An effective operating force detection device for a surgical robot

Abstract

The present invention provides an effective operating force detection device for a surgical robot, which relates to the technical field of medical devices. It includes a base, a rotation mechanism, a lifting mechanism, a pressure detection mechanism, and a control mechanism; the rotation mechanism is installed on the base; the lifting mechanism is installed on the rotation mechanism; the pressure detection mechanism is installed at the top of the lifting mechanism, and the pressure detection mechanism is used to apply a preset pressure value to the end effector of the surgical robot; the control mechanism is connected to the pressure detection mechanism. When detecting the effective operating force of the surgical robot, the rotation mechanism and the lifting mechanism are used to adjust the pressure detection mechanism to the detection position, and then the pressure detection mechanism applies pressure at a preset pressure for a preset time and then releases the pressure. At this time, it is judged whether the effective operating force detection is qualified according to whether the surgical robot can operate normally. The whole detection process is convenient to operate, without too much manual intervention, improving the detection efficiency and accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly, to a device for detecting the effective operating force of a surgical robot. Background Art

[0002] The effective operating force of a surgical robot is the maximum load force that the end effector of the robot can withstand under normal working conditions. Taking orthopedic surgery as an example, when using a robot to assist in fracture reduction or bone cutting, the interaction force between the end effector of the robot and the patient may reach dozens of Newtons. Therefore, the effective operating load-bearing capacity of the surgical robot at the end effector is one of the core indicators of an orthopedic surgical robot. By measuring the effective operating force of an orthopedic surgical robot with a detection device, it can be ensured that the effective payload-bearing capacity at the end effector of the robot meets the design specifications at the time of factory shipment.

[0003] Currently, most of the existing devices for detecting the effective operating force of surgical robots are manually operated, requiring manual loading of weights and reading and calculating the mass of the weights. There are problems such as poor detection efficiency, low detection accuracy, and complex operation, which are not suitable for the rapid inspection requirements of large-scale production sites. Summary of the Invention

[0004] The purpose of the present invention is to provide a device for detecting the effective operating force of a surgical robot to solve the problems of low detection efficiency, low detection accuracy, and complex operation of the existing detection devices.

[0005] To solve the above problems, the present invention first provides a device for detecting the effective operating force of a surgical robot, including a base, a rotating mechanism, a lifting mechanism, a pressure detection mechanism, and a control mechanism; the rotating mechanism is installed on the base; the lifting mechanism is installed on the rotating mechanism and can rotate around its own axis under the drive of the rotating mechanism; the pressure detection mechanism is installed on the top of the lifting mechanism, and the pressure detection mechanism is used to apply a preset pressure value to the end effector of the surgical robot in at least one direction; the control mechanism is connected to the pressure detection mechanism and is used to control the output pressure value and pressure output time of the pressure detection mechanism to the end effector.

[0006] By adopting the above technical solution, when detecting the effective operating force of a surgical robot, the pressure detection mechanism is adjusted to the detection position by using the rotating mechanism and the lifting mechanism, and then the pressure detection mechanism pressurizes the end effector of the surgical robot with a preset pressure for a preset time. After the pressure is released, it is judged whether the effective operating force detection is qualified according to whether the surgical robot can operate normally. The whole detection process is convenient to operate, without too much manual intervention, improving the detection efficiency and accuracy.

[0007] Furthermore, the above-mentioned pressure detection mechanism includes an installation unit, a vertical pressure application unit and two horizontal pressure application units installed on the installation unit; the vertical pressure application unit is used to apply vertical pressure to the end effector, and the horizontal pressure application unit is used to apply horizontal pressure to the end effector, and the pressure application directions of the two horizontal pressure application units are perpendicular to each other.

[0008] Adopting the above technical solution, it is possible to perform pressurized detection on the end effector in three mutually perpendicular directions, ensuring multi-faceted detection of the effective operating force of the end effector and guaranteeing the reliability of the data.

[0009] Furthermore, the installation unit includes a support platform, two support seats, a first support arm and a second support arm; the support seats are installed on the support platform, the length directions of the two support seats are perpendicular to each other, and the two horizontal pressure application units are respectively installed on the two support seats; the first support arm is vertically installed on the support platform and is located between the two support seats; the second support arm is horizontally arranged, one end of which is connected to the top of the first support arm, and the other end is connected to the vertical pressure application unit.

