Medical device

Abstract

The invention discloses a medical device. The medical device comprises an adapter, a parallel manipulator, an axis motor, a transmission shaft and a force sensor. The force sensor is arranged between the adapter and the end platform of the parallel manipulator and has a through hole. The receiving shaft of the adapter meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate the movement of the surgical tool.

Description

[0001] This application is a divisional application of the invention patent application "Medical Device for Manipulating Surgical Tools" with an application date of December 30, 2020 and an application number of 202011612535.6. Technical Field

[0002] The present disclosure generally relates to medical devices, and more particularly, to a medical device having a drive shaft that is located between an end platform and a base platform of a parallel manipulator and is configured to transmit mechanical force. Background Art

[0003] Parallel mechanisms are capable of positioning and orienting an end platform with up to six or more degrees of freedom. The end platform of a parallel mechanism can be used to support a medical device, such as a diagnostic device or a surgical tool. Since the end platform of a 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.

[0004] Due to the ability of the end platform to be manipulated with high precision and dexterity, parallel mechanisms are particularly suitable for performing surgical procedures through remote control. The mechanism is capable of adjusting the position of the end platform, making it suitable for medical applications that require precise micro-movements. However, it has a motor for controlling a surgical tool mounted on the end platform, which can impose additional weight and force on 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 a medical device, it is necessary to minimize the force that affects the end platform of a parallel manipulator. Summary of the Invention

[0005] In view of this, it is necessary to provide a medical device having a drive shaft to solve the above technical problems.

[0006] To achieve the above object, a medical device according to one aspect of the present disclosure includes: a parallel manipulator, an adapter, a drive shaft, and a shaft motor. The parallel manipulator has: an end platform; and a base platform mechanically coupled to the end platform. The adapter has: a body detachably coupled to the end platform; and a receiving shaft rotatably supported by the body. The receiving shaft has a receiving yoke. The drive shaft is rotatably supported by the end platform. The drive shaft has: a drive yoke configured to transmit mechanical force to the receiving yoke; a flexible rod connected to the drive yoke; and a slider connected to the flexible rod. The shaft motor is configured to generate mechanical force to drive the drive shaft. The shaft motor has a drive shaft slidably engaged with the slider.

[0007] Another aspect of the present disclosure relates to a medical device including: a parallel manipulator, a sensor system mechanically attached to the end platform, an adapter detachably coupled to the sensor system, a drive shaft, and a shaft motor. The parallel manipulator has: an end platform; and a base platform mechanically connected to the end platform. The adapter has: a body; and a receiving shaft rotatably supported by the body. The drive shaft is rotatably supported by the end platform and configured to transmit the mechanical force to the receiving shaft; the shaft motor is drivingly connected to the drive shaft and configured to transmit the mechanical force to the drive shaft.

[0008] According to one aspect of the present disclosure, a medical device can be provided that can improve the accuracy of the medical device by minimizing the noise from the drive shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] To enable a more particular understanding of the above-described features of the present disclosure, the disclosure briefly summarized above may be described in more detail by reference to the embodiments (some of which are illustrated in the drawings). However, it should be noted that the drawings only illustrate typical embodiments of the present disclosure and should not be considered as limiting the scope of the present disclosure, as the present disclosure may admit other equally effective embodiments.

[0010] Figure 1 A 3D representation view of a medical device according to some embodiments of the present disclosure is shown;

[0011] Figure 2 A cross-sectional view of a medical device according to some embodiments of the present disclosure is shown;

[0012] Figure 3 An exploded view of a medical device according to some embodiments of the present disclosure is shown;

[0013] Figure 4A A perspective view of a drive shaft according to some embodiments of the present disclosure is shown;

[0014] Figure 4B A cross-sectional view of a drive shaft according to some embodiments of the present disclosure is shown;

[0015] Figure 5 An exploded view of a drive shaft according to some embodiments of the present disclosure is shown;

[0016] Figure 6 An exploded view of an adapter according to some embodiments of the present disclosure is shown;

[0017] Figure 7 A perspective view of a machine module according to some embodiments of the present disclosure is shown;

[0018] Figure 8Shows an exploded view of a drive shaft, a parallel manipulator, and a machine module according to some embodiments of the present disclosure;

[0019] Figure 9 Shows a cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure;

[0020] Figure 10 Shows a perspective view of a receiving shaft and a transmission yoke according to some embodiments of the present disclosure;

[0021] Figure 11 Shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure;

[0022] Figure 12 Shows an exploded view of a force sensor according to some embodiments of the present disclosure. Detailed Description

[0023] The present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the present disclosure are shown. However, the present disclosure may be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Like reference numerals always refer to like elements.

