A surgical robot and a method for calculating the force applied to the end of a surgical robot instrument

Abstract

The present invention belongs to the technical field of medical equipment, and discloses a surgical robot and a method for calculating the force on the end of the surgical robot. The surgical robot includes a mechanical arm, an instrument driver, a surgical instrument, a sleeve and a force measuring assembly. The surgical instrument includes an instrument end, an instrument shaft and an instrument handle connected in sequence; the sleeve includes a first tube body and a second tube body connected to each other, and the instrument shaft is inserted into the second tube body; the force measuring assembly includes a first force measuring piece, and the first force measuring piece is arranged between the first tube body and the second tube body to detect the force condition of the second tube body. The first force measuring piece is arranged in the sleeve. Compared with being directly arranged on the end of the instrument, it will not be scrapped as the service life of the instrument shaft decreases, and it does not directly contact the human body and the surgical instrument, which is conducive to extending the service life and reducing costs.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a surgical robot and a method for calculating the force applied to a surgical robot instrument end. Background Art

[0002] With the development of medical equipment, endoscopic surgery using surgical robots with cannulas has been developed. Existing surgical robots generally lack force perception capabilities. When doctors use surgical robots for endoscopic surgery, they cannot perceive the forces generated by the interaction between surgical instruments and the human body, and can only rely on visual speculation, which affects the efficiency and safety of the surgery.

[0003] Some surgical robots use force sensors to sense the force between surgical instruments and the human body. When performing surgery, the surgical robot needs to establish a channel for the endoscope or surgical instruments through a cannula to ensure that the surgical instruments can enter the patient's body smoothly. The cannula includes a hollow cannula through which the endoscope or surgical instrument enters the patient's body. Therefore, the ideal installation location for the force sensor is the end of the surgical instrument or endoscope, so as to be close to the position where the surgical instrument contacts the human body.

[0004] Since surgical instruments have a limited service life, installing force sensors on surgical instruments will significantly increase the cost of surgery. If the force sensor is installed on the robot body, the force perception will be disturbed, especially the interaction force between the human body and the cannula.

[0005] Therefore, arranging force sensors in a suitable manner for force perception and force calculation is the main technical challenge at this stage. Summary of the invention

[0006] One object of the present invention is to provide a surgical robot to solve the problem of unreasonable arrangement of existing force sensors leading to increased costs or low force sensing accuracy.

[0007] To achieve this object, the present invention adopts the following technical solutions:

[0008] A surgical robot, comprising:

[0009] Robotic arm;

[0010] An instrument driver is slidably disposed at the end of the mechanical arm;

[0011] A surgical instrument connected to the instrument driver, the surgical instrument comprising an instrument end, an instrument shaft and an instrument handle connected in sequence, the instrument handle being connected to the instrument driver;

[0012] The sleeve comprises a first tube body and a second tube body connected to each other, wherein the instrument shaft is inserted into the second tube body;

[0013] The force measuring assembly comprises a first force measuring piece, which is arranged between the first tube body and the second tube body and is used to detect the force condition of the second tube body along a first direction X and / or the force condition of the second tube body along a second direction Y, wherein the first direction X and the second direction Y both extend along the radial direction of the instrument axis and are perpendicular to each other, and a third direction Z is perpendicular to the first direction X and the second direction Y respectively;

[0014] The force condition of the second tube along the first direction X includes at least one of the force applied along the first direction X and the bending moment in the XZ plane, or a combined value of the force applied along the first direction X and the bending moment in the XZ plane to the second tube;

[0015] The force condition of the second tube body along the second direction Y includes at least one of the force applied along the second direction Y and the bending moment in the YZ plane, or a combined value of the force applied along the second direction Y and the bending moment in the YZ plane to the second tube body.

[0016] As an optional solution of the above surgical robot, the first tube body is sleeved outside the second tube body;

[0017] Alternatively, one end of the first tube is connected to the robotic arm, and the other end of the first tube is connected to one end of the second tube through the first force measuring member.

[0018] As an optional solution of the above-mentioned surgical robot, the surgical robot further includes a flexible portion, and the flexible portion is arranged on the surgical instrument or the instrument driver so that the instrument axis can rotate around the first direction X and the second direction Y.

[0019] As an optional solution of the above surgical robot, the flexible portion connects the instrument handle and the instrument shaft.

[0020] As an optional solution of the above-mentioned surgical robot, the instrument shaft includes a first shaft segment and a second shaft segment, and the flexible portion connects the first shaft segment and the second shaft segment.

[0021] As an optional solution of the above-mentioned surgical robot, the instrument driver includes a sliding part and a connecting part, the sliding part is slidably connected to the end of the robotic arm, the connecting part is used to connect the instrument handle, and the flexible part connects the sliding part and the connecting part.

[0022] As an optional solution of the above surgical robot, the flexible portion is a universal joint;

[0023] Or the flexible portion is made of a flexible material.

[0024] As an optional solution of the above-mentioned surgical robot, the force measuring assembly also includes a second force measuring piece, which is arranged on the robotic arm or the instrument driver and is used to detect the force applied to the surgical instrument along a third direction Z.

[0025] As an optional solution of the above surgical robot, the mechanical arm includes a mounting seat, a guide rail is provided on the mounting seat, the instrument driver is slidably connected to the guide rail, and the second force measuring member is provided between the guide rail and the mounting seat;

[0026] or the second force measuring member is arranged between the instrument driver and the guide rail;

[0027] Or the second force measuring member is arranged between the instrument driver and the instrument handle.

[0028] As an optional solution of the above surgical robot, the second force measuring member is configured to detect at least one of the force of the surgical instrument along the first direction X and the bending moment in the XZ plane;

[0029] And / or, the second force measuring member is configured to detect at least one of the force applied by the surgical instrument along the second direction Y and the bending moment in the YZ plane.

[0030] As an optional solution of the above surgical robot, the surgical robot includes a motor, and the motor is used to drive the instrument driver to slide along the end of the robotic arm;

[0031] The motor includes a motor controller configured to obtain an operating current of the motor.

[0032] A method for calculating the force on the end of a surgical robot instrument is used for the above-mentioned surgical robot, and the method for calculating the force on the end of the surgical robot instrument comprises:

[0033] A mechanical model of the surgical instrument is established, and the force at the end of the instrument axis is calculated based on the measurement value of the first force measuring member and the force applied to the surgical instrument along a third direction Z, wherein the third direction Z is perpendicular to the first direction X and the second direction Y, respectively.

[0034] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, the surgical robot further includes a flexible portion, which is arranged on the surgical instrument or the instrument driver so that the surgical instrument can rotate around the first direction X and the second direction Y;

[0035] Establishing the mechanical model of the surgical instrument includes:

[0036] A rod force model is established, wherein the rod uses the flexible portion as a first hinge fulcrum, uses the end of the instrument shaft as a free end, and has a second hinge fulcrum.