[0010] Adopting the above technical solution, the horizontal pressure application unit is assembled by using the support seats, and the vertical pressure application unit is assembled by using the first support arm and the second support arm, avoiding interference between the horizontal pressure application unit and the vertical pressure application unit.

[0011] Furthermore, the bottom of the first support arm has a first side wall and a second side wall that are perpendicular and adjacent to each other, the first side wall abuts against the end of one of the two support seats, and the second side wall abuts against the end of the other of the two support seats.

[0012] Adopting the above technical solution, the first support arm is arranged within the interval formed by the two support seats, improving the compactness of the structure.

[0013] Furthermore, the vertical pressure application unit includes a first linear reciprocating drive part, a first pressure sensing part and a first pressure application part; the first linear reciprocating drive part is connected to the installation unit, and the linear motion end of the first linear reciprocating drive part is connected to the first pressure sensing part; the first pressure application part is installed on the first pressure sensing part, and the first pressure sensing part is connected to the control mechanism and is configured to detect the vertical pressure received by the first pressure application part.

[0014] Adopting the above technical solution, during detection, the first linear reciprocating drive part drives the first pressure application part to apply pressure, and at the same time the first pressure sensing part feeds back the pressure data to the control mechanism, ensuring the accuracy of the pressurization value and guaranteeing accurate detection.

[0015] Furthermore, the first pressure portion includes a first connecting wall, a first limiting wall and a second limiting wall connected in sequence; the side of the first connecting wall facing away from the first limiting wall is connected to the installation unit, the first connecting wall is perpendicular to the first limiting wall, and the second limiting wall is parallel to the first connecting wall.

[0016] By adopting the above technical solution, the first pressure-applying portion not only has a simple structure, but also can conveniently accommodate end effectors of surgical robots with various structural forms, thereby improving the universality of the device.

[0017] Furthermore, the base is provided with a plurality of fixing holes for connecting fasteners, and the fasteners can be anchored to the ground.

[0018] By adopting the above technical solution, the base can be fixed to the ground or other facilities using fasteners, thereby improving the stability of the device during mechanical testing and further ensuring the accuracy of the test results.

[0019] Furthermore, the rotating mechanism includes a first drive motor, a rotating transmission assembly and a rotating platform which are sequentially connected in transmission; the rotating platform is installed on the base so as to be rotatable around its own axis, and the first drive motor and the rotating transmission assembly are fixedly installed on the base.

[0020] By adopting the above technical solution, the first driving motor and the rotating transmission assembly are utilized to drive the rotating platform to move, and the structure is simple and easy to implement.

[0021] Furthermore, the lifting mechanism includes a mounting seat, a second drive motor, a trapezoidal lead screw, a lead screw nut and a lifting frame; the second drive motor is installed on the mounting seat and is transmission-connected to the trapezoidal lead screw; the lead screw nut is threadedly connected to the trapezoidal lead screw and is fixedly connected to the lifting frame.

[0022] By adopting the above technical solution, the lifting frame is driven to move up and down by utilizing the second driving motor, the trapezoidal lead screw and the lead screw nut, the transmission is stable, and the fine adjustment of the stroke is easy to control.

[0023] Furthermore, the lifting mechanism also includes a guide frame, the guide frame is fixedly mounted on the mounting seat, and the lifting frame is slidably mounted on the guide frame.

[0024] By adopting the above technical solution, the guide frame is used to guide the lifting frame, thereby improving the stability of the lifting frame during the lifting process. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0026] Figure 1 Schematic diagram (I) of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0027] Figure 2 Schematic diagram (II) of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0028] Figure 3 Schematic diagram of the vertical pressure application unit of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0029] Figure 4 Schematic diagram of the horizontal pressure application unit of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0030] Figure 5 Schematic diagram of the base and rotation mechanism of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0031] Figure 6 Schematic diagram (I) of the lifting mechanism of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention;

[0032] Figure 7 Schematic diagram (II) of the lifting mechanism of the effective operating force detection device for the surgical robot provided by the embodiment of the present invention.