[0024] The terms used herein are for the purpose of describing particular example embodiments only 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 also intended to include the plural forms. It will be further understood that when the terms "comprises" or "comprising" or "has" are used herein, the presence of the stated features, regions, integers, steps, operations, elements, and / or components is specified, but one or more other features, regions, integers, steps, operations, elements, components, and / or combinations thereof are not excluded.

[0025] 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 this disclosure pertains. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is 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 expressly so defined herein.

[0026] Figure 1 Shows a 3D representation view of a medical device according to some embodiments of the present disclosure. Figure 2 Shows a cross-sectional view of a medical device according to some embodiments of the present disclosure. Figure 3A 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 operatively coupled 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. Further, the drive shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, the adapter 13 is configured to hold a surgical tool T1, such as a drill bit, a trocar, or a saw blade. In some embodiments, the medical device 1 further 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.

[0027] In some embodiments, the medical device 1 further includes 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 80 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 80 includes a plurality of actuators for correspondingly manipulating the plurality of arms 11-3 and a shaft motor for manipulating the drive shaft 12. The handle 16 enables a user to hold and manipulate the medical device 1 during operation. The control module 17 enables the user to trigger, stop, or adjust the operation of the surgical tool T1 or perform other functions of the medical device 1.

[0028] The parallel manipulator can be classified based on the degrees of freedom, the number of arms, the joint sequence in each arm, and the type of actuators. In some embodiments, the parallel manipulator can be a six-degree-of-freedom (6-DOF) parallel manipulator with six degrees of freedom. In some embodiments, the plurality of arms 11-3 includes six arms. In some embodiments, each arm 11-3 has a first joint coupled to an actuator under the base platform 11-2, a second joint coupled 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 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. Among them, the universal joint is formed by two rotational 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 configured to emit electromagnetic signals, sound waves, heat, or other perceivable signals, and an adapter for mounting the markers relative to the device body in a specific direction / angle. In some embodiments, the markers and the adapter are used in cooperation with a spatial sensor to achieve a target tracking function during operation. The second positioning unit 18-2 may be disposed in the region 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 according to some embodiments of the present disclosure is shown. Figure 4B A cross-sectional view of a drive shaft according to some embodiments of the present disclosure is shown. In some embodiments, the drive shaft 40 is rotatably supported by an end platform and slidably engaged to a base platform. In some embodiments, the drive shaft 40 includes a drive yoke 41 configured to transmit mechanical force to a surgical tool (i.e., Figure 1 the surgical tool T1 in), a flexible rod 42 (Pliable rod) connected to the drive yoke 41, and a slider 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 its original structure when the force is removed. The flexible rod 42 is rigid enough to withstand and transmit the mechanical force from the shaft motor. In one exemplary embodiment, the flexible rod 42 is a spring tube having a plurality of layers. In some embodiments, the flexible rod 42 has four layers (i.e., Figure 4B the flexible rod 42 in). 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. Thus, when the medical device is not in use, the flexible rod is not under pressure.

[0031] In some embodiments, during operation of the medical device, when the distance between the end platform and the base platform is at a minimum, 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 distance between the end platform and the base platform is at a minimum, a part of the flexible rod and the slider are exposed between the end platform and the base platform. In other words, when the distance between the end platform and the base platform is at a minimum, 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 overlapping amount between the slider and the drive shaft is not less than 5 mm. However, in some other embodiments, when the end platform and the base platform are at the maximum distance, the overlapping amount between the slider and the drive shaft can be less than 5 mm. In other words, the minimum overlapping amount between the slider and the drive shaft does not exceed 5 mm. During operation, a force may be applied to the flexible rod, causing 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 undeformed original shape when the applied force is removed.

