Force sensing connection structure, surgical robot, and surgical system

Abstract

This invention relates to a force-sensing connection structure, a surgical robot, and a surgical system. The force-sensing connection structure includes: a force-sensing puncture assembly, comprising a force-sensing sleeve and a puncture mounting part, the mounting part being disposed on the side of the force-sensing sleeve, and an instrument rod of a surgical instrument mounted within the force-sensing sleeve; an end-effector, disposed at the end of a tool arm, the end-effector having a mounting cavity, the puncture mounting part being mounted in the mounting cavity when the force-sensing puncture assembly mates with the end-effector; and a wireless connection assembly, wirelessly connecting the force-sensing puncture assembly and the end-effector. After the force-sensing puncture assembly mates with the end-effector, the wireless connection assembly can wirelessly supply power to collect the stress of the instrument rod on the force-sensing sleeve, process it to obtain the torque on the instrument rod, and transmit the torque to a second circuit board of the tool arm. Power supply and signal transmission are achieved through wireless connection and wireless transmission, improving the stability and reliability of signal transmission.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a force-sensing connection structure, a surgical robot, and a surgical system. Background Technology

[0002] Stamps are widely used in modern minimally invasive surgical equipment. Their application is particularly crucial in laparoscopic surgical robots. During operation, the scuttler connects to the instrument rods of surgical instruments via the scuttler device. Therefore, the scuttler needs to be reliably fixed to the end of the tool arm, which then drives the scuttler and the surgical instruments attached to it to perform surgical procedures. When the surgical instruments perform procedures, there is mutual stress between the instrument rods and the scuttler; this stress is typically detected using a force-sensing cannula.

[0003] The current force sensing sleeve structure's electrical connection is based on a spring-pin contact method. When the instrument swings, there is stress between the sleeve and the tool arm, which is transmitted to the spring pin contact node, causing internal wear of the spring pin, or even failure and loss of elasticity. Moreover, the long-term stress on the spring pin and the corresponding contact copper post will cause wear. Once the wear length exceeds the elastic extension length of the spring pin, it will cause poor contact, low durability, and affect the accuracy of instrument rod stress detection. Summary of the Invention

[0004] Therefore, it is necessary to address the problems of faults and inaccuracies in the current force-sensing sleeve's electrical connection based on the spring-pin contact method, and to provide a force-sensing connection structure, surgical robot, and surgical system that can achieve accurate detection of instrument rod stress and electrical isolation.

[0005] A force-sensing connection structure, comprising:

[0006] A force-sensing sleeve assembly includes a force-sensing sleeve and a force-sensing sleeve mounting part. The force-sensing sleeve is disposed on the side of the force-sensing sleeve, and the instrument rod of a surgical instrument is installed in the force-sensing sleeve.

[0007] An end connector, disposed at the end of a tool arm, having a mounting cavity, wherein the stamping clamp assembly is mounted in the mounting cavity when it mates with the end connector; and

[0008] A wireless connection component wirelessly connects the force stamping card component and the end connector. After the force stamping card component and the end connector are connected, the wireless connection component can wirelessly supply power to collect the stress of the instrument rod on the force sensing sleeve, process it to obtain the torque on the instrument rod, and transmit the torque to the second circuit board of the tool arm.

[0009] In one embodiment, the wireless connection component includes a wireless power supply module, a signal acquisition and processing module, and a signal transmission module; the wireless power supply module is disposed between the force stamping card assembly and the end connector; the signal acquisition and processing module is disposed on the force sensing sleeve and electrically connected to the power supply module and the signal transmission module; the signal transmission module is disposed between the stamping card mounting part and the end connector; the wireless power supply module supplies power to the signal acquisition and processing module, enabling the signal acquisition and processing module to acquire the stress and obtain the torque; and the signal transmission module transmits the torque to the second circuit board.

[0010] In one embodiment, the wireless power supply module includes a first power supply part and a second power supply part that are wirelessly connected. The first power supply part is disposed on the force stamp card assembly, and the second power supply part is disposed on the end connector. When the force stamp card assembly is connected to the end connector, the second power supply part causes the first power supply part to generate a power supply voltage.

[0011] The first power supply section is electrically connected to the signal acquisition and processing module and supplies power to the signal acquisition and processing module.

[0012] In one embodiment, the force sensing sleeve includes an inner sleeve and an outer sleeve, the outer sleeve being sleeved on the outside of the inner sleeve, and the signal acquisition and processing module includes four strain gauges, the four strain gauges being evenly and spaced apart between the inner sleeve and the outer sleeve, and the four strain gauges being electrically connected to form a full-bridge circuit.

[0013] In one embodiment, the signal acquisition and processing module further includes a connecting circuit board and a first circuit board, the force sensing sleeve further includes a base, the outer sleeve is disposed on the base, the first circuit board is disposed in the base and electrically connected to the first power supply part and the connecting circuit board, and the connecting circuit board is electrically connected to the full-bridge circuit.

[0014] In one embodiment, the signal acquisition and processing module further includes a first control unit and a signal amplification circuit. The first control unit and the signal amplification circuit are integrated on the first circuit board, and the signal amplification circuit is electrically connected to the connection circuit board and the first control unit. The first control unit includes an analog-to-digital converter, a first storage module, a decoupling module, and a first transmission module. The analog-to-digital converter is electrically connected to the decoupling module and the signal amplification circuit. The first storage module is electrically connected to the decoupling module, and the first transmission module is a transmission connection between the decoupling module and the signal transmission module.

[0015] In one embodiment, the signal transmission module includes a transmitting component and a receiving component. The transmitting component is disposed on the stamp card mounting part, and the receiving component is disposed on the inner wall of the mounting cavity. When the force stamp card assembly is docked with the end connector, the transmitting component and the receiving component are correspondingly disposed to realize the torque transmission.

[0016] The transmitting component is electrically connected to the signal acquisition and processing module, and the receiving component is electrically connected to the second control unit of the tool arm.

[0017] In one embodiment, the end connector further includes a limiting member disposed in the mounting cavity, the limiting member being used to limit the positioning of the stamp card mounting portion.

[0018] In one embodiment, the second power supply part includes a power supply, a second power supply circuit, and a power supply coil. The power supply and the second power supply circuit are electrically connected and disposed on the tool arm. The power supply coil is disposed on the end connector and electrically connected to the second power supply circuit. The power supply provides power to the power supply coil through the second power supply circuit.