[0037] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0038] If the first force measuring member can simultaneously measure the force applied by the instrument shaft to the second tube body along the target direction and the bending moment in the target plane, then the force at the end of the instrument shaft along the target direction is calculated according to the moment balance principle on the rod;

[0039] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0040] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0041] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0042] If the first force measuring piece can measure the force of the second tube along the target direction and the bending moment in the target plane respectively, and the second force measuring piece can measure the force of the first hinge fulcrum along the target direction, the force of the end of the instrument shaft along the target direction is obtained according to the least square method;

[0043] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0044] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0045] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0046] A linear combination value of the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece can only measure one of the force applied by the second tube along the target direction, the bending moment in the target plane and the target linear combination value, and the second force measuring piece can measure the force applied to the first hinge fulcrum along the target direction, the force of the end of the instrument axis along the target direction is calculated based on the force balance and moment balance principles of the rod;

[0047] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0048] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0049] A linear combination value of the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece can only measure one of the force applied by the second tube along the target direction, the bending moment in the target plane and the target linear combination value, and cannot measure the force applied to the first hinge fulcrum along the target direction, the force applied to the end of the instrument axis along the target direction is calculated according to the hyperstatic beam theory;

[0050] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0051] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, establishing the mechanical model of the surgical instrument includes:

[0052] A cantilever beam force model is established, wherein the cantilever beam uses the proximal end of the instrument shaft as a fixed fulcrum, the distal end of the instrument shaft as a free end, and the cantilever beam has a third hinge fulcrum.

[0053] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0054] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0055] If the first force measuring piece can simultaneously measure the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane, and the second force measuring piece can measure the bending moment applied to the fixed fulcrum in the target plane, the force at the end of the instrument axis along the target direction is calculated according to the cantilever beam moment balance principle;

[0056] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0057] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0058] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0059] If the first force measuring piece can respectively measure the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane, and the second force measuring piece can measure the force applied by the fixed fulcrum along the target direction and the bending moment in the target plane, the force of the end of the instrument axis along the target direction is calculated according to the least square method;

[0060] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0061] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0062] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0063] A linear combination value of the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece can only measure one of the force applied by the second tube to the instrument axis along the target direction, the bending moment in the target plane and the target linear combination value, and the second force measuring piece can measure the force applied by the fixed fulcrum along the target direction and the bending moment in the target plane, the force of the end of the instrument axis along the target direction is obtained by calculation according to the force balance and moment balance principle of the rod;

[0064] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0065] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes:

[0066] A linear combination value of the force applied by the second tube to the instrument axis along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece can only measure one of the force applied by the second tube to the instrument axis along the target direction, the bending moment in the target plane and the target linear combination value, and cannot measure the force applied by the fixed support along the target direction or the bending moment in the target plane, the force at the end of the instrument axis along the target direction is calculated according to the statically indeterminate beam theory;

[0067] The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

[0068] As an optional solution of the above-mentioned method for calculating the force on the end of the surgical robot instrument, calculating the force on the end of the instrument shaft includes calculating the axial force, and calculating the axial force includes:

[0069] The force measuring assembly further comprises a second force measuring piece, and the second force measuring piece is arranged on the mechanical arm or the instrument driver;

[0070] Obtaining the force applied to the surgical instrument along a third direction Z on the side away from the end of the instrument shaft measured by the second force measuring member;

[0071] obtaining the friction force exerted by the second tube body on the instrument axis in the third direction Z;

[0072] The axial force is calculated based on the force balance of the instrument axis in the third direction Z.

[0073] As an optional solution to the above method for calculating the force on the end of the surgical robot instrument, the friction force is obtained by measuring the first force measuring member.

[0074] As an optional solution to the above method for calculating the force on the end of the surgical robot instrument, the friction force is set to zero;

[0075] Alternatively, the movement direction and speed of the instrument shaft in the second tube body are obtained, and the friction force is calculated according to the movement direction and speed.

[0076] As an optional solution to the above method for calculating the force on the end of the surgical robot instrument, the surgical robot includes a motor, and the motor is used to drive the instrument driver to slide along the end of the robotic arm;

[0077] The motor includes a motor controller, and calculating the force on the end of the instrument shaft includes calculating the axial force, and calculating the axial force includes:

[0078] The motor controller obtains the operating current of the motor and calculates the axial force according to the rated parameters of the motor and the operating current.

[0079] As an optional solution to the above-mentioned method for calculating the force on the end of the surgical robot instrument, the force measuring assembly further includes a second force measuring piece, and the second force measuring piece is arranged on the robot arm or the instrument driver;

[0080] Before calculating the force on the end of the instrument shaft, the method further includes:

[0081] Obtaining interference values ​​of the weight of the instrument driver and the surgical instrument on the first force measuring member and / or the second force measuring member respectively;

[0082] The difference between the measurement value of the first force measuring piece and / or the second force measuring piece and the corresponding interference value is obtained and used as the effective measurement value of the first force measuring piece and the second force measuring piece respectively.

[0083] As an optional solution to the above method for calculating the force on the end of the surgical robot instrument, obtaining the effective measurement value includes:

[0084] Obtaining the position and gravity direction of the instrument driver and the surgical instrument in space;

[0085] Obtain the components of the interference value in the first direction X, the second direction Y and the third direction Z respectively;

[0086] The difference between the measured value of the first force measuring piece and / or the measured value of the second force measuring piece and the corresponding force component is calculated.

[0087] Beneficial effects of the present invention:

[0088] The present invention provides a surgical robot. In the surgical robot, the force applied by the second tube body to the instrument shaft is detected by a first force measuring piece, and the force condition of the end of the surgical instrument can be calculated. The first force measuring piece is arranged in the sleeve, and compared with being directly arranged on the end of the surgical instrument, it will not be scrapped as the service life of the surgical instrument decreases, and it does not directly contact the human body and the surgical instrument, which is conducive to extending the service life and reducing costs.

[0089] The force measuring assembly also includes a second force measuring piece, which cooperates with the first force measuring piece to calculate the forces in at least two directions at the end of the surgical instrument. The second force measuring piece is arranged on the instrument driver. Compared with being directly arranged on the end of the surgical instrument, the second force measuring piece will not be scrapped as the service life of the surgical instrument decreases, and it does not directly contact the human body and the surgical instrument, which is conducive to extending the service life and reducing costs.

[0090] The surgical robot can feed back the working current of the motor through the motor controller in the motor, thereby calculating and obtaining the axial force condition of the end of the surgical instrument.