[0033] Among them, the reference numeral description:

[0034] 100 - Base; 110 - Fixed hole;

[0035] 200 - Rotation mechanism; 210 - First driving motor; 220 - Rotating platform;

[0036] 300 - Lifting mechanism; 310 - Mounting seat; 320 - Second driving motor; 330 - Trapezoidal lead screw; 340 - Lead screw nut; 350 - Lifting frame; 360 - Guide frame;

[0037] 400 - Pressure detection mechanism; 410 - Mounting unit; 411 - Support platform; 412 - Support seat; 413 - First support arm; 414 - Second support arm; 420 - Vertical pressure application unit; 421 - First linear reciprocating driving part; 422 - First pressure sensing part; 423 - First pressure application part; 4231 - First connecting wall; 4232 - First limiting wall; 4233 - Second limiting wall; 430 - Horizontal pressure application unit; 431 - Second linear reciprocating driving part; 432 - Second pressure sensing part; 433 - Second pressure application part. Detailed implementation manners

[0038] To make the above objects, features, and advantages of the present invention more apparent and understandable, the following detailed description of specific embodiments of the present invention will be provided in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not used to limit the present invention.

[0039] For the effective operating force detection of existing surgical robots, it generally requires manual loading of weights and reading and calculating the mass of the weights, which cannot achieve automated operation, resulting in low detection efficiency and accuracy and unable to meet the rapid inspection requirements of large-scale production sites. In view of this, this embodiment provides a device for detecting the effective operating force of a surgical robot to solve the above technical problems.

[0040] Combined with the attached Figure 1 As shown, the device for detecting the effective operating force of a surgical robot provided in this embodiment mainly includes functional mechanisms such as a base 100, a rotating mechanism 200, a lifting mechanism 300, a pressure detection mechanism 400, and a control mechanism (not shown in the figure). Among them, the base 100 of this embodiment is the installation foundation of the entire detection device, and the rotating mechanism 200 is installed on the base 100; the lifting mechanism 300 is installed on the rotating mechanism 200, and the lifting mechanism 300 can rotate around its own axis under the drive of the rotating mechanism 200. The axis of the lifting mechanism 300 is a virtual axis in the vertical direction (not shown in the figure).

[0041] The pressure detection mechanism 400 of this embodiment is installed at the top of the lifting mechanism 300 and rotates and lifts under the drive of the lifting mechanism 300 to be adjusted to the detection position. The pressure detection mechanism 400 is used to apply a preset pressure value to the end effector of the surgical robot in at least one direction.

[0042] The control mechanism of this embodiment is connected to the pressure detection mechanism 400. The connection method can be a wired connection or a wireless signal connection and is used to control the output pressure value and pressure output time of the pressure detection mechanism 400 to the end effector. Preferably, the control mechanism of this embodiment is also respectively connected to the rotating mechanism 200 and the lifting mechanism 300, and the connection method can also be a wired connection or a wireless signal connection, and then sends control instructions to the rotating mechanism 200 and the lifting mechanism 300 to control their actions. Specifically, the control mechanism of this embodiment can be any existing device with data reception and processing and capable of sending control signals, such as a processor or a PLC controller, etc.

[0043] When detecting through the effective operating force detection device of the surgical robot according to this embodiment, first use the rotating mechanism 200 and the lifting mechanism 300 to adjust the pressure detection mechanism 400 to the detection position. Then, the pressure detection mechanism 400 applies pressure to the end effector (not shown in the figure) of the surgical robot at a preset pressure for a preset time. After the pressure is released, it is judged whether the effective operating force detection is qualified according to whether the surgical robot can operate normally. The whole detection process is convenient to operate and does not require too much manual intervention. It not only realizes the automation of detection, but also improves the detection efficiency and accuracy.

[0044] Combined with the attached Figure 1 and the attached Figure 2 As shown, the pressure detection mechanism 400 of this embodiment includes an installation unit 410, a vertical pressure application unit and two horizontal pressure application units 430 installed on the installation unit 410. Among them, the vertical pressure application unit of this embodiment is used to apply vertical pressure to the end effector, and the two horizontal pressure application units 430 of this embodiment are used to apply horizontal pressure to the end effector, and the pressure directions applied by the two horizontal pressure application units 430 are perpendicular to each other. Furthermore, it can perform pressure detection on the end effector in three mutually perpendicular directions, ensuring multi-faceted detection of the effective operating force of the end effector and guaranteeing the reliability of the data.

[0045] Combined with the attached Figure 2 As shown, for the convenience of detection and to avoid interference between the two horizontal pressure application units 430 and the vertical pressure application unit, this embodiment configures the installation unit 410 to include a support platform 411, two support seats 412, a first support arm 413 and a second support arm 414.