[0019] In one embodiment, the first power supply section includes an induction coil and a first power supply circuit. The induction coil is disposed on the stamping card mounting part. The first power supply circuit is electrically connected to the induction coil and the signal acquisition and processing module. After the stamping card assembly is connected to the end connector, the power supply coil is sleeved on the induction coil. The induction coil senses the alternating current in the power supply coil to generate an induced voltage. The first power supply circuit converts the induced voltage into an analog power signal and a digital power signal to power the signal acquisition and processing module. The first power supply circuit includes a rectifier and filter circuit, two voltage regulator circuits, an analog signal power supply, and a digital signal power supply. The rectifier and filter circuit is electrically connected to the induction coil and the two voltage regulator circuits. One of the voltage regulator circuits is electrically connected to the analog signal power supply, and the other voltage regulator circuit is electrically connected to the digital signal power supply.

[0020] In one embodiment, the power supply module further includes a magnetic conductor, and after the force stamping card assembly is docked with the end connector, the magnetic conductor is located between the stamping card mounting portion and the inner wall of the mounting cavity.

[0021] A surgical robot includes a robot carriage, a tool arm, surgical instruments, and a force-sensing connection structure as described in any of the above technical features. The tool arm is disposed on the robot carriage, the force-sensing connection structure is disposed at the end of the tool arm, and the surgical instruments are disposed on the tool arm and extend through the force-sensing connection structure.

[0022] A surgical system includes a display platform and a surgical robot as described above, wherein the tool arm of the surgical robot is transmittedly connected to the display platform.

[0023] By adopting the above technical solution, the present invention has at least the following technical effects:

[0024] The force-sensing connection structure, surgical robot, and surgical system of the present invention include a force-sensing connection structure in which a force-sensing puncture card assembly is mounted on the instrument rod of a surgical instrument through a force-sensing sleeve, and the instrument rod is capable of generating stress on the force-sensing sleeve. A puncture card mounting part is disposed on the side of the force-sensing sleeve. When the force-sensing puncture card assembly is docked with the end connector, the puncture card mounting part is installed into the mounting cavity of the end connector, so that the force-sensing puncture card assembly is installed to the end of the tool arm through the end connector.

[0025] When the force stamping card assembly is connected to the end connector, the wireless connection assembly enables wireless connection between the force stamping card assembly and the end connector, achieving wireless power supply. This allows the wireless connection assembly to wirelessly power the force sensing component, thereby collecting the stress on the force sensing sleeve of the instrument rod and processing the stress to form the torque on the instrument rod. Simultaneously, the wireless connection assembly enables wireless signal transmission, receiving the torque from the signal acquisition and processing module and feeding it back to the second circuit board of the tool arm. The second circuit board of the tool arm then feeds the torque back to the display panel of the surgical system, where the display panel shows the stress and direction on the instrument rod.

[0026] This force-sensing connection structure achieves wireless power supply through a wireless connection component, enabling a contactless electrical connection between the force-stamping card assembly and the end connector. This provides electrical isolation between the force-stamping card assembly and the end connector, reducing noise crosstalk and minimizing electrical connection failures. Simultaneously, the wireless connection component directly acquires the stress on the force-sensing sleeve of the instrument rod and processes it directly to obtain the torque of the instrument rod. This allows for local acquisition and processing of the instrument rod stress output signal, eliminating the need for transmission to the tool arm and reducing signal attenuation and noise interference caused by long acquisition paths. This force-sensing connection structure of the present invention provides power and transmits signals wirelessly to accurately acquire and process the stress of the surgical instrument rod, which is then fed back to the tool arm. This eliminates the need for a spring-loaded pin structure, improving the stability and reliability of signal transmission. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of a force-sensing connection structure according to an embodiment of the present invention applied to a surgical system;

[0028] Figure 2 This is a perspective view of a force-sensing connection structure according to an embodiment of the present invention;

[0029] Figure 3 for Figure 2 A partial cross-sectional view of the force-sensing connection structure shown;

[0030] Figure 4 for Figure 3 The diagram shows a cross-sectional view of a strain gauge mounted on a force-sensing sleeve.

[0031] Figure 5 for Figure 4 The diagram shows the instrument rod compressing the strain gauge in the force-sensing sleeve;

[0032] Figure 6 for Figure 3 The diagram shows a full-bridge circuit composed of strain gauges in a force-sensing connection structure.

[0033] Figure 7 for Figure 2 The functional block diagram of the signal acquisition and processing module in the force sensing structure is shown below.

[0034] Figure 8 for Figure 7 The parameter diagram of the decoupling module in the signal acquisition and processing module is shown.

[0035] Figure 9 for Figure 7 The flowchart shown illustrates the calibration process of the decoupling module in the signal acquisition and processing module.

[0036] Figure 10 for Figure 2 The diagram shows the installation of the signal transmission module in the force-sensing connection structure.

[0037] Figure 11 for Figure 10 The diagram shows the signal transmission module in the force stamp card assembly and the end connector;

[0038] Figure 12 for Figure 2 The diagram shown is a functional block diagram of the first power supply section in the force-sensing connection structure.

[0039] Figure 13 for Figure 2 The diagram shown is a functional block diagram of the second power supply section in the force-sensing connection structure.

[0040] Figure 14 for Figure 2 The side view of the force-sensing connection structure after the stamp card mounting part and the end connector are docked;

[0041] Figure 15 for Figure 14 The diagram shows a transverse cut after the stamp card mounting part and the end connector are joined together.

[0042] Figure 16 for Figure 2 The diagram shows the internal circuit block diagram of the force stamp card component in the force sensing connection structure shown.

[0043] Figure 17 for Figure 2 The diagram shown shows the internal circuitry of the end connector mounted on the tool arm.

[0044] Figure 18 for Figure 1 A schematic diagram showing the stress on the instrument bar of the surgical instrument.