[0091] The method for calculating the force on the end of a surgical robot provided by the present invention is used for the above-mentioned surgical robot and can accurately calculate the force on the end of the instrument shaft. BRIEF DESCRIPTION OF THE DRAWINGS

[0092] Figure 1 is a partial structural schematic diagram of a surgical robot provided in Embodiment 1 of the present invention;

[0093] Figure 2is a partial structural schematic diagram of another surgical robot provided in Embodiment 1 of the present invention;

[0094] Figure 3 It is a mechanical model of the surgical instrument provided in the first embodiment of the present invention;

[0095] Figure 4 is the force condition of the surgical instrument provided in the first embodiment of the present invention along the first direction in the XZ plane;

[0096] Figure 5 is the force condition of the surgical instrument provided in the first embodiment of the present invention along the third direction in the XZ plane;

[0097] Figure 6 is the force condition of the end of the surgical instrument provided in the first embodiment of the present invention in the XZ plane;

[0098] Figure 7 It is a mechanical model of the surgical instrument provided in the second embodiment of the present invention;

[0099] Figure 8 is the force condition of the end of the surgical instrument provided in the second embodiment of the present invention in the XZ plane;

[0100] Fig. 9 is the force condition of the surgical instrument provided in the second embodiment of the present invention along the third direction in the XZ plane;

[0101] Fig.10 This is the force condition of the surgical instrument provided in the second embodiment of the present invention along the first direction in the XZ plane.

[0102] In the figure:

[0103] 10. Robotic arm; 11. Mounting seat; 20. Instrument driver; 30. Surgical instrument; 31. Instrument handle; 32. Instrument shaft; 40. Flexible portion; 50. Sleeve; 51. First tube body; 52. Second tube body; 61. First force measuring piece; 62. Second force measuring piece; 70. Patient's abdominal wall; 81. First hinge fulcrum; 82. Second hinge fulcrum; 83. Fixed fulcrum; 84. Third hinge fulcrum.

[0104] X, first direction; Y, second direction; Z, third direction. DETAILED DESCRIPTION

[0105] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0106] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0107] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0108] In the description of this embodiment, the terms "upper", "lower", "right", etc., directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0109] Embodiment 1

[0110] This embodiment provides a surgical robot that can be used for endoscopic surgery and has the function of sensing the forces acting inside the human body with high force sensing accuracy.

[0111] like Figure 1 As shown, the surgical robot includes a robotic arm 10, an instrument driver 20, a surgical instrument 30, a sleeve 50 and a force measuring assembly. The instrument driver 20 is slidably mounted at the end of the robotic arm. The surgical instrument 30 includes an instrument handle 31, an instrument shaft 32 connected to the instrument handle 31, and an instrument end (not shown in the figure) arranged at the end of the instrument shaft 32. The instrument driver 20 is used to control the movement of the surgical instrument 30, and the instrument shaft 32 is used to extend into the human body through the sleeve 50 so that the instrument end can perform surgical operations.

[0112] Specifically, the instrument driver 20 is slidably disposed on the mounting seat 11 along the axial direction of the instrument shaft 32, so as to control the length of the instrument shaft 32 extending into the human body, thereby reaching the surgical position; the sleeve 50 includes a first tube body 51 and a second tube body 52 connected to each other, and the instrument shaft 32 is inserted into the second tube body 52. ​​The sleeve 50 separates at least part of the instrument shaft 32 from the human body, so as to prevent the patient's abdominal wall 70 from exerting a force reaction force on the instrument shaft 32 to affect the measurement accuracy of the first force measuring member 61.

[0113] In this embodiment, the second tube 52 is inserted into the first tube 51. In other embodiments, the first tube 51 is disposed at the end of the robot 10, and the end of the first tube 51 is connected to the second tube 52 through the first force measuring member 61, that is, the first tube 51 and the second tube 52 are arranged along the length direction.

[0114] In order to facilitate the perception of the force on the instrument end of the surgical instrument 30, the force measuring assembly includes a first force measuring piece 61 and a second force measuring piece 62. The first force measuring piece 61 is arranged between the first tube body 51 and the second tube body 52, and is used to detect the force of the second tube body 52 in the first direction X and / or the second direction Y. The second force measuring piece 62 is arranged on the robot arm mounting seat 11 or the instrument driver 20, and is used to detect the force applied to the surgical instrument 30 along the third direction Z. Among them, the first direction X and the second direction Y both extend along the radial direction of the instrument axis 32 and are perpendicular to each other, and the third direction Z is perpendicular to the first direction X and the second direction Y respectively. It can be understood that when the instrument axis 32 is not subjected to external force, the instrument axis 32 extends along the third direction Z.

[0115] It is understandable that the forces applied to the surgical instrument 30 during operation mainly include the forces applied from the human body, the forces applied from the sleeve 50, and the forces applied from the instrument driver 20. In this embodiment, the forces applied from the second tube 52 to the instrument shaft 32 are detected by the first force measuring member 61, and the forces applied from the instrument driver 20 to the front end of the surgical instrument 30 are detected by the second force measuring member 62. By using the principle of force balance, the forces applied to the end of the surgical instrument 30 can be calculated.

[0116] In this embodiment, the force condition of the end (ie, the end of the instrument) of the surgical instrument 30 is acquired by the cooperation of the first force measuring piece 61 and the second force measuring piece 62 , which has higher sensing accuracy than that of using only one force measuring piece.

[0117] The first force measuring piece 61 is arranged in the sleeve 50, and the second force measuring piece 62 is arranged on the instrument driver 20 or the robot arm 10. Compared with being directly arranged on the end (instrument end) of the surgical instrument 30, it will not be scrapped as the service life of the instrument shaft 32 decreases, and it does not directly contact the human body and the surgical instrument 30, which is beneficial to extend the service life and reduce costs.

[0118] In order to more accurately calculate the force condition at the end of the instrument shaft 32, optionally, the first force measuring member 61 can detect at least one of the force and bending moment applied to the second tube body 52 along the first direction X, or can detect the combined value of the force and bending moment applied to the second tube body 52 along the first direction X.

[0119] Exemplarily, the first force measuring member 61 only detects the force applied to the second tube 52 along the first direction X;

[0120] Exemplarily, the first force measuring member 61 only detects the bending moment applied to the second tube 52 in the XZ plane;

[0121] Exemplarily, the first force measuring member 61 can simultaneously detect the force applied to the second tube 52 along the first direction X and the bending moment in the XZ plane;

[0122] For example, the first force measuring member 61 can detect the combined value of the force applied to the second tube 52 along the first direction X and the bending moment in the XZ plane. For example, the detection value is T, T=C F ·F+C M ·M, where F is the force, M is the bending moment, and C F and C M is a preset constant.