[0033] In some embodiments, when the end platform and the base platform are at the minimum distance, 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 some other embodiments, when the end platform and the base platform are at the minimum distance, the slider protrudes from the base platform. In addition, the length of the flexible rod is less than the minimum distance between the end platform and the base platform. In some 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 unloaded state. Therefore, the flexible rod maintains its original shape (i.e., no tension, bending, or compression) in the normal state.

[0034] In an exemplary embodiment, the length L40 of the drive 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 slider 43 is substantially 1 cm. In an exemplary embodiment, the length L43 of the slider 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 only examples and should not be used to limit the scope of the present disclosure.

[0035] Figure 5Shows an exploded view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, the drive yoke 41 and the slider 43 each have a through hole into which the flexible rod 42 is inserted. To physically attach the flexible rod 42 to the drive yoke 41 and the slider 43, pins 41-21, 41-22, 43-21, and 43-22 are used, respectively. Pins 41-21 and 41-22 are used to press or push one end of the flexible rod 42 against the inner surface of the through hole of the drive yoke 41. In some embodiments, pins 41-21 and 41-22 are arranged orthogonally to each other. Thus, the flexible rod 42 can be arranged to bias to one side of the drive yoke 41. Pins 43-21 and 43-22 are used to press or push the other end of the flexible rod 42 against the inner surface of the through hole of the slider 43. In some embodiments, pins 43-21 and 43-22 are arranged orthogonally to each other. Thus, the flexible rod 42 can be arranged to bias to one side of the slider 43. Although the flexible rod 42 may be offset from the center corresponding to the drive yoke 41 and the slider 43, the orthogonal positioning of the pins 41-21, 41-22, 43-21, and 43-22 ensures that the flexible rod 42 is firmly fixed to the drive yoke 41 and the slider 43 during operation.

[0036] In some embodiments, the drive yoke 41 includes a protrusion 41-1 that is configured to transfer mechanical force to the receiving shaft of the adapter (i.e., Figure 1 the adapter 13 in ). The protrusion 41-1 is configured to have minimal contact with the receiving shaft of the adapter during operation to prevent noise from being generated on the adapter (that is, to avoid the input of unwanted forces and torques on the adapter).

[0037] As Figure 5 shown, the end platform 50 includes a first bearing 51 and a second bearing 52. In some embodiments, the end platform 50 further includes a washer 53 and a retaining ring 54. In some embodiments, the first bearing 51 and the second bearing 52 are flanged bearings, where the extensions or lips on the outer ring of the bearing are designed to assist in the installation and positioning of the bearing. In some embodiments, the flange of the first bearing 51 is positioned on the surface of the end platform 50 facing away from the base platform (i.e., positioned between Figure 3 the end platform 11-1 and the adapter 13 in ). 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 between Figure 3 the end platform 11-1 and the base platform 11-2 in ).

[0038] In some embodiments, the retaining ring 54 is radially mounted in the groove 41-4 of the drive yoke 41. The retaining ring 54 can 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 wear of the second bearing 52. In addition, the washer 53 is used to fill the gap between the flange 41-3 of the drive 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 can be clamped between the flange 41-3 of the drive yoke 41 and the retaining ring 54. Thus, the flange 41-3 of the drive yoke 41 and the retaining ring 54 are used to assist in the installation and positioning of the drive yoke 41.

[0039] Figure 6 FIG. shows an exploded view of an adapter according to some embodiments of the present disclosure. In some embodiments, the adapter includes a body and a receiving shaft 66 disposed within 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 the receiving yoke 66-1. The chuck 66-2 is configured to clamp a surgical tool (i.e., Figure 1 the surgical tool T1 in ). The chuck 66-2 is aligned with a through hole of the cover 62 through which the surgical tool can be inserted. The receiving yoke 66-1 is exposed outside the adapter. Thus, the receiving yoke 66-1 can receive mechanical force from the drive shaft. The contact between the receiving yoke 66-1 and the drive shaft is designed to be as minimal as possible to prevent generation of noise. In some embodiments, a groove (not shown) is formed in the receiving yoke 66-1 that is complementary to a protrusion of the drive shaft (i.e., Figure 5 the protrusion 41-1 in ) to receive the mechanical force.

[0040] In some embodiments, the adapter further includes a first bearing 63 and a second bearing 64. In some embodiments, the first bearing 63 and the second bearing 64 are flange bearings, where 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.