[0046] Among them, the two support seats 412 of this embodiment are both installed on the support platform 411. The installation method can be fixed installation through structures such as connecting pieces and connecting plates, and the length directions of the two support seats 412 are perpendicular to each other. The two horizontal pressure application units 430 are respectively installed on the two support seats 412, and the length direction of each horizontal pressure application unit 430 is perpendicular to the length direction of its corresponding support seat 412. The first support arm 413 of this embodiment is vertically installed on the support platform 411 and is located between the two support seats 412. The first support arm 413 enables the second support arm 414 and the vertical pressure application unit thereon to have a certain installation height, avoiding interference with the horizontal pressure application unit 430 below. The second support arm 414 of this embodiment is horizontally arranged and is located above the two horizontal pressure application units 430. One end of the second support arm 414 is connected to the top of the first support arm 413, and the other end of the second support arm 414 is connected to the vertical pressure application unit through structures such as a clamping member and a screw passing through the clamping member.

[0047] During specific assembly, the support base 412 is used to complete the assembly of the horizontal pressure application unit 430, and the first support arm 413 and the second support arm 414 are used to complete the assembly of the vertical pressure application unit, avoiding interference between the horizontal pressure application unit 430 and the vertical pressure application unit.

[0048] Preferably, the bottom of the first support arm 413 of this embodiment has a first side wall and a second side wall that are perpendicular and adjacent (not marked in the figure). The first side wall abuts against the end of one of the two support bases 412, and the second side wall abuts against the end of the other of the two support bases 412. With this structural design, the first support arm 413 can be arranged within the interval formed by the two support bases 412, improving the compactness of the structure.

[0049] Combined with the attached Figure 3 As shown, the vertical pressure application unit of this embodiment includes a first linear reciprocating drive part 421, a first pressure sensing part 422, and a first pressure application part 423; the first linear reciprocating drive part 421 can be a structure such as an electric push rod or a pneumatic rod. The cylinder body of the first linear reciprocating drive part 421 is connected to the installation unit 410, and the piston rod of the first linear reciprocating drive part 421 is connected to the first pressure sensing part 422. The first pressure application part 423 of this embodiment is installed on the first pressure sensing part 422. The first pressure sensing part 422 is connected to the control mechanism and is configured to detect the vertical pressure received by the first pressure application part 423.

[0050] During specific detection, the first linear reciprocating drive part 421 drives the first pressure application part 423 to apply pressure. The first pressure application part 423 receives the reaction force of the end effector. The first pressure sensing part 422 can detect the magnitude of the reaction force, and this reaction force is the actual pressure applied by the first pressure application part 423. At the same time, the first pressure sensing part 422 of this embodiment feeds back the pressure data to the control mechanism, and the control mechanism determines whether the pressure meets the standard based on this. If it does not meet the standard, it can be adjusted in time, ensuring the accuracy of the applied pressure value and guaranteeing accurate detection.

[0051] Preferably, the first pressure application part 423 of this embodiment includes a first connection wall 4231, a first limiting wall 4232, and a second limiting wall 4233 that are connected in sequence; among them, the side of the first connection wall 4231 facing away from the first limiting wall 4232 is connected to the installation unit 410. The first connection wall 4231 is perpendicular to the first limiting wall 4232, and the second limiting wall 4233 is parallel to the first connection wall 4231. Designing the first pressure application part 423 in this way not only has a simple structure but also can conveniently accommodate end effectors of various structural forms of surgical robots, improving the universality of the device.

[0052] Combined with the attached Figure 4As shown, the horizontal pressure unit 430 of this embodiment has the same structure and working principle as the vertical pressure unit described above, but the installation direction and position are different. The horizontal pressure unit 430 of this embodiment includes a second linear reciprocating drive unit 431, a second pressure sensing unit 432 and a second pressure unit 433; the second linear reciprocating drive unit 431 can be a structure such as an electric push rod or a gas rod, the cylinder body of the second linear reciprocating drive unit 431 is connected to the installation unit 410, and the piston rod of the second linear reciprocating drive unit 431 is connected to the second pressure sensing unit 432. The structure of the second pressure unit 433 of this embodiment is the same as that of the first pressure unit 423 described above, so its structure will not be described in detail. The second pressure unit 433 is installed on the second pressure sensing unit 432, and the second pressure sensing unit 432 is connected to the control mechanism and is configured to detect the horizontal pressure on the second pressure unit 433.