[0045] Wherein: 10, force sensing connection structure; 100, force stamping card assembly; 110, force sensing sleeve; 111, inner sleeve; 112, outer sleeve; 120, stamping card mounting part; 130, sealing cap; 140, base; 200, end connector; 210, mounting cavity; 310, first power supply part; 311, induction coil; 312, first power supply circuit; 3121, rectifier and filter circuit; 3122, voltage regulator circuit; 313, digital signal power supply; 314, analog signal power supply; 320, second power supply part; 321, power supply; 322, second power supply circuit; 3221, boost circuit; 3222, DC / AC converter. 323. Power supply coil; 330. Magnetic conductor; 400. Signal acquisition and processing module; 410. Full-bridge circuit; 411. Strain gauge; 420. Signal amplification circuit; 430. First control unit; 431. Analog-to-digital converter; 432. Decoupling module; 433. First transmission module; 434. First storage module; 440. First circuit board; 450. Connecting circuit board; 500. Signal transmission module; 510. Substrate; 520. Transmitting component; 530. Receiving component; 60. Surgical instrument; 601. Instrument rod; 70. Tool arm; 701. Second control unit; 702. Second storage module; 80. Display platform. Detailed Implementation

[0046] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0048] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0049] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0050] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0051] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0052] See Figures 1 to 18 This invention provides a force-sensing connection structure 10. This force-sensing connection structure 10 is applied in a surgical robot and connects to the tool arm 70 of the surgical robot, enabling reliable fixation of the puncture card to the tool arm 70. It is understood that current force-sensing sleeve structures rely on spring-pin contact for electrical connection. During instrument movement, stress exists between the sleeve and the tool arm, which is transmitted to the spring-pin contact node, causing internal wear, even malfunction, and loss of elasticity in the spring-pin. Furthermore, long-term stress on the spring-pin and its corresponding contact copper post will cause wear. Once the wear length exceeds the elastic extension length of the spring-pin, poor contact will occur, resulting in low durability and affecting the accuracy of instrument rod stress detection.

[0053] To address this, the present invention provides a novel force-sensing connection structure 10. This force-sensing connection structure 10 can supply power and transmit signals wirelessly to accurately collect and process the stress of the instrument rod 601 of the surgical instrument 60, and then feed it back to the tool arm 70. This eliminates the need for a spring-loaded pin structure, improving the stability and reliability of signal transmission. The specific structure of a force-sensing connection structure 10 according to one embodiment is described below.

[0054] See Figures 1 to 18In one embodiment, the force-sensing connection structure 10 includes a force-stamping assembly 100, an end-connection assembly, and a wireless connection assembly. The force-stamping assembly 100 includes a force-sensing sleeve 110 and a stamp mounting portion 120, the latter being disposed on the side of the force-sensing sleeve 110, in which the instrument rod 601 of a surgical instrument 60 is mounted. An end-connector 200 is disposed at the end of a tool arm 70, the end-connector 200 having a mounting cavity 210, and the stamp mounting portion 120 is mounted in the mounting cavity 210 when the force-stamping assembly 100 is mated with the end-connector 200. The wireless connection component wirelessly connects the force stamping card component 100 and the end connector 200. After the force stamping card component 100 and the end connector 200 are connected, the wireless connection component can wirelessly supply power to collect the stress of the instrument rod 601 on the force sensing sleeve 110, process it to obtain the torque on the instrument rod 601, and transmit the torque to the second circuit board of the tool arm 70.

[0055] The force-stamping device 100 is a crucial component in surgical procedures. It establishes a surgical channel, allowing surgical instruments 60 to pass through and penetrate the patient's lesion, thus fulfilling surgical requirements. Typically, the force-stamping device 100 is first positioned on the patient's lesion surface. The surgical robot then moves the tool arm 70 to the surgical position. During the procedure, the force-stamping device 100 is docked with the tool arm 70, the surgical instrument 60 is mounted on the tool arm 70, and the instrument rod 601 of the surgical instrument 60 extends through the force-stamping device 100, allowing subsequent surgical procedures to proceed.

[0056] The end connector 200 is used to mount the force-stamping card assembly 100 to the tool arm 70. The end connector 200 is located at the end of the tool arm 70, and the force-stamping card assembly 100 can be mated and connected to the end connector 200, thereby fixing the force-stamping card assembly 100 to the tool arm 70. Optionally, the end connector 200 and the tool arm 70 are an integral structure. That is, the end connector 200 is located at the end of the tool arm 70 and is part of the tool arm 70. Of course, in other embodiments of the present invention, the end connector 200 and the tool arm 70 can also be separately provided. That is, the end connector 200 and the tool arm 70 are two components, which are detachably connected.

[0057] Specifically, such as Figure 2As shown, the force-sensing sleeve 100 includes a force-sensing sleeve 110 and a puncture card mounting part 120. The puncture card mounting part 120 is disposed on the side of the force-sensing sleeve 110, which has a hollow structure. When the surgical instrument 60 is mounted to the tool arm 70, the instrument rod 601 of the surgical instrument 60 is located in the force-sensing sleeve 110, and the end of the instrument rod 601 can extend through the force-sensing sleeve 110, allowing the end of the surgical instrument 60 to be inserted into the patient's body to perform surgical operations. The end connector 200 has a hollow mounting cavity 210 for mounting the puncture card mounting part 120. Optionally, the end connector 200 can be a mounting base or other structural form that can be connected to the tool arm 70 and mate with the puncture card mounting part 120.

[0058] When the force-stamping assembly 100 is docked with the end connector 200, the end connector 200 is located at the end of the tool arm 70. Dragging the tool arm 70 causes the stamping mounting portion 120 of the force-stamping assembly 100 to be installed into the mounting cavity 210 of the end connector 200. The force-stamping assembly 100 is fixed to the end of the tool arm 70 by being installed into the mounting cavity 210 through the stamping mounting portion 120, preventing the stamping mounting portion 120 from detaching from the mounting cavity 210. Finally, the surgical instrument 60 is installed on the tool arm 70.

[0059] like Figures 3 to 17 As shown, in order to detect the stress and direction of the force generated by the instrument rod 601 of the surgical instrument 60 during surgery, the force sensing connection structure 10 of the present invention also includes a wireless connection component. This wireless connection component is distributed in the force stamping card assembly 100 and the end connector 200, enabling wireless power supply and wireless transmission. When the force stamping card assembly 100 is connected to the end connector 200, the wireless connection component enables the end connector 200 to wirelessly power the force stamping card assembly 100. Thus, during surgery, the wireless connection component can detect the stress of the instrument rod 601 on the force sensing sleeve 110, process the stress to obtain the torque of the instrument rod 601 during surgery, and feed the torque of the instrument rod 601 back to the second control unit 701 on the second circuit board of the tool arm 70. The torque is then transmitted to the display panel 80 of the surgical system via the second control unit 701, where it is displayed as the stress and direction of the instrument rod 601 during surgery.