[0041] In some embodiments, the adapter further includes a retaining ring 65. In some embodiments, the retaining ring 65 is radially mounted on a groove 66-3 of a receiving shaft 66. The retaining ring 65 can 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 first bearing 63 and the second bearing 64. The first bearing 63 and the second bearing 64 can be clamped between the receiving yoke 66-1 and the retaining ring 65. Accordingly, the receiving yoke 66-1 and the retaining ring 65 are used to assist in the installation and positioning of the receiving shaft 66.

[0042] 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 a base platform 70 of a parallel manipulator. In some embodiments, the machine module 80 includes: a plurality of actuators 81 configured to control the movement of a plurality of arms (i.e., Figure 1 arm 11-3 in Figure 1 ) of the parallel manipulator; and a shaft motor 82 configured to generate a mechanical force for manipulating a surgical tool (i.e.,

[0043] surgical tool T1 in Figure 7 ).

[0044] Figure 8 A 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 coupled to a shaft base 91 of the parallel manipulator. In some embodiments, a rotor 92-1 of the shaft motor 92 is inserted into a recessed area of the shaft base 91. A drive shaft 94 is attached to the rotor 92-1 and is configured to move in the same direction as the rotor 92-1. A slider 93 of the drive shaft slidably engages with the shaft motor 92. In some embodiments, the slider 93 slidably engages with 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 illustration and related description of the relationship between the drive shaft and the slider should be disclosed in Figure 9 .

[0045] In some embodiments, a cylinder 95 is placed within a recessed area of a shaft base 91. When assembling the medical device, the cylinder 95 surrounds a slider 93, and the slider 93 surrounds a drive shaft 94. The cylinder 95, the slider 93, and the drive shaft 94 are sequentially assembled within one another.

[0046] In some embodiments, to reduce 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 materials of the slider 93 and the drive shaft 94 are anti-friction metal polymers.

[0047] In some embodiments, to reduce friction between the slider 93 and the drive shaft 94, a lubricant is coated on the outer surface of the drive shaft 94. In some embodiments, a lubricant is coated on the inner surface of the slider 93. The lubricant may include at least one of carbon powder, lubricating oil, and the like.

[0048] In some embodiments, to reduce 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 materials of the slider 93 and the cylinder 95 are anti-friction metal polymers.

[0049] In some embodiments, to reduce friction between the slider 93 and the cylinder 95, a lubricant is coated on the outer surface of the slider 93. In some embodiments, a lubricant is coated on the inner surface of the cylinder 95. The lubricant may include at least one of carbon powder, lubricating oil, and the like.

[0050] Figure 9A cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure is shown. Representative illustrations of the slider 21 and the drive shaft 22 are provided to assist in describing 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 as needed during operation of the medical device. In some other embodiments, an overlap amount is required between the drive shaft 22 and the slider 21 during operation to ensure the transmission of mechanical force therebetween. The overlap amount between the drive shaft 22 and the slider 21 during operation is not less than 5 mm to ensure the transmission of mechanical force therebetween. In some other embodiments, the minimum overlap amount between the drive shaft 22 and the slider 21 is not greater than 5 mm. In some other embodiments, the range of the minimum overlap amount between the drive shaft 22 and the slider 21 is between 0 mm and 5 mm. In some other embodiments, the range of the minimum overlap amount between the drive shaft 22 and the slider 21 is between 5 mm and 100 mm. In some embodiments, the depth L1 of the socket 21-1 is greater than the height L2 of the drive shaft 22. In some other embodiments, the depth L1 of the socket 21-1 is substantially the same as the height L2 of the drive shaft 22.

[0051] In some embodiments, the cross-sectional shape profiles of the socket 21-1 and the surface 22-1 of the drive shaft 22 are polygonal shape profiles. 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 circular 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 angle between the facets of the drive shaft 22 provides clamping to drive the slider 21.

[0052] In some 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 such that the protrusion remains within the groove when the slider slides away from the drive shaft during operation. 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 side wall of the protrusion of the drive shaft that is tangent to the inner side wall of the groove of the slider during movement.

[0053] 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.