[0053] Combined with Figure 5 As shown, the base 100 of this embodiment is provided with a plurality of fixing holes 110 for connecting fasteners, and the fasteners (not shown in the figure) can be anchored to the ground, and the fasteners can be structures such as anchor bolts; specifically, the fixing holes 110 of this embodiment can be provided by providing a plurality of notches at the four diagonal positions of the base 100, and the notches have a bottom wall provided horizontally, and the fixing holes 110 are provided at the notches, and after the anchor bolts are installed in the fixing holes 110, their height is not higher than the base 100, and the semi-hidden installation of the top of the anchor bolts can be realized. When the effective operating force detection device of the surgical robot of this embodiment is specifically applied, the base 100 can be fixed to the ground and other facilities by fasteners, which improves the stability of the device during the mechanical detection process and further ensures the accuracy of the detection results.

[0054] Combined with Figure 5 As shown, the rotating mechanism 200 of this embodiment includes a first drive motor 210, a rotating transmission assembly (not shown in the figure) and a rotating platform 220 that are sequentially connected in transmission; the rotating platform 220 can be installed on the base 100 so as to rotate around its own axis, and the first drive motor 210 and the rotating transmission assembly are fixedly installed on the base 100; preferably, the rotating transmission assembly of this embodiment may include a first gear and a second gear that are meshed with each other, and the first gear and the second gear are bevel gears, the first gear is fixedly connected to the output shaft of the first drive motor 210 or is connected through a transmission transmission, and the second gear is sleeved on the bottom of the rotating platform 220. In this way, the rotation of the first drive motor 210 can be used to drive the rotating transmission assembly to move, thereby driving the rotating platform 220 to rotate around its axis, and the structure is simple and easy to implement.

[0055] Combined with Figure 6As shown in the figure, the lifting mechanism 300 of this embodiment includes a mounting base 310, a second driving motor 320, a trapezoidal lead screw 330, a lead screw nut 340, and a lifting frame 350. Among them, the mounting base 310 of this embodiment is installed on the above-mentioned rotating platform 220 through connecting parts such as bolts. The second driving motor 320 of this embodiment is installed on the mounting base 310, and the output shaft of the second driving motor 320 is in transmission connection with the trapezoidal lead screw 330. The specific form of transmission connection can be fixed connection and coaxial setting. The lead screw nut 340 of this embodiment is in threaded connection with the trapezoidal lead screw 330 and is fixedly connected to the lifting frame 350.

[0056] When lifting is required, the control mechanism controls the second driving motor 320 to act, causing the trapezoidal lead screw 330 to rotate. At the same time, the lead screw nut 340 on the trapezoidal lead screw 330 moves up and down, thereby driving the lifting frame 350 of this embodiment to move up and down. The entire transmission process is stable and it is easy to control the fine adjustment of the stroke.

[0057] Combined with the attached Figure 7 As shown in the figure, preferably, the lifting mechanism 300 of this embodiment further includes a guiding frame 360. The guiding frame 360 is fixedly and vertically installed on the mounting base 310. The lifting frame 350 is slidably installed or connected to the guiding frame 360. When lifting is required, the guiding frame 360 is used to guide the lifting of the lifting frame 350, improving the stability of the lifting frame 350 during the lifting process.

[0058] The specific working process of the effective operating force detection device of the surgical robot in this embodiment will be described below:

[0059] First, the detection device is adjusted to a direction parallel to the base coordinate system of the robot to be tested by using the rotating mechanism and the lifting mechanism 300. The robot to be tested is operated, and its end effector is moved into the horizontal pressing part of one of the horizontal pressing units 430.

[0060] Then, the measured load and the measured time are input into the control mechanism, and the second linear reciprocating motion mechanism is started. The side wall of the horizontal pressing part is pushed to contact the end effector and a load is continuously applied for a certain period of time. If the manipulator can operate normally after the load is unloaded, the detection is considered to pass.

[0061] Then, the position of the end effector of the robot to be tested is adjusted, and the end effector is placed in another horizontal pressing unit 430, and the above-mentioned pressing steps are repeated.

[0062] Finally, the position of the end effector of the robot to be tested is adjusted again, and the end effector is placed in the vertical pressing unit, and the above-mentioned pressing steps are repeated.

[0063] It should be noted that in the above steps, the end effector can also be first placed in the vertical pressing unit and then in the horizontal pressing unit, or it can be first placed in one of the horizontal pressing units for detection, then placed in the vertical pressing unit for detection, and finally placed in the other horizontal pressing unit for detection.

[0064] In the description of this embodiment, it should be noted that those skilled in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing a control device through a computer program. The program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the above method embodiments. The storage medium can be a memory, a disk, an optical disc, etc.