[0060] The force-sensing connection structure 10 of the above embodiment achieves wireless power supply through a wireless connection component, enabling a contactless electrical connection between the force-stamping card component 100 and the end connector 200. This achieves electrical isolation between the force-stamping card component 100 and the end connector 200, reducing noise crosstalk and minimizing electrical connection failures. Simultaneously, the stress of the instrument rod 601 on the force-sensing sleeve 110 is directly acquired through the wireless connection component and processed to obtain the torque of the instrument rod 601. This allows for local acquisition and processing of the stress output signal from the instrument rod 601, eliminating the need for transmission to the tool arm 70 for processing and reducing signal attenuation and noise interference caused by long acquisition paths. The force-sensing connection structure 10 of this invention provides power and transmits signals wirelessly to accurately acquire and process the stress of the instrument rod 601 of the surgical instrument 60, which is then fed back to the tool arm 70. This eliminates the need for a spring-loaded pin structure, improving the stability and reliability of signal transmission.

[0061] In one embodiment, the wireless connection component includes a wireless power supply module, a signal acquisition and processing module 400, and a signal transmission module 500. The wireless power supply module is disposed between the force stamping card assembly 100 and the end connector 200. The signal acquisition and processing module 400 is disposed on the force sensing sleeve 110 and electrically connected to the power supply module and the signal transmission module 500. The signal transmission module 500 is disposed between the stamping card mounting part 120 and the end connector 200. The wireless power supply module supplies power to the signal acquisition and processing module 400, enabling the signal acquisition and processing module 400 to acquire the stress and obtain the torque. The signal transmission module 500 transmits the torque to the second circuit board.

[0062] The wireless power supply module is a wireless power supply component, which is disposed between the tamper mounting part 120 and the end connector 200. The signal acquisition and processing module 400 is disposed in the force sensing sleeve 110 and electrically connected to the wireless power supply module. The signal transmission module 500 is disposed between the tamper mounting part 120 and the end connector 200, and is electrically connected to the signal acquisition and processing module 400. The tool arm 70 has a second circuit board, and the signal transmission module 500 is transmitted to the second circuit board. The signal transmission module 500 can transmit the received torque information to the second circuit board, and the second circuit board is transmitted to the display table 80 of the surgical system.

[0063] When the force-sensing card assembly 100 is docked with the end connector 200, the wireless power supply module is triggered. The portion of the wireless power supply module in the end connector 200 can supply power to the portion of the wireless power supply module in the card mounting part 120, thereby generating a power supply voltage in the card mounting part 120 to power the signal acquisition and transmission module. When the surgical instrument 60 is installed on the tool arm 70, the instrument rod 601 is located in the force-sensing sleeve 110.

[0064] When the surgical instrument 60 performs surgical operations, the instrument rod 601 moves within the force-sensing sleeve 110 and abuts against the inner wall of the sleeve. At this time, the instrument rod 601 generates stress on the force-sensing sleeve 110. The signal acquisition and processing module 400 collects this stress and processes it to generate a torque on the instrument rod 601 during the surgical procedure. This torque is then transmitted to the signal transmission module 500, which in turn transmits it to the second circuit board of the tool arm 70. The second circuit board then transmits the torque to the display panel 80 of the surgical system, where it displays the stress and direction of the torque response.

[0065] Furthermore, when the instrument rod 601 moves in any direction within the force-sensing sleeve 110 and abuts against the inner wall of the sleeve 110, the signal acquisition and processing module can detect the stress of the instrument rod 601 and process it into a corresponding torque. It is worth noting that the signal transmission connection mentioned in this invention can be either wireless or wired, as long as it achieves the corresponding function. Connections requiring power are typically electrical connections. Further details regarding transmission and electrical connections will not be elaborated upon here.

[0066] In one embodiment, the wireless power supply module includes a first power supply section 310 and a second power supply section 320 wirelessly connected. The first power supply section 310 is disposed on the force stamp card assembly 100, and the second power supply section 320 is disposed on the end connector 200. When the force stamp card assembly 100 is connected to the end connector 200, the second power supply section 320 causes the first power supply section 310 to generate a power supply voltage. The first power supply section 310 is electrically connected to the signal acquisition and processing module 400 and supplies power to the signal acquisition and processing module 400.

[0067] When the force stamping card assembly 100 is connected to the end connector 200, the second power supply part 320 in the end connector 200 can sense the first power supply part 310, causing the first power supply part 310 to generate a power supply voltage. The first power supply part 310 is electrically connected to the signal acquisition and processing module 400 in the force stamping card assembly 100. After the second power supply part 320 wirelessly supplies power to the first power supply part 310, the first power supply part 310 supplies power to the signal acquisition module in the force sensing sleeve 110, enabling the signal acquisition and processing module 400 to acquire the stress of the instrument rod 601 on the force sensing sleeve 110 and process the stress of the force sensing sleeve 110.

[0068] In use, the force-sensing connection structure 10 of the present invention connects the card mounting part 120 of the force-stamping card assembly 100 to the mounting cavity 210 of the end connector 200. The second power supply part 320 in the wireless power supply module can sense the first power supply part 310, causing the first power supply part 310 in the force-stamping card assembly 100 to generate a power supply voltage and supply power to the signal acquisition and processing module 400 and the signal transmission module 500. After the signal acquisition and processing module 400 is powered on, it can acquire the stress of the instrument rod 601 on the force-sensing sleeve 110 and process the stress to form the torque on the instrument rod 601. The signal transmission module 500 receives the torque from the signal acquisition and processing module 400 and feeds it back to the first circuit board 440 of the tool arm 70, and then feeds it back to the display platform 80 of the surgical system through the first circuit board 440 of the tool arm 70, whereby the display platform 80 displays the torque of the instrument rod 601.