[0123] Optionally, the first force measuring member 61 can detect at least one of the force applied to the second tube body 52 along the second direction Y and the bending moment in the YZ plane, or can detect a combined value of the force applied to the second tube body 52 along the second direction Y and the bending moment in the YZ plane.

[0124] Exemplarily, the first force measuring member 61 only detects the force applied to the second tube 52 along the second direction Y;

[0125] Exemplarily, the first force measuring member 61 only detects the bending moment received by the second tube 52 in the YZ plane;

[0126] Exemplarily, the first force measuring member 61 can simultaneously detect the force applied to the second tube 52 along the second direction Y and the bending moment in the YZ plane;

[0127] For example, the first force measuring member 61 can detect the combined value of the force applied to the second tube 52 along the second direction Y and the bending moment in the YZ plane. For example, the detection value is T, T=C F ·F+C M ·M, where F is the force, M is the bending moment, and C F and C M is a preset constant.

[0128] Furthermore, the second force measuring member 62 can also detect the force on the front end of the surgical instrument 30 in the first direction X and the second direction Y, so as to more accurately obtain the force condition of the surgical instrument 30 and improve the calculation accuracy of the force on the end of the instrument.

[0129] Exemplarily, the second force measuring member 62 can detect at least one of a force applied to the surgical instrument 30 along the first direction X and a bending moment in an XZ plane.

[0130] Exemplarily, the second force measuring member 62 can detect at least one of the force applied to the surgical instrument 30 along the second direction Y and the bending moment in the YZ plane.

[0131] Exemplarily, the second force measuring member 62 can detect at least one of the force applied to the surgical instrument 30 along the first direction X and the bending moment in the XZ plane, and can detect at least one of the force applied to the surgical instrument 30 along the second direction Y and the bending moment in the YZ plane.

[0132] To facilitate the detection of the second force measuring member 62, in this embodiment, a guide rail is provided on the mounting seat 11, the instrument driver 20 is slidably connected to the guide rail, and the second force measuring member 62 is provided between the instrument driver 20 and the guide rail. Figure 1 As shown, the second force measuring member 62 can be disposed on the instrument driver 20 to move with the instrument driver 20. Figure 2 As shown, the second force measuring member 62 may also be disposed on the guide rail and does not move along with the instrument driver 20 .

[0133] In some embodiments, the second force measuring member 62 is disposed between the instrument driver 20 and the instrument shaft 32 .

[0134] Optionally, both the first force measuring member 61 and the second force measuring member 62 may be force sensors.

[0135] In some embodiments, the second force measuring member 62 may not be provided. Correspondingly, the surgical robot includes a motor, which is used to drive the instrument driver 20 to slide along the end of the robotic arm 10. The motor includes a motor controller, which can feedback the working current of the motor during operation, so as to calculate the output torque of the motor according to the rated parameters of the motor, thereby obtaining the force applied by the instrument driver 20 to the front end of the surgical instrument 30.

[0136] Furthermore, the surgical robot also includes a flexible portion 40 , which can be disposed on the surgical instrument 30 or the instrument driver 20 , so that the surgical instrument 30 can rotate around the first direction X and the second direction Y, so as to improve the operational flexibility of the surgical instrument 30 .

[0137] In this embodiment, the flexible portion 40 is disposed on the instrument shaft 32 . The instrument shaft 32 includes a first shaft segment and a second shaft segment. The flexible portion 40 connects the first shaft segment and the second shaft segment.

[0138] In some embodiments, the flexible portion 40 can connect the instrument handle 31 and the instrument shaft 32; or the flexible portion 40 is disposed on the instrument driver 20, and the instrument driver 20 includes a sliding portion and a connecting portion, the sliding portion is slidably connected to the end of the robotic arm, the connecting portion is used to connect the instrument handle 31, and the flexible portion 40 connects the sliding portion and the connecting portion.

[0139] In this embodiment, the flexible portion 40 is a universal joint. In other embodiments, the flexible portion 40 can be made of a flexible material as long as the distal end of the surgical instrument 30 can be guaranteed to have the freedom to rotate around the first direction X and the second direction Y.

[0140] This embodiment also provides a method for calculating the force on the end of a surgical robot, which is used in the above-mentioned surgical robot to calculate the force on the end of the instrument shaft 32.

[0141] Specifically, a mechanical model of the surgical instrument 30 is established, and the force at the end of the instrument shaft 32 is calculated based on the measurement values ​​of the first force measuring piece 61 and the second force measuring piece 62 .

[0142] like Figure 3 As shown, the surgical instrument 30 is simplified into a rod. In the corresponding sensing force model, the rod uses the flexible portion 40 as the first hinge fulcrum 81, the end of the instrument shaft 32 as the free end, and the rod has a second hinge fulcrum 82. The second hinge fulcrum 82 is a fixed point on the instrument shaft 32. The instrument shaft 32 will bend at the second hinge fulcrum 82 during operation. Since the instrument shaft 32 is disposed in the second tube body 52, the second hinge fulcrum 82 is also the contact position between the instrument shaft 32 and the second tube body 52.

[0143] In this embodiment, the mechanical arm 10 drives the instrument axis 32 to rotate around a fixed point due to the parallelogram connecting rod driving principle. The driving structure of the mechanical arm 10 and the principle of realizing the rotation of the instrument axis 32 around a fixed point are prior arts and will not be described in detail in this embodiment.

[0144] The end of the instrument shaft 32 is subjected to a force component in the first direction X, a force component in the second direction Y, and a force component in the third direction Z. To facilitate understanding of the calculation method of the force components in each direction, the mechanical model of the surgical instrument 30 when not subjected to external force is as follows: Figure 3 When the surgical instrument 30 is used, the force on the XZ plane is as shown in FIG. Figure 4-Figure 6 shown.

[0145] When calculating the force F at the end of the instrument shaft 32 along the first direction X and the second direction Y, the calculation is performed based on the principles of force balance and moment balance.

[0146] The torque balance relationship satisfies:

[0147] F V -F S +F=0;

[0148] The force balance relationship satisfies:

[0149] M S +F S ·L2-F·L1=0;

[0150] Among them, F S M is the force applied by the second tube 52 to the instrument shaft 32 along the target direction, S F is the bending moment applied by the second tube 52 to the instrument shaft 32; V is the force acting on the first hinge fulcrum 81 in the target direction; L is the length of the rod from the first hinge fulcrum 81 to the free end, l x is the length of the rod between the first hinge fulcrum 81 and the second hinge fulcrum 82. The target direction is the first direction X or the second direction Y.

[0151] It can be understood that the force applied to the end of the instrument shaft 32 along the first direction X and the second direction Y is the same. By definition, the force applied to the end of the instrument shaft 32 along the first direction X is F X , the force in the second direction Y is F Y In this embodiment, the force F applied to the end of the instrument shaft 32 along the first direction X is X Take this as an example.

