platform and the adapter.

[0065] The sensor system is configured to measure a force on the adapter.

[0066] In some embodiments, the sensor system includes a force relay that is removably coupled to the adapter; a force sensor that is mechanically attached to the force relay and the end platform and is configured to convert a force applied to the adapter into an electrical signal.

[0067] In some embodiments, the transmission yoke has a protrusion, and the receiving yoke has a groove that is complementary to the protrusion in structure. In some embodiments, the transmission yoke is configured to transmit mechanical force to the receiving yoke through the side wall of the protrusion tangential to the groove when moving.

[0068] In some embodiments, the sliding member has a socket. The cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft.

[0069] In some embodiments, the cross-sectional shape profiles of the socket and the drive shaft are polygonal shape profiles.

[0070] In some embodiments, the drive shaft has a protrusion, and the slider has a groove corresponding to the protrusion.

[0071] In embodiments, the protrusion is configured to slide along the groove.

[0072] In some embodiments, the minimum overlap between the drive shaft and the slider is no less than 5 mm.

[0073] In one embodiment, the flexible rod comprises a spring tube having multiple layers.

[0074] In some embodiments, the medical device further comprises a cylinder surrounding the slider. The cylinder, the slider and the drive shaft are sequentially assembled within each other.

[0075] In some embodiments, the Young's modulus of the drive shaft is different from the Young's modulus of the slider, and the Young's modulus of the slider is different from the Young's modulus of the cylinder.

[0076] In some embodiments, the medical device further comprises a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.

[0077] In some embodiments, the flexible rod is in a normal state when the end platform is at a minimum distance from the base platform.

[0078] Therefore, another aspect of the present disclosure provides a medical device, which includes: a parallel manipulator having an end platform and a base platform mechanically connected to the end platform; a sensor system mechanically attached to the end platform; an adapter detachably connected to the sensor system, the adapter having a body and a receiving shaft rotatably supported by the body; a transmission shaft rotatably supported by the end platform and configured to transmit mechanical force to the receiving shaft; and an axis motor drivingly connected to the transmission shaft and configured to transmit mechanical force to the transmission shaft.

[0079] In some embodiments, the sensor system includes a force relay that is detachably coupled to the adapter and a force sensor that is mechanically attached to the force relay and the end platform. The force sensor is configured to convert a force applied to the adapter into an electrical signal.

[0080] In some embodiments, the force sensor is a ring-shaped load cell.

[0081] In some embodiments, the adapter further has a bearing configured to rotatably attach the receiving shaft to the body. In some embodiments, the end platform further has a bearing configured to rotatably attach the drive shaft to the end platform.

[0082] In some embodiments, the drive shaft includes: a drive yoke configured to transmit mechanical force to a receiving shaft; a slider slidingly coupled to the shaft motor; and a flexible rod pressed onto the drive yoke and the slider.

[0083] In some embodiments, the medical device further comprises a cylinder disposed on a central region of the base platform. The cylinder, the slider and the drive shaft are sequentially assembled within each other.

[0084] In some embodiments, the medical device further comprises a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.

[0085] Those skilled in the art will readily appreciate that many modifications and variations of the apparatus and methods are possible while maintaining the teachings of the present invention. Therefore, the above disclosure should be interpreted as being limited only by the limits of the appended claims.

Claims

1. A medical device, characterized in that: include: A parallel manipulator, an adapter, a transmission shaft and an axis motor, wherein the parallel manipulator has: end platform; as well as a base platform mechanically coupled to the end platform, The adapter has: a body removably coupled to the end platform; as well as A receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a transmission shaft rotatably supported by the end platform, the transmission shaft having: a transmission yoke configured to transmit mechanical force to the receiving yoke; a flexible rod connected to the drive yoke; and a sliding member connected to the flexible rod, The shaft motor is configured to generate mechanical force to drive the transmission shaft, the shaft motor having a drive shaft slidably engaged to the slider.

2. The medical device according to claim 1, characterized in that Also includes: A sensor system is disposed between the end platform and the adapter, the sensor system being configured to measure a force on the adapter.

3. The medical device according to claim 2, characterized in that The sensor system comprises: a force repeater removably coupled to the adapter; and A force sensor is mechanically attached to the force relay and the end platform and is configured to convert a force applied to the adapter into an electrical signal.

4. The medical device according to claim 1, characterized in that The transmission yoke has a protrusion, and the receiving yoke has a groove that is complementary in structure to the protrusion, The transmission yoke is configured to transmit the mechanical force to the receiving yoke through the side wall of the protrusion tangential to the groove when moving.

5. The medical device according to claim 1, characterized in that The sliding member has a socket, The cross-sectional shape profile of the drive shaft is complementary in structure to the cross-sectional shape profile of the socket, The socket is configured to slide along the drive shaft.

6. The medical device according to claim 5, characterized in that The cross-sectional shape profiles of the socket and the drive shaft are polygonal shape profiles.

7. The medical device according to claim 1, characterized in that The drive shaft has a protrusion, and the slide member has a groove corresponding to the protrusion, The protrusion is configured to slide along the groove.

8. The medical device according to claim 1, characterized in that The minimum overlap between the drive shaft and the sliding member is not less than 5 mm.

9. The medical device according to claim 1, characterized in that: The flexible rod includes a spring tube having a plurality of layers.

10. The medical device according to claim 1, characterized in that Also includes: a cylinder surrounding the slide; The cylinder, the slide and the drive shaft are in turn fitted within each other.

11. The medical device according to claim 10, characterized in that The Young's modulus of the driving shaft is different from that of the sliding member, and the Young's modulus of the sliding member is different from that of the cylinder.

12. The medical device according to claim 10, characterized in that Also included is a lubricant applied to coat a surface of at least one of the cylinder, the slider, and the drive shaft.

13. The medical device according to claim 1, characterized in that When the distance between the end platform and the base platform is at a minimum, the flexible rod is in a normal state.

14. A medical device, characterized in that: include: a parallel manipulator, a sensor system mechanically attached to the end platform, an adapter detachably coupled to the sensor system, a drive shaft, and an axis motor, The parallel manipulator has: the end platform; as well as a base platform mechanically connected to the end platform, The adapter has: The entity; and a receiving shaft rotatably supported by the body, The transmission shaft is rotatably supported by the end platform and is configured to transmit mechanical force to the receiving shaft; The shaft motor is drivingly connected to a drive shaft and is configured to transmit the mechanical force to the drive shaft.

15. The medical device according to claim 14, characterized in that The sensor system comprises: a force repeater removably coupled to the adapter: and A force sensor is mechanically attached to the force relay and the end platform, the force sensor being configured to convert a force applied to the adapter into an electrical signal.

16. The medical device according to claim 15, characterized in that The force sensor is a ring-shaped load cell.

17. The medical device according to claim 14, characterized in that The adapter also has a first bearing configured to rotatably attach the receiving shaft to the body; and The end platform also has a second bearing configured to rotatably attach the drive shaft to the end platform.

18. The medical device according to claim 14, characterized in that The transmission shaft comprises: a transmission yoke configured to transmit the mechanical force to a receiving yoke; a slider slidably coupled to the shaft motor; and A flexible rod is pressed onto the transmission yoke and the slide.

19. The medical device according to claim 18, characterized in that Also includes: a cylinder disposed on a central region of the base platform; The cylinder, the slide and the drive shaft are in turn fitted within each other.

20. The medical device according to claim 19, characterized in that Also included is a lubricant applied to coat a surface of at least one of the cylinder, the slider, and the drive shaft.

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