[0069] The force-sensing connection structure 10 wirelessly powers the signal acquisition and processing module 400 and the signal transmission module 500 via a wireless power supply module whose first power supply section 310 and second power supply section 320 are wirelessly connected. This enables a contactless electrical connection between the force stamping card assembly 100 and the end connector 200, achieving electrical isolation between them, reducing noise crosstalk, and minimizing electrical connection failures. Simultaneously, the signal acquisition and processing module 400 is integrated into the force stamping card assembly 100, allowing it to directly acquire the stress of the instrument rod 601 on the force-sensing sleeve 110 and process it directly to obtain the torque of the instrument rod 601. This enables local acquisition and processing of the stress output signal from the instrument rod 601, eliminating the need to transmit it to the tool arm 70 for processing and reducing signal attenuation and noise interference caused by long acquisition paths. The force-sensing connection structure 10 of this invention powers and transmits signals wirelessly, eliminating the need for a spring-loaded pin structure and improving the stability and reliability of signal transmission.

[0070] like Figures 2 to 6As shown, in one embodiment, the force sensing sleeve 110 includes an inner sleeve 111 and an outer sleeve 112, with the outer sleeve 112 sleeved on the outside of the inner sleeve 111. The signal acquisition and processing module 400 includes four strain gauges 411, which are evenly and spaced apart between the inner sleeve 111 and the outer sleeve 112. The four strain gauges 411 are electrically connected to form a full-bridge circuit 410.

[0071] The outer sleeve 112 is fitted over the outer side of the inner sleeve 111, and the inner sleeve 111 and the outer sleeve 112 are coaxially arranged, forming a closed space with an annular cross-section between them. Four strain gauges 411 of the signal acquisition and processing module 400 are disposed between the inner sleeve 111 and the outer sleeve 112, and each strain gauge 411 is connected to both the outer wall of the inner sleeve 111 and the inner wall of the outer sleeve 112. In other words, the four strain gauges 411 are spaced apart between the inner sleeve 111 and the outer sleeve 112, and connect the inner sleeve 111 and the outer sleeve 112.

[0072] After the four strain gauges 411 are evenly distributed, they can accurately collect the stress of the instrument rod 601 on the force sensing sleeve 110. Furthermore, the four strain gauges 411 can sense the stress in four directions of the plane, such as... Figure 4 As shown. Simultaneously, the outer sleeve 112 serves a protective function, safeguarding internal components and preventing damage. Furthermore, four strain gauges 411 are positioned close to the patient at the locations of the inner sleeve 111 and the outer sleeve 112. That is, the four strain gauges 411 are located near the proximal end of the force-sensing sleeve 110 to better collect the stress exerted by the instrument rod 601 on the force-sensing sleeve 110. Optionally, the four strain gauges 411 are positioned near the fixed point of the force-sensing sleeve 110. It is understood that the trocar has a fixed point during surgery, so placing the four strain gauges 411 at the fixed point of the force-sensing sleeve 110 accurately detects the stress exerted by the instrument rod 601 on the force-sensing sleeve 110.

[0073] When the surgical instrument 60 is mounted onto the tool arm 70, and the instrument rod 601 extends through the force-sensing sleeve 110, the instrument rod 601 is located within the inner sleeve 111. For example... Figure 4 As shown, in order to record the position of strain gauge 411, an XY coordinate system is introduced. The figure shows the position of the four strain gauges 411 in the cross-sectional view of the force sensing sleeve 110, located at four positions in the orthogonal XY directions, respectively used to sense stress in the four directions of X+, X-, Y+, and Y-.

[0074] When the instrument rod 601 is not under stress, there is a tiny gap between the instrument rod 601 and the inner sleeve 111. Theoretically, when the instrument rod 601, the inner sleeve 111, and the outer sleeve 112 are in a concentric circle, the four strain gauges 411 do not sense the stress of the instrument rod 601, and therefore there is no strain output, which is the initial state with zero force.

[0075] like Figure 5 As shown, this is a cross-sectional view of the force sensing sleeve 110 and the instrument rod 601 after assembly when the instrument rod 601 is subjected to stress in one direction. When the instrument rod 601 is subjected to stress in a certain direction, the instrument rod 601 will deform, compressing the inner wall of the inner sleeve 111 in the force sensing sleeve 110, and then compressing between the inner sleeve 111 and the outer sleeve 112, causing the strain gauge 411 to deform in a certain direction. The resistance of the strain gauge 411 changes, and at this time, an analog electrical signal of strain is output.

[0076] Figure 6 Taking one direction (X or Y) as an example, this illustrates the principle of converting the strain of strain gauge 411 into an electrical signal. The strain gauge 411 used in the structure is a half-bridge composed of two resistors. The strain gauges 411 at the + and - positions in one direction form a full-bridge circuit 410 as shown in the right figure. S1 and S2 serve as power supply terminals, and terminals A and B serve as signal acquisition terminals. The potential E at terminals A and B... AB The strain of the response strain gauge. When there is no stress on the instrument rod 601, the resistance values ​​of the four resistors are the same, therefore the potential E is... AB The value is 0. When the instrument rod 601 is subjected to stress, the stress will cause a change in the corresponding resistance value, producing strain. At this time, the potential E AB It will produce values ​​that change with the dependent variable, thus achieving dependent variable transformation.

[0077] Optionally, strain gauge 411 is a thin-film strain gauge. Of course, in other embodiments of the invention, strain gauge 411 may also be other components capable of detecting the stress of the instrument rod 601 on the force-sensing sleeve 110. Optionally, the resistor used in strain gauge 411 is a constantan resistor.

[0078] like Figure 3 As shown, in one embodiment, the signal acquisition and processing module 400 further includes a connecting circuit board 450 and a first circuit board 440, the force sensing sleeve 110 further includes a base 140, the outer sleeve 112 is disposed in the base 140, the first circuit board 440 is disposed in the base 140 and electrically connected to the first power supply part 310 and the connecting circuit board 450, and the connecting circuit board 450 is electrically connected to the full bridge circuit 410.

[0079] A base 140 is disposed on the side of the force-sensing sleeve 110, connecting the force-sensing sleeve 110 to the stamp mounting part 120, thus enabling the stamp mounting part 120 to be disposed within the force-sensing sleeve 110. Furthermore, the base 140 also provides a mounting position for the first circuit board 440 to support it and fulfill the force-sensing function requirements. A connecting circuit board 450 is disposed between the inner sleeve 111 and the outer sleeve 112, with one end connected to four strain gauges 411 and the other end connected to the first circuit board 440.