[0152] If the first force measuring member 61 can simultaneously detect the force F applied by the second tube 52 to the instrument shaft 32 along the first direction X, S and the bending moment M in the XZ plane S When the F detected by the first force measuring member 61 is obtained S and bending moment M S , calculate F by moment balance X , that is, F X satisfy:

[0153]

[0154] If the first force measuring member 61 can respectively measure the force F along the first direction X applied by the second tube 52 to the instrument shaft 32 S and the bending moment M in the XZ plane S , and the second force measuring member 62 can detect the force F acting on the first hinge fulcrum 81 along the first direction X V When , we get the second set of equations:

[0155]

[0156] Solve the above equation set 2 by the least squares method to calculate F X .

[0157] It should be noted that due to the detection error between the first force measuring member 61 and the second force measuring member 62, S 、M S and F V Based on the known values, F is obtained by force balance. X The moment balance cannot be guaranteed. In this case, the least squares method is used to solve F X , which can reduce measurement errors and improve the accuracy of force results.

[0158] The second tube 52 is defined to exert a force F along the first direction X on the instrument axis 32. S and the bending moment M in the XZ plane S The linear combination value of is the target linear combination value T S If the first force measuring member 61 can only measure the force F along the first direction X applied by the second tube 52 to the instrument axis 32 S , bending moment M in the XZ plane S And the target linear combination value T S and the second force measuring member 62 can measure the force F acting on the first hinge fulcrum 81 along the target direction. V When , we obtain the first system of equations:

[0159]

[0160] Solving the above equation group 1, we can obtain F X .

[0161] The second tube 52 is defined to exert a force F along the first direction X on the instrument axis 32. S and the bending moment M in the XZ plane S The linear combination value of is the target linear combination value T S If the first force measuring member 61 only detects the force F applied by the second tube 52 to the instrument axis 32 along the first direction X S , bending moment M in the XZ plane S And the target linear combination value T S and the second force measuring member 62 cannot detect the force F acting on the first hinge fulcrum 81 along the first direction X. V When F X .

[0162] It can be understood that there are multiple calculation methods for the above situation using the hyperstatic beam theory. This embodiment lists one of the calculation methods as an example, but is not limited to this calculation method.

[0163] According to the measurement result of the first force measuring member 61, T S satisfy:

[0164] T S =C F ·F S +C M ·M S ;

[0165] Thus we get the equation set 1.

[0166] According to the Euler-Bernoulli beam theory, the deflection and rotation of the rod satisfy Formula 1:

[0167]

[0168] Formula 2:

[0169]

[0170] Wherein, z is the coordinate of the rod along the third direction Z, ω(z) is the deflection of the rod, M(z) is the bending moment of the rod, θ(z) is the rotation angle of the rod, E is the Young's modulus in the direction of the rod axis, and I is the cross-sectional area moment of inertia of the rod.

[0171] Integrating formula 1 gives formula 3:

[0172]

[0173] Define z=0 at the first hinge fulcrum 81, and then the bending moment M(z) of the rod at z can be calculated according to the force condition of the rod.

[0174] The bending moment M of the rod located between the second hinge fulcrum 82 and the first hinge fulcrum 81 is L (z) satisfies formula 4:

[0175] M L (z)=-F V z, where 0≤z≤L2;

[0176] The bending moment M of the rod between the second hinge fulcrum 82 and the free end is R (z) satisfies Formula 5:

[0177] M R (z)=-F X (L1-z), where L2≤z≤L1;

[0178] Substituting formula 4 into formula 3, we can get formula 6:

[0179]

[0180] Substituting formula 5 into formula 3, we can get formula 7:

[0181]

[0182] Among them, C L1 , C L2 , C R1 and C R2 All are undetermined coefficients.

[0183] Determine the boundary conditions, where:

[0184] The deflection of the rod at z = 0 is zero, and formula 8 can be obtained:

[0185] ω L (z) z＝0 =0;

[0186] The deflection of the rod at z = L2 is zero, and we can get formula 9 and formula 10:

[0187]

[0188]

[0189] The rotation angle of the rod at z = L2 is θ S , we can get formula 11 and formula 12:

[0190]

[0191]

[0192] Among them, θ S It can be determined by the stiffness of the first force measuring member 61, and the formula 13 can be obtained:

[0193]

[0194] Among them, k s is the stiffness of the first force measuring member 61 .

[0195] If the rigidity of the second tube 52 is much greater than the rigidity of the instrument shaft 32, then it can be considered that θ S is zero.

[0196] There are F in equation 1 X 、F V 、F S and M S Four unknowns, formula 8 to formula 12 introduce four new unknown coefficients C L1 , C L2 , C R1 and C R2 , and the unknown number θ SEquation group 1, formula 8 to formula 13 introduce a total of nine unknowns, the Young's modulus E in the rod axis direction, the cross-sectional area moment of inertia I of the rod, and the stiffness k of the first force measuring piece 61 s are parameters that can be derived from mechanical design or measured by experimental methods. are known parameters. By solving the equation group consisting of equation group 1 and formulas 8 to 13, the above-mentioned nine unknown quantities can be obtained.

[0197] If the rigidity of the second tube 52 is much greater than the rigidity of the instrument shaft 32, it can be determined that θ S If it is zero, there are eight formulas and eight unknowns. The Young's modulus E in the direction of the rod axis and the cross-sectional area moment of inertia I of the rod will be eliminated in the solution process and do not need to be measured.

[0198] It can be understood that the force condition and calculation process of the rod in the YZ plane are the same as those in the XZ plane. The above process can be referred to and will not be described in detail in this embodiment.

[0199] The end of the instrument shaft 32 is also subjected to an axial force rod F along the third direction Z. Z ,like Figure 4 As shown, according to the force balance, the axial force F Z satisfy:

[0200] F Z =F h +f s .

[0201] Among them, F h The force acting on the surgical instrument 30 along the third direction Z, which is away from the end of the instrument shaft 32, can be measured by the second force measuring member 62. S The friction force in the third direction Z applied by the second tube 52 to the instrument shaft 32

[0202] If the first force measuring member 61 is capable of measuring the friction force f S , the axial force F can be directly calculated Z .

[0203] If the first force measuring member 61 cannot measure the friction force f S , and the friction between the second tube 52 and the instrument shaft 32 is small, the friction force f can be directly determined S It is understandable that the magnitude of the friction force is related to the friction coefficient between the second tube body 52 and the instrument shaft 32 , and the magnitude of the friction force can be determined based on the material properties of the second tube body 52 and the instrument shaft 32 .

[0204] If the first force measuring member 61 cannot measure the friction force f SThe friction force on the instrument shaft 32 when it moves in the second tube 52 can be calibrated, and the friction force f can be calculated according to the movement direction and speed of the instrument shaft 32 in the second tube 52. S .