[0065] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention should be determined by the scope defined by the claims.

[0066] Finally, it should also be noted that in this text, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the element.

[0067] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other.

[0068] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An effective operating force detection device for a surgical robot, characterized in that Comprising: A base (100); A rotating mechanism (200), which is installed on the base (100); A lifting mechanism (300), which is installed on the rotating mechanism (200) and can rotate around its own axis under the drive of the rotating mechanism (200); A pressure detection mechanism (400), which is installed on the top of the lifting mechanism (300), and the pressure detection mechanism (400) is used to apply a preset pressure value to the end effector of the surgical robot in at least one direction; the pressure detection mechanism (400) includes a mounting unit (410) and a vertical pressing unit (420) and two horizontal pressing units (430) mounted on the mounting unit (410); the vertical pressing unit (420) is used to apply a vertical pressure to the end effector, the horizontal pressing unit (430) is used to apply a horizontal pressure to the end effector, and the pressure directions applied by the two horizontal pressing units (430) are perpendicular to each other; the mounting unit (410) includes a support platform (411), two support seats (412), a first support arm (413) and a second support arm (414); the support seats (412) are installed on the support platform (411), the length directions of the two support seats (412) are perpendicular to each other, and the two horizontal pressing units (430) are respectively installed on the two support seats (412); the first support arm (413) is vertically installed on the support platform (411) and is located between the two support seats (412); the second support arm (414) is horizontally arranged, one end of which is connected to the top of the first support arm (413), and the other end is connected to the vertical pressing unit (420); and, A control mechanism, which is connected to the pressure detection mechanism (400) and is used to control the output pressure value and pressure output time of the pressure detection mechanism (400) to the end effector.

2. The effective operating force detection device for a surgical robot according to claim 1, wherein The bottom of the first support arm (413) has a first side wall and a second side wall that are vertical and adjacent, the first side wall abuts against the end of one of the two support seats (412), and the second side wall abuts against the end of the other of the two support seats (412).

3. The effective operating force detection device for a surgical robot according to claim 1, characterized in that, The vertical pressing unit (420) includes a first linear reciprocating driving part (421), a first pressure sensing part (422) and a first pressing part (423); The first linear reciprocating driving part (421) is connected to the mounting unit (410), and the linear motion end of the first linear reciprocating driving part (421) is connected to the first pressure sensing part (422); The first pressing part (423) is installed on the first pressure sensing part (422), the first pressure sensing part (422) is connected to the control mechanism and is configured to detect the vertical pressure received by the first pressing part (423).

4. The effective operating force detection device for a surgical robot according to claim 3, characterized in that, The first pressing part (423) includes a first connecting wall (4231), a first limiting wall (4232) and a second limiting wall (4233) connected in sequence; The side of the first connecting wall (4231) facing away from the first limiting wall (4232) is connected to the mounting unit (410), the first connecting wall (4231) is perpendicular to the first limiting wall (4232), and the second limiting wall (4233) is parallel to the first connecting wall (4231).

5. The effective operating force detection device for a surgical robot according to any one of claims 1-4, characterized in that, The base (100) is provided with a plurality of fixing holes (110) for connecting fasteners, and the fasteners can be anchored to the ground.

6. The effective operating force detection device for a surgical robot according to any one of claims 1-4, characterized in that The rotating mechanism (200) comprises a first driving motor (210), a rotating transmission assembly and a rotating platform (220) which are sequentially connected in transmission; The rotating platform (220) is mounted on the base (100) so as to be rotatable around its own axis, and the first driving motor (210) and the rotating transmission assembly are fixedly mounted on the base (100).

7. The effective operating force detection device for a surgical robot according to any one of claims 1-4, characterized in that, The lifting mechanism (300) comprises a mounting seat (310), a second drive motor (320), a trapezoidal lead screw (330), a lead screw nut (340), and a lifting frame (350); The second driving motor (320) is mounted on the mounting seat (310) and is drivingly connected to the trapezoidal lead screw (330); The lead screw nut (340) is threadedly connected to the trapezoidal lead screw (330) and is fixedly connected to the lifting frame (350).

8. The effective operating force detection device for a surgical robot according to claim 7, wherein, The lifting mechanism (300) further comprises a guide frame (360), wherein the guide frame (360) is fixedly mounted on the mounting seat (310), and the lifting frame (350) is slidably mounted on the guide frame (360).

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