[0080] Figure 3 This is a cross-sectional schematic diagram of the force-sensing sleeve 110, showing the position of the strain gauges 411 within the sleeve and the signal transmission method. The instrument rod 601 extends through the inner sleeve 111 of the force-sensing sleeve 110. Four strain gauges 411 are embedded in the outer wall of the inner sleeve 111, respectively in four orthogonal X and Y directions. When the instrument rod 601 is subjected to stress, the stress between the inner sleeve 111 and the outer sleeve 112 causes the strain gauges to generate strain. The connecting circuit board 450 provides the power supply voltage to the strain gauges 411 and transmits the strain signals sensed by the strain gauges 411 to the first circuit board 440 of the force stamping card assembly 100 for acquisition and processing.

[0081] The second power supply section 320 is electrically connected to and supplies power to the first circuit board 440. Thus, the first circuit board 440 can supply power to the four strain gauges 411 via the connecting circuit board 450. After being powered on, the four strain gauges 411 can generate strain based on the stress between the inner sleeve 111 and the outer sleeve 112, which is transmitted to the first circuit board 440 via the connecting circuit board 450, thereby achieving stress acquisition of the instrument rod 601. Optionally, the connecting circuit board 450 is an FPC flexible circuit board, facilitating the electrical connection between the strain gauges 411 and the first circuit board 440.

[0082] Optionally, the force sensing sleeve 110 also includes a sealing cap 130, which is disposed at the proximal end of the force sensing sleeve 110 to prevent foreign objects from entering the force sensing sleeve 110.

[0083] like Figure 7 and Figure 16 As shown, in one embodiment, the signal acquisition and processing module 400 further includes a first control unit 430 and a signal amplification circuit 420. The first control unit 430 and the signal amplification circuit 420 are integrated on the first circuit board 440, and the signal amplification circuit 420 is electrically connected to the connection circuit board 450 and the first control unit 430.

[0084] A signal amplification circuit 420 is integrated into the first circuit board 440 to amplify the strain signal of the strain gauge 411, facilitating the acquisition of the strain signal by the first control unit 430. The first control unit 430, also integrated into the first circuit board 440, is the main control element of the signal acquisition and processing module 400. The input terminal of the signal amplification circuit 420 is connected to the connecting circuit board 450, and the output terminal is electrically connected to the first control unit 430. The first control unit 430 is connected to the signal transmission module 500 for transmission.

[0085] Circuit board 450 supplies power to the full-bridge circuit 410 of strain gauge 411. When strain gauge 411 is subjected to stress, its resistance changes. The full-bridge circuit 410 outputs a strain analog signal, which is then amplified by the signal amplifier circuit 420 and sent to the first control unit 430. The first control unit 430 processes and calculates the torque on the instrument rod 601. The first control unit 430 transmits this torque to the signal transmission module 500, which then transmits it to the second circuit board of the tool arm 70. The second circuit board then transmits the torque of the instrument rod 601 to the display panel 80 of the surgical system.

[0086] The force-sensing connection structure 10 of the present invention adds a first control unit 430 to the signal acquisition and transmission module. After amplifying the signal from the strain gauge 411, the first control unit 430 acquires the signal from the strain gauge 411 and performs decoupling operations to improve the stability of the output. Optionally, the first control unit 430 is an MCU (Microcontroller Unit). Optionally, there are two signal amplification circuits 420, which are connected in parallel and respectively connected to the first control power supply and the connecting circuit board 450. The two signal amplification circuits 420 respectively supply power to the strain gauges 411 in the X and Y directions.

[0087] like Figure 7 and Figure 16 As shown, in one embodiment, the first control unit 430 includes an analog-to-digital converter 431, a first storage module 434, a decoupling module 432, and a first transmission module 433. The analog-to-digital converter 431 is electrically connected to the decoupling module 432 and the signal amplification circuit 420. The first storage module 434 is electrically connected to the decoupling module 432. The first transmission module 433 is transmissively connected to the decoupling module 432 and the signal transmission module 500.

[0088] The input terminal of the analog-to-digital converter 431 is connected to the output terminal of the signal amplification circuit 420, and the output terminal of the analog-to-digital converter 431 is connected to the decoupling module 432. The decoupling module 432 is also connected to the first storage module 434, the first transmission module 433, and the signal transmission module 500. The decoupling module 432 is used to perform decoupling calculations of the torque applied to the instrument rod 601 to obtain the torque applied to the instrument rod 601. The first storage module 434 stores the zero-point bias and the sensitivity parameters of the force sensing sleeve 110. When the decoupling module 432 performs decoupling calculations, it can obtain the zero-point offset and the sensitivity parameters of the force sensing sleeve 110 from the first storage module 434, and obtain the stiffness and height coefficient of the instrument rod 601 from the surgical robot through the signal transmission module 500. The decoupling module 432 combines these three values ​​to calculate the torque of the instrument rod 601 through decoupling calculations, and transmits it to the signal transmission module 500 through the first transmission module 433. The signal transmission module 500 then transmits the torque to the second circuit board of the tool arm 70.

[0089] When the decoupling module 432 performs decoupling calculations, Figure 8 The calibration formula describing the decoupling operation can be broadly categorized into zero-point bias and the sensitivity of the force-sensing sleeve 110; where F represents the physical sensing force value, C represents the zero-point bias, and S1, S2...SN represent the sensitivity under different powers of F. Figure 8 The text reflects the specific reasons for the generation of the two parameters.

[0090] Specifically: The original resistance tolerance of strain gauge 411 after leaving the factory and the trace resistance in the actual circuit layout will cause the strain potential to be non-zero when there is no stress, i.e., zero-point bias C. The manufacturing process of strain gauge 411 refers to the slight differences in strain under the same strain force due to variations in strain gauge material, constantan wire thickness, etc. The sleeve manufacturing process refers to the sleeve material, dimensional tolerances, strain gauge welding process, etc., all of which affect the actual strain output value. The stiffness difference of instrument rod 601 refers to the difference in deformation of instrument rod 601 under the same strain force. The influence of the manufacturing process of strain gauge 411, the manufacturing process of force sensing sleeve 110, and the stiffness of instrument rod 601 is reflected in the calibration formula by affecting the sensitivity parameters S1, S2…SN.