[0205] Through the above steps, the first force measuring member 61 and the second force measuring member 62 can be used to calculate the force applied to the end of the surgical instrument in the first direction X, the second direction Y and the third direction Z. It should be noted that the above calculation method is not the only calculation method for the force applied to the end of the surgical robot in this embodiment.

[0206] In some embodiments, the motor controller in the motor that drives the instrument driver 20 to move is used to feed back the working current of the motor, thereby calculating the output torque of the motor and further calculating the force applied to the distal end of the surgical instrument in the Z direction.

[0207] Optionally, to improve the accuracy of the force calculation structure at the end of the instrument shaft 32, the interference of the surgical instrument 30's own gravity on the first force measuring member 61 and the second force measuring member 62 can be removed before calculating the force at the end of the instrument shaft 32 to improve measurement and calculation accuracy.

[0208] Specifically, the interference values ​​of the weight of the surgical instrument 30 on the first force measuring member 61 and the second force measuring member 62 are obtained; the difference between the measured values ​​of the first force measuring member 61 and the second force measuring member 62 and the corresponding interference values ​​are obtained and used as the effective measured values ​​of the first force measuring member 61 and the second force measuring member 62. By discarding the interference value, the end force result can be prevented from being disturbed by gravity.

[0209] Among them, the component between the flexible portion 40 and the end of the instrument shaft 32 in the surgical instrument 30 is the first structural component, and the gravity of the first structural component is the interference value to the first force measuring member 61;

[0210] The structure between the second force measuring member 62 and the flexible portion 40 in the surgical instrument 30 is a second structural component, and the gravity of the first structural component and the gravity of the second structural component are both interference values ​​to the second force measuring member 62 .

[0211] To facilitate the calculation of effective measurement values, the position and gravity direction of the surgical instrument 30 in space are determined by the robot body; the gravity components of the first structural component and the second structural component in the first direction X, the second direction Y and the third direction Z are obtained respectively; and the measurement value of the first force measuring piece 61 and the difference between the measurement value of the second force measuring piece 62 and the corresponding component force are calculated.

[0212] It should be noted here that the surgical robot provided in this embodiment can use the above method to calculate the force conditions at the end of the instrument in the XZ plane, or calculate the force conditions at the end of the instrument in the YZ plane, or calculate the forces at the end of the instrument in the first direction X, the second direction Y, and the third direction Z.

[0213] Embodiment 2

[0214] This embodiment provides a surgical robot, which has a substantially similar structure to that in the first embodiment, except that the surgical robot in this embodiment does not have a flexible portion 40. Based on this, this embodiment also provides a method for calculating the force on the end of a surgical robot, which is used in the surgical robot in this embodiment.

[0215] Specifically, a mechanical model of the surgical instrument 30 is established, and the force at the end of the instrument shaft 32 is calculated based on the measurement values ​​of the first force measuring piece 61 and the second force measuring piece 62 .

[0216] In this embodiment, Figure 7 As shown, the surgical instrument 30 is simplified into a cantilever beam, and a cantilever beam force model is established. The cantilever beam uses the proximal end of the instrument shaft 32 as a fixed fulcrum 83, the distal end of the instrument shaft 32 as a free end, and the cantilever beam has a third hinge fulcrum 84. The third hinge fulcrum 84 is a fixed point on the instrument shaft 32. The instrument shaft 32 will bend at the third hinge fulcrum 84 when working. Since the instrument shaft 32 is inserted into the second tube body 52, the third hinge fulcrum 84 is also the contact position between the instrument shaft 32 and the second tube body 52.

[0217] The force applied to the end of the instrument shaft 32 includes a force component in the first direction X, a force component in the second direction Y, and a force component in the third direction Z. To facilitate understanding of the calculation method of the force components in each direction, the mechanical model of the surgical instrument 30 when not subjected to external force is as follows: Figure 7 When the surgical instrument 30 is used, the forces in the XZ plane are as follows: Figure 8-Figure 10 shown.

[0218] When calculating the force F at the end of the instrument shaft 32 along the first direction X and the second direction Y, the calculation is performed based on the principles of force balance and moment balance.

[0219] The torque balance relationship satisfies:

[0220] F V -F S +F=0;

[0221] The force balance relationship satisfies:

[0222] M S -M S0 +F S ·L2-F·L1=0;

[0223] Compared with the calculation method in the first embodiment, the force model in this embodiment adds the bending moment M S0 , M S0 F is the bending moment received by the fixed support 83 in the target plane; V is the force acting on the fixed fulcrum 83 along the target direction, L1 is the length of the cantilever beam from the fixed fulcrum 83 to the free end, and L2 is the length between the fixed fulcrum 83 and the third hinge fulcrum 84.

[0224] It can be understood that the force applied to the end of the instrument shaft 32 along the first direction X and the second direction Y is the same. By definition, the force applied to the end of the instrument shaft 32 along the first direction X is F X , the force in the second direction Y is F Y In this embodiment, the force F applied to the end of the instrument shaft 32 along the first direction X is X Take this as an example.

[0225] If the first force measuring member 61 can simultaneously detect the force F applied by the second tube 52 to the instrument shaft 32 along the first direction X, S and the bending moment M in the XZ plane S , and the second force measuring member 62 can detect the bending moment M of the fixed support 83 in the XZ plane S0 When the F detected by the first force measuring member 61 is obtained S 、M S and M detected by the second force measuring member 62 S0 , calculate F by moment balance X , that is, F X satisfy:

[0226]

[0227] If the first force measuring member 61 can respectively measure the force F along the first direction X applied by the second tube 52 to the instrument shaft 32 S and the bending moment M in the XZ plane S , and the second force measuring member 62 can measure the force F acting on the fixed support point 83 along the first direction X V and the bending moment M in the XZ plane S0 When , we get the fourth system of equations:

[0228]

[0229] Solve the equation set 4 by the least square method to obtain the force F along the first direction X at the end of the instrument shaft 32 X It should be noted that due to the detection error between the first force measuring piece 61 and the second force measuring piece 62, S 、M S 、M S0 and FV Based on the known values, F is obtained by force balance. X The moment balance cannot be guaranteed. In this case, the least squares method is used to solve F X , which can reduce measurement errors and improve the accuracy of force results.

[0230] The second tube 52 is defined to exert a force F along the first direction X on the instrument axis 32. S and the bending moment M in the XZ plane S The linear combination value of is the target linear combination value T S If the first force measuring member 61 can only measure the force applied by the second tube 52 to the instrument axis 32 along the first direction X, the bending moment in the XZ plane, and the target linear combination value T S and the second force measuring member 62 can measure the force F acting on the fixed support point 83 along the target direction. V and the bending moment M in the XZ plane S0 When , we obtain the third set of equations:

[0231]

[0232] Solve the equation group 3 to obtain the force F at the end of the instrument shaft 32 along the first direction X X ;

[0233] Among them, C F and C M is a preset constant.