[0054] Figure 10A perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure is shown. In some embodiments, the drive yoke 102 of the drive shaft has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the drive 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 drive 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 drive yoke 102 is configured to transmit mechanical force to the receiving yoke 101-1 through the side wall of the protrusion 102-1 that is tangent to the inner side wall of the groove 101-2. In this way, the contact between the receiving yoke 101-1 and the drive yoke 102 during operation is minimized to prevent the drive yoke 102 from generating excessive noise.

[0055] In some embodiments, the drive yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the side walls of the drive yoke 102 in opposite directions from each other. The two protrusions 102-1 are spaced 180° 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 disposed opposite to each other. In some embodiments, the drive yoke 102 is a dog-bone drive joint, and the receiving yoke 101-1 is a drive cup.

[0056] During operation, the noise from the drive shaft is minimized as much as possible so that no problems are caused when monitoring the movement of the surgical tool. In some embodiments, a sensor system can be used to monitor the surgical tool. Figure 11 A cross-sectional view of a force sensor according to some embodiments of the present disclosure is shown.

[0057] Figure 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, and the receiving shaft 121 rotatably supported by a bearing 122 and the drive shaft 140 rotatably supported by a bearing 131 meet in the through hole.

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

[0059] In some embodiments, the force sensor 112 is mechanically attached to the force repeater 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 repeater 111 and the end platform 130 by 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 correspondingly accommodate the fasteners 113 for the force repeater 111 and the end platform 130. 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 repeater 111 are not aligned with the fasteners 113 for the end platform 130 and do not overlap them in projection.

[0060] In some embodiments, the force sensor 112 is an annular load cell (also referred to as a load washer or through-hole load cell). The force sensor 112 converts a force such as tension, compression, pressure, or torque into an electrical signal. In some embodiments, the force applied to the 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 further includes a force deviation and a torque deviation measured during operation. The force deviation represents the influence in the receiving shaft direction during operation when the surgical tool disposed on the receiving shaft 121 contacts a target object such as a bone and applies a force thereto. The torque deviation represents the influence on the movement of the receiving shaft during operation when the surgical tool disposed on the receiving shaft 121 contacts a target object such as a bone and applies a force thereto.

[0062] In some embodiments, the sensor system 110 is used to control the position and orientation / angle of the surgical tool during operation. In some embodiments, the sensor system is signal-connected to the controller. During operation, the controller receives an operation plan having a predetermined range, a predetermined path, or a combination thereof. The sensor system measures the force deviation, the torque deviation, or a combination thereof. The force deviation and the torque deviation are deviations from the predetermined range (i.e., the predetermined force and the predetermined torque) of the operation plan. The orientation / angle and position of the surgical tool are adjusted based on the force deviation and the torque deviation. The orientation / angle and position of the surgical tool are adjusted by controlling the actuators that move the parallel manipulator. The movement of the surgical tool is adjusted by controlling the mechanical force from the shaft motor. In some embodiments, the drive 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 the noise.

[0063] Accordingly, one aspect of the present disclosure provides a medical device that includes: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; an adapter having a body removably coupled to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a drive shaft rotatably supported by the end platform, the drive shaft having a drive yoke configured to transmit mechanical force to the receiving yoke, a flexible rod coupled to the drive yoke, and a slider coupled to the flexible rod; and a shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably engaged with the slider.

[0064] In some embodiments, the medical device further includes a sensor system disposed between the end platform and the adapter, the sensor system being configured to measure forces on the adapter.

[0065] In some embodiments, the sensor system includes a force repeater removably coupled to the adapter; a force sensor mechanically attached to the force repeater and the end platform and configured to convert the force applied to the adapter into an electrical signal.

[0066] In some embodiments, the drive yoke has a protrusion, and the receiving yoke has a groove structurally complementary to the protrusion. In some embodiments, the drive yoke is configured to transmit mechanical force to the receiving yoke through the sidewall of the protrusion tangent to the groove during movement.

[0067] In some embodiments, the slider 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.

[0068] In some embodiments, the cross-sectional shape profiles of the socket and the drive shaft are polygonal shape profiles.

[0069] In some embodiments, the drive shaft has a protrusion, and the slider has a groove corresponding to the protrusion. In some embodiments, the protrusion is configured to slide along the groove.

[0070] In some embodiments, the minimum overlap amount between the drive shaft and the slider is not less than 5 mm.

[0071] In one embodiment, the flexible rod includes a spring tube having multiple layers.