[0091] Before decoupling, the decoupling module 432 calibrates the force stamping card assembly 100 and the instrument rod 601. When calibrating the force stamping card assembly 100, a standard instrument rod 601 is used, or the instrument rod 601 remains unchanged. Analog calibration is performed on different force-sensing sleeves 110. The output analog value is fitted and converted into a sensitivity value. The difference between this value and the theoretical standard sensitivity value is stored in the first storage module 434 of the first circuit board 440. When calibrating the instrument rod 601, a standard force-sensing sleeve 110 is used, or the force-sensing sleeve 110 remains unchanged. Analog calibration is performed on different instrument rods 601. The output analog value is fitted and converted into a sensitivity value. The difference between this value and the theoretical standard sensitivity value is stored in the second control unit 701 of the second circuit board of the tool arm 70.

[0092] The calibration process is as follows Figure 9 As shown, Figure 9 The calibration method and storage location of calibration parameters reflect the different factors affecting the decoupling formula, thus ensuring that the calibration coefficients can be correctly read and the correct decoupling calculations can be performed in actual use after calibration. After calibration, the decoupling module 432 obtains the zero-point offset and the sensitivity parameters of the force-sensing sleeve 110, obtains the stiffness and height coefficients of the instrument rod 601, and performs decoupling calculations to obtain the torque on the instrument rod 601. When performing structural calculations, the decoupling module 432 obtains the ADC value through the analog-to-digital converter 431, and calculates the torque on the instrument rod 601 according to the decoupling formula: ADC=C+S1*F^1+S2*F^2+…+SN*F^N based on the zero-point offset, the sensitivity parameters of the force-sensing sleeve 110, and the stiffness and height coefficients of the instrument rod 601.

[0093] The force sensing connection structure 10 of the present invention adds a first control unit 430 to the signal acquisition and processing module 400. After amplifying the strain signal of the strain gauge 411, the first control unit 430 acquires the signal and performs decoupling calculation. Through software processing, it can replace the traditional method of zeroing with a fine-tuning potentiometer, thereby improving the stability of signal output.

[0094] Optionally, the analog-to-digital converter 431 can be an ADC (Analog-to-Digital Converter) interface provided in the first control unit 430, or it can be a dedicated ADC (Analog-to-Digital Converter) chip independent of the first control unit 430. Optionally, the first storage module 434 is an EEPROM (Electrically Erasable Programmable Read-Only Memory). Optionally, the first transmission module 433 uses a UART (Universal Asynchronous Receiver / Transmitter) to send torque values ​​to the signal transmission module.

[0095] The first storage module 434 is used to store the corresponding data parameter information mentioned above. Optionally, the first storage module 434 can be integrated into the first control unit 430 or set independently of the first control unit 430; of course, after the first storage module 434 is integrated into the first control unit 430, the first control unit 430 can also be externally connected to a storage module.

[0096] Optionally, the second circuit board includes a second storage module 702, which stores the corresponding data parameter information mentioned above. Optionally, the second circuit board includes a second control unit 701 (MCU). The second storage module 702 can be integrated into the second control unit 701 or set independently of it; of course, after the second storage module 702 is integrated into the second control unit 701, an external storage module can also be connected to the second control unit 701. The second control unit 70 is integrated into the second circuit board, and the control of the tool arm 70 is achieved through the second control unit 701.

[0097] See Figure 10 and Figure 11 In one embodiment, the signal transmission module 500 includes a base 510, a transmitting component 520, and a receiving component 530. The transmitting component 520 is disposed on the stamp mounting portion 120, and the receiving component 530 is disposed on the inner wall of the mounting cavity 210. When the force stamp assembly 100 is connected to the end connector 200, the transmitting component 520 and the receiving component 530 are correspondingly arranged to realize the torque transmission. The transmitting component 520 is electrically connected to the signal acquisition and processing module 400, and the receiving component 530 is electrically connected to the second control unit 701 of the tool arm 70.

[0098] There are two substrates 510. One substrate 510 is located at the end of the card mounting part 120 and houses the transmitting component 520. The other substrate 510 is located on the inner wall of the mounting cavity 210 and houses the receiving component 530. The transmitting component 520 is connected to the first transmission module 433 of the signal acquisition and processing module 400. The substrate 510 is electrically connected to the first power supply part 310, which supplies power to the substrate 510, enabling the substrate 510 to perform photoelectric conversion and other functions.

[0099] When the signal transmission module 500 is to complete information transmission normally, the card mounting part 120 needs to be installed in the mounting cavity 210, ensuring that the transmitting part 520 and the receiving part 530 are aligned. The distance between the transmitting part 520 and the receiving part 530 meets the information transmission requirements, ensuring the reliability of the transmission. Optionally, the signal transmission module 500 is an infrared transceiver, the transmitting part 520 is an infrared transmitter, and the receiving part is an infrared receiver. Optionally, the substrate 510 may contain only chip-level circuits with photoelectric conversion and other functions.

[0100] The following explanation uses the signal transmission module 500 as an example of an infrared transceiver. When the infrared transmitter and receiver are to perform normal information transmission, they need to be radially aligned, such as... Figure 10 and Figure 11 As shown, one of the infrared transmitters is directly facing the infrared receiver. Furthermore, the transmission distance should not exceed the maximum distance specified for the selected infrared transceiver, and the transmission distance should be minimized to ensure transmission reliability.

[0101] Furthermore, the infrared transmitter's emission angle is generally around 30°. The corresponding infrared receiver should be aligned with the infrared transmitter as much as possible within the above-mentioned angle range to ensure that the angle between the two is within the infrared transmitter's emission angle range and to ensure reliable signal transmission.

[0102] Optionally, the transmitting component 520 is located at the end of the stamp mounting portion 120, and the receiving component 530 is positioned in the mounting cavity 210 corresponding to the transmitting component 520. For example... Figure 11 As shown, the transmitting component 520 is located at the leftmost end of the card mounting portion 120, and correspondingly, the receiving component 530 is located on the bottom wall of the mounting cavity 210. Of course, in other embodiments of the present invention, the transmitting component 520 and the receiving component 530 may also be disposed in other corresponding positions, as long as reliable signal transmission is ensured.

[0103] In one embodiment, the end connector 200 further includes a limiting member disposed in the mounting cavity 210, which limits the positioning of the stamp card mounting portion 120. The limiting member is used to achieve the limited installation of the stamp card mounting portion 120. When the stamp card assembly 100 is connected to the end connector 200, the limiting member abuts against the end of the stamp card mounting portion 120 to limit its position. This ensures the transmission distance between the transmitting component 520 and the receiving component 530, and also prevents collisions or even damage between the transmitting component 520 and the receiving component 530 under conditions of forceful installation. Optionally, the limiting member is a limiting boss.