[0234] The second tube 52 is defined to exert a force F along the first direction X on the instrument axis 32. S and the bending moment M in the XZ plane S The linear combination value of is the target linear combination value T S If the first force measuring member 61 can only measure the force applied by the second tube 52 to the instrument axis 32 along the target direction, the bending moment in the XZ plane, and the target linear combination value T S and the second force measuring member 62 cannot measure the force F acting on the fixed support point 83 along the first direction X. V and / or bending moment M in the XZ plane S0 When the force F is calculated according to the statically indeterminate beam theory X It should be noted that the calculation method is roughly the same as the calculation method using the hyperstatic beam theory in the first embodiment, except that an unknown quantity M is added. S0 , can be solved by adding the boundary condition that the rotation angle is zero when z=0, that is:

[0235]

[0236] Optionally, to improve the accuracy of the force calculation structure at the end of the instrument shaft 32, the interference of the surgical instrument 30's own gravity on the first force measuring member 61 and the second force measuring member 62 can be removed before calculating the force at the end of the instrument shaft 32 to improve measurement and calculation accuracy.

[0237] The removal of interference to the first force measuring member 61 may refer to the introduction in the first embodiment.

[0238] In this embodiment, the structure between the second force measuring member 62 and the end of the instrument shaft 32 in the surgical instrument 30 is a third structural component, and the gravity of the third structural component is the interference value to the second force measuring member 62 .

[0239] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A surgical robot, characterized in that: include: Robotic arm (10); An instrument driver (20) is slidably disposed at the end of the mechanical arm (10); A surgical instrument (30) connected to the instrument driver (20), the surgical instrument (30) comprising an instrument end, an instrument shaft (32) and an instrument handle (31) connected in sequence, the instrument handle (31) being connected to the instrument driver (20); A sleeve (50) comprising a first tube body (51) and a second tube body (52) connected to each other, wherein the first tube body (51) is arranged at the end of the mechanical arm (10), and the instrument shaft (32) is passed through the second tube body (52); A force measuring assembly, comprising a first force measuring piece (61), the first force measuring piece (61) being arranged between the first tube body (51) and the second tube body (52), and being used to detect the force condition of the second tube body (52) along a first direction X and / or the force condition of the second tube body (52) along a second direction Y, wherein the first direction X and the second direction Y both extend along the radial direction of the instrument axis (32) and are perpendicular to each other, and a third direction Z is perpendicular to the first direction X and the second direction Y respectively; The force condition of the second tube (52) along the first direction X includes at least one of the force applied along the first direction X and the bending moment in the XZ plane, or a combined value of the force applied along the first direction X and the bending moment in the XZ plane to the second tube (52); The force condition of the second tube body (52) along the second direction Y includes at least one of the force applied along the second direction Y and the bending moment in the YZ plane, or a combined value of the force applied to the second tube body (52) along the second direction Y and the bending moment in the YZ plane.

2. The surgical robot according to claim 1, characterized in that: The first tube body (51) is sleeved outside the second tube body (52); Alternatively, one end of the first tube (51) is connected to the mechanical arm (10), and the other end of the first tube (51) is connected to one end of the second tube (52) via the first force measuring member (61).

3. The surgical robot according to claim 1, characterized in that: The surgical robot further comprises a flexible portion (40), wherein the flexible portion (40) is arranged on the surgical instrument (30) or the instrument driver (20) so that the instrument axis (32) can rotate around the first direction X and the second direction Y.

4. The surgical robot according to claim 3, characterized in that: The flexible portion (40) connects the instrument handle (31) and the instrument shaft (32).

5. The surgical robot according to claim 3, characterized in that: The instrument shaft (32) includes a first shaft section and a second shaft section, and the flexible portion (40) connects the first shaft section and the second shaft section.

6. The surgical robot according to claim 3, characterized in that: The instrument driver (20) comprises a sliding portion and a connecting portion, wherein the sliding portion is slidably connected to the end of the mechanical arm (10), the connecting portion is used to connect to the instrument handle (31), and the flexible portion (40) connects the sliding portion and the connecting portion.

7. The surgical robot according to claim 3, characterized in that: The flexible portion (40) is a universal joint; Or the flexible portion (40) is made of a flexible material.

8. The surgical robot according to any one of claims 1 to 7, characterized in that: The force measuring assembly further comprises a second force measuring piece (62), which is arranged on the mechanical arm (10) or the instrument driver (20) and is used to detect the force applied to the surgical instrument (30) along a third direction Z.

9. The surgical robot according to claim 8, characterized in that: The mechanical arm (10) comprises a mounting seat (11), a guide rail is arranged on the mounting seat (11), the instrument driver (20) is slidably connected to the guide rail, and the second force measuring member (62) is arranged between the guide rail and the mounting seat (11); or the second force measuring member (62) is arranged between the instrument driver (20) and the guide rail; Or the second force measuring member (62) is arranged between the instrument driver (20) and the instrument handle (31).

10. The surgical robot according to claim 8, characterized in that: The second force measuring member (62) is configured to detect at least one of the force applied by the surgical instrument (30) along the first direction X and the bending moment in the XZ plane; And / or, the second force measuring member (62) is configured to detect at least one of the force applied by the surgical instrument (30) along the second direction Y and the bending moment in the YZ plane.

11. The surgical robot according to any one of claims 1 to 7, characterized in that: The surgical robot comprises a motor, which is used to drive the instrument driver (20) to slide along the end of the robotic arm (10); The motor includes a motor controller configured to obtain an operating current of the motor.

12. A method for calculating the force on the end of a surgical robot instrument, characterized in that: For use with a surgical robot according to any one of claims 1 to 11, the method for calculating the force on the end of the surgical robot instrument comprises: A mechanical model of the surgical instrument (30) is established, and the force at the end of the instrument axis (32) is calculated based on the measurement value of the first force measuring member (61) and the force applied to the surgical instrument (30) along a third direction Z, wherein the third direction Z is perpendicular to the first direction X and the second direction Y, respectively.

13. The method for calculating the force on the end of a surgical robot instrument according to claim 12, characterized in that: The surgical robot further comprises a flexible portion (40), wherein the flexible portion (40) is arranged on the surgical instrument or the instrument driver so that the surgical instrument (30) can rotate around the first direction X and the second direction Y; Establishing the mechanical model of the surgical instrument (30) includes: A rod force model is established, wherein the rod uses the flexible portion (40) as a first hinge fulcrum, the end of the instrument shaft (32) as a free end, and the rod has a second hinge fulcrum.