[0072] In some embodiments, the medical device further includes a cylinder surrounding the slider. The cylinder, the slider, and the drive shaft are sequentially assembled within each other.

[0073] 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.

[0074] In some embodiments, the medical device further includes a lubricant that is applied to coat the surface of at least one of the cylinder, the slider, and the drive shaft.

[0075] In some embodiments, when the flexible rod is at the minimum distance between the end platform and the base platform, the flexible rod is in a normal state.

[0076] Accordingly, another aspect of the present disclosure provides a medical device including: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; a sensor system mechanically attached to the end platform; an adapter removably coupled to the sensor system, the adapter having a body and a receiving shaft rotatably supported by the body; a drive shaft rotatably supported by the end platform and configured to transmit mechanical force to the receiving shaft; and a shaft motor drivingly connected to the drive shaft and configured to transmit mechanical force to the drive shaft.

[0077] In some embodiments, the sensor system includes a force repeater removably coupled to the adapter; and a force sensor mechanically attached to the force repeater and the end platform. The force sensor is configured to convert the force applied to the adapter into an electrical signal.

[0078] In some embodiments, the force sensor is an annular load cell.

[0079] 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.

[0080] In some embodiments, the drive shaft includes: a drive yoke configured to transmit mechanical force to the receiving shaft; a slider slidably coupled to the shaft motor; and a flexible rod pressed against the drive yoke and the slider.

[0081] In some embodiments, the medical device further includes 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.

[0082] In some embodiments, the medical device further includes a lubricant that is applied to coat the surface of at least one of the cylinder, the slider, and the drive shaft.

[0083] Those skilled in the art will readily appreciate that many modifications and variations can be made to the apparatus and methods while maintaining the teachings of the present invention. Accordingly, the above disclosure should be construed as being limited only by the bounds of the appended claims.

Claims

1. A medical device, characterized in that, the medical device comprises: an adapter configured to hold a surgical tool and comprising: a body; and a receiving shaft rotatably supported by the body; a parallel manipulator comprising: an end platform; a base platform; and a plurality of arms operatively coupled between the end platform and the base platform; a machine module mechanically attached to the base platform, the machine module including a shaft motor configured to generate a mechanical force for manipulating the movement of the surgical tool; a transmission shaft rotatably supported by the end platform and configured to transmit the mechanical force to the receiving shaft; and a sensor system disposed between the adapter and the end platform, the sensor system including a force sensor having a through hole, wherein the receiving shaft meets the transmission shaft in the through hole to receive the mechanical force from the transmission shaft to manipulate the movement of the surgical tool.

2. The medical device according to claim 1, characterized in that, the force sensor is an annular load cell and is configured to convert the force applied to the adapter into an electrical signal.

3. The medical device according to claim 1, characterized in that, the medical device further comprises: a force repeater detachably coupled to the adapter, and the force repeater is disposed between the adapter and the force sensor.

4. The medical device according to claim 3, characterized in that, the force sensor is mechanically attached to the force repeater and the end platform.

5. The medical device according to claim 4, characterized in that, the force sensor is mechanically attached to the force repeater and the end platform by a plurality of fasteners embedded around the periphery of the through hole.

6. The medical device according to claim 5, characterized in that, a plurality of holes are further formed on the front surface and the rear surface of the force sensor to correspondingly accommodate the plurality of fasteners for the force repeater and the end platform.

7. The medical device according to claim 1, characterized in that, the receiving shaft has a receiving yoke for receiving the mechanical force from the transmission shaft.

8. The medical device according to claim 7, characterized in that, the transmission shaft comprises: a transmission yoke configured to transmit the mechanical force to the receiving yoke; a flexible rod connected to the transmission yoke; and a slider connected to the flexible rod.

9. The medical device according to claim 8, characterized in that, the mechanical force generated by the shaft motor is transmitted to the slider through a drive shaft.

10. The medical device according to claim 8, characterized in that, the flexible rod is a spring tube having a plurality of layers.

11. The medical device according to claim 1, characterized in that, the adapter further has a first bearing configured to rotatably attach the receiving shaft to the body of the adapter.

12. The medical device according to claim 1, characterized in that, The end platform further has a second bearing configured to rotatably attach the drive shaft to the end platform.

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