14. The method for calculating the force on the end of a surgical robot instrument according to claim 13, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: If the first force measuring member (61) can simultaneously measure the force applied by the device shaft (32) to the second tube (52) in the target direction and the bending moment in the target plane, then the force at the end of the device shaft (32) in the target direction is calculated according to the moment balance principle on the rod; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

15. The method for calculating the force on the end of a surgical robot instrument according to claim 13, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); If the first force measuring member (61) can respectively measure the force acting on the second tube (52) in the target direction and the bending moment in the target plane, and the second force measuring member (62) can measure the force acting on the first hinge fulcrum in the target direction, the force at the end of the instrument shaft (32) in the target direction is obtained according to the least square method; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

16. The method for calculating the force on the end of a surgical robot instrument according to claim 13, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); A linear combination value of the force applied by the second tube (52) to the instrument shaft (32) along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece (61) can only measure one of the force applied by the second tube (52) along the target direction, the bending moment in the target plane and the target linear combination value, and the second force measuring piece (62) can measure the force applied to the first hinge fulcrum along the target direction, the force at the end of the instrument shaft (32) along the target direction is calculated based on the force balance and moment balance principles of the rod; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

17. The method for calculating the force on the end of a surgical robot instrument according to claim 13, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: A linear combination value of the force applied by the second tube (52) to the instrument shaft (32) along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring member (61) can only measure one of the force applied by the second tube (52) along the target direction, the bending moment in the target plane and the target linear combination value, and cannot measure the force applied to the first hinge fulcrum along the target direction, the force at the end of the instrument shaft (32) along the target direction is calculated according to the hyperstatic beam theory; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

18. The method for calculating the force on the end of a surgical robot instrument according to claim 12, characterized in that: Establishing the mechanical model of the surgical instrument (30) includes: A cantilever beam force model is established, wherein the cantilever beam uses the proximal end of the instrument shaft (32) as a fixed fulcrum, the distal end of the instrument shaft (32) as a free end, and the cantilever beam has a third hinge fulcrum.

19. The method for calculating the force on the end of a surgical robot instrument according to claim 18, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); If the first force measuring member (61) can simultaneously measure the force applied by the second tube (52) to the instrument shaft (32) in the target direction and the bending moment in the target plane, and the second force measuring member (62) can measure the bending moment applied to the fixed support in the target plane, the force at the end of the instrument shaft (32) in the target direction is calculated according to the cantilever beam moment balance principle; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

20. The method for calculating the force on the end of a surgical robot instrument according to claim 18, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); If the first force measuring member (61) can respectively measure the force applied by the second tube (52) to the instrument shaft (32) along the target direction and the bending moment in the target plane, and the second force measuring member (62) can measure the force applied by the fixed support point along the target direction and the bending moment in the target plane, the force at the end of the instrument shaft (32) along the target direction is calculated according to the least square method; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

21. The method for calculating the force on the end of a surgical robot instrument according to claim 18, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); A linear combination value of the force applied by the second tube (52) to the instrument axis (32) along the target direction and the bending moment in the target plane is defined as a target linear combination value; if the first force measuring piece (61) can only measure one of the force applied by the second tube (52) to the instrument axis (32) along the target direction, the bending moment in the target plane and the target linear combination value, and the second force measuring piece (62) can measure the force applied by the fixed fulcrum along the target direction and the bending moment in the target plane, the force at the end of the instrument axis (32) along the target direction is calculated based on the force balance and moment balance principles of the rod; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

22. The method for calculating the force on the end of a surgical robot instrument according to claim 18, characterized in that: Calculating the force on the end of the instrument shaft (32) includes: A linear combination value of the force applied by the second tube (52) to the instrument axis (32) in a target direction and the bending moment in a target plane is defined as a target linear combination value; if the first force measuring member (61) can only measure the force applied by the second tube (52) to the instrument axis (32) in a target direction, the bending moment in a target plane and one of the target linear combination values, and cannot measure the force applied by the fixed support in a target direction or the bending moment in a target plane, the force at the end of the instrument axis (32) in the target direction is calculated according to the statically indeterminate beam theory; The target direction is a first direction X, and the target plane is an XZ plane; or the target direction is a second direction Y, and the target plane is a YZ plane.

23. The method for calculating the force on the end of a surgical robot instrument according to any one of claims 12 to 22, characterized in that: Calculating the force on the end of the instrument shaft (32) includes calculating the axial force, and calculating the axial force includes: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); Obtaining the force applied to the surgical instrument (30) along a third direction Z on the side away from the end of the instrument shaft (32), measured by the second force measuring member (62); obtaining the friction force applied by the second tube (52) to the instrument shaft (32) in the third direction Z; The axial force is calculated based on the force balance of the instrument axis (32) in the third direction Z.

24. The method for calculating the force on the end of a surgical robot instrument according to claim 23, characterized in that: The friction force is measured by the first force measuring member (61).

25. The method for calculating the force on the end of a surgical robot instrument according to claim 23, characterized in that: Setting the friction force to zero; Alternatively, the movement direction and speed of the instrument shaft (32) in the second tube (52) are obtained, and the friction force is calculated based on the movement direction and speed.

26. The method for calculating the force on the end of a surgical robot instrument according to any one of claims 12 to 22, characterized in that: The surgical robot comprises a motor, which is used to drive the instrument driver (20) to slide along the end of the robotic arm (10); The motor includes a motor controller, and calculating the force on the end of the instrument shaft (32) includes calculating the axial force, and calculating the axial force includes: The motor controller obtains the operating current of the motor and calculates the axial force according to the rated parameters of the motor and the operating current.

27. The method for calculating the force on the end of a surgical robot instrument according to any one of claims 12 to 22, characterized in that: The force measuring assembly further comprises a second force measuring piece (62), wherein the second force measuring piece (62) is arranged on the mechanical arm (10) or the instrument driver (20); Before calculating the force on the end of the instrument shaft (32), the method further includes: Obtaining interference values ​​of the weight of the instrument driver (20) and the surgical instrument (30) on the first force measuring piece (61) and / or the second force measuring piece (62); The difference between the measurement value of the first force measuring piece (61) and / or the second force measuring piece (62) and the corresponding interference value is obtained and used as the effective measurement value of the first force measuring piece (61) and the second force measuring piece (62) respectively.

28. The method for calculating the force on the end of a surgical robot instrument according to claim 27, characterized in that: Acquiring the valid measurement value includes: Acquiring the position and gravity direction of the instrument driver and the surgical instrument (30) in space; Obtain the components of the interference value in the first direction X, the second direction Y and the third direction Z respectively; The difference between the measured value of the first force measuring piece (61) and / or the measured value of the second force measuring piece (62) and the corresponding component force is calculated.

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