[0104] See Figure 13 and Figure 17 In one embodiment, the second power supply section 320 includes a power supply 321, a second power supply circuit 322, and a power supply coil 323. The power supply 321 and the second power supply circuit 322 are electrically connected to and disposed on the tool arm 70. The power supply coil 323 is disposed on the end connector 200 and electrically connected to the second power supply circuit 322. The power supply 321 supplies power to the power supply coil 323 through the second power supply circuit 322.

[0105] The power supply 321 is located in the tool arm 70 and remains powered throughout the operation of the surgical robot. The power supply 321 is electrically connected to the power supply coil 323 via a second power supply circuit 322, supplying power to the power supply coil 323. Figure 13 As shown, Figure 13 This shows the wireless power supply method of the end connector 200 at the end of the tool arm 70. The DC power leased by the power supply 321 is boosted and converted into AC power by the second power supply circuit 322 before being sent to the power supply coil 323.

[0106] The power supply coil 323 is disposed in the end connector 200 and is located on the outside of the mounting cavity 210. When the force-stamping card assembly 100 is mated with the end connector 200, the power supply coil 323 of the end connector 200 is sleeved on the outside of the first power supply part 310. At this time, the power supply coil 323 can wirelessly supply power to the first power supply part 310, so that the first power supply part 310 can generate a power supply voltage.

[0107] Optionally, the second power supply circuit 322 includes a boost circuit 3221 and a DC / AC converter 3222. The input terminal of the boost circuit 3221 is connected to the output terminal of the power supply 321, and the output terminal of the boost circuit 3221 is connected to the input terminal of the DC / AC converter 3222. The output terminal of the DC / AC converter 3222 is connected to the power supply coil 323. The DC / AC converter 3222 is used to convert direct current into alternating current so that the converted alternating current can be connected to the power supply coil 323. The boost circuit 3221 can boost the DC current output by the power supply 321 to increase the frequency of the converted alternating current and meet the power requirements of the signal acquisition and processing module 400 in the force stamp card assembly 100.

[0108] It is worth noting that the structure of the boost circuit 3221 is not limited in principle, as long as it can boost the voltage output by the power supply 321. For example... Figure 13 As shown, Figure 13 The boost circuit 3221 in the diagram is one possible implementation; other structures capable of boosting voltage are also possible. Optionally, the DC / AC converter 3222 can be a conversion circuit or an integrated converter.

[0109] See Figure 12 and Figure 16 In one embodiment, the first power supply section 310 includes an induction coil 311 and a first power supply circuit 312. The induction coil 311 is disposed on the stamp card mounting section 120. The first power supply circuit 312 is electrically connected to the induction coil 311 and the signal acquisition and processing module 400. After the force stamp card assembly 100 is connected to the end connector 200, the power supply coil 323 is sleeved on the induction coil 311. The induction coil 311 senses the alternating current in the power supply coil 323 to generate an induced voltage. The first power supply circuit 312 converts the induced voltage into an analog power signal and a digital power signal to power the signal acquisition and processing module 400.

[0110] The first power supply circuit 312 is disposed in the force stamping card assembly 100, and the induction coil 311 is disposed in the stamping card mounting part 120. The first power supply circuit 312 is electrically connected to the connecting circuit board 450, and also electrically connected to the first control unit 430 and the signal transmission module 500. When the force stamping card assembly 100 is mated with the end connector 200, the stamping card mounting part 120 is located in the mounting cavity 210. At this time, the induction coil 311 is located inside the power supply coil 323.

[0111] In other words, after the force stamping card assembly 100 is connected to the end connector 200, the power supply coil 323 is located inside the induction coil 311, and the induction coil 311 and the power supply coil 323 are substantially coincident in the axial direction. Thus, the power supply coil 323 can induce a voltage in the induction coil 311. This induced voltage is then processed by the first power supply circuit 312, which converts the power supply voltage into analog and digital power signals to power the analog and digital circuits of the signal acquisition and processing module 400.

[0112] See Figure 12 and Figure 16 In one embodiment, the first power supply circuit 312 includes a rectifier and filter circuit 3121, two voltage regulator circuits 3122, an analog signal power supply 314, and a digital signal power supply 313. The rectifier and filter circuit 3121 is electrically connected to the induction coil 311 and the two voltage regulator circuits 3122. One of the voltage regulator circuits 3122 is electrically connected to the analog signal power supply 314, and the other voltage regulator circuit 3122 is electrically connected to the digital signal power supply 313.

[0113] The input terminal of the rectifier-filter circuit 3121 is connected to the induction coil 311, and the output terminal of the rectifier-filter circuit 3121 is connected to two voltage regulator circuits 3122, which are respectively connected to the analog signal power supply 314 and the digital signal power supply 313. After the induction coil 311 outputs its supply voltage, the rectifier diodes in the rectifier-filter circuit 3121 rectify the AC current in the induction power supply coil 323 of the induction coil 311, and then filter out the AC harmonics through the rectifier-filter circuit 3121. The filtered DC current then enters the two voltage regulator circuits 3122 for voltage conversion, supplying power to the analog signal power supply 314 and the digital signal power supply 313 respectively.

[0114] In this way, the analog signal power supply 314 can output an analog power signal after being powered by the analog signal power supply 314, and the digital signal power supply 313 can output a digital power signal after being powered by the digital signal power supply 313. The analog power signal powers the analog circuit part in the signal acquisition and processing module 400, such as the full bridge circuit 410, and the digital power signal powers the digital circuit part in the signal acquisition and processing module 400, such as the first control unit 430.

[0115] Optionally, the voltage regulator circuit 3122 is an LDO circuit (low dropout regulator). It is worth noting that the structure of the rectifier filter circuit 3121 is not limited in principle, as long as it can rectify the AC power in the induction coil 311 and the AC harmonics are filtered out by the rectifier filter circuit 3121.

[0116] In the force sensing connection structure 10 of the present invention, after the force stamping card assembly 100 is docked with the end connector 200, the stamping card mounting part 120 of the force stamping card assembly 100 is installed in the mounting cavity 210 of the end connector 200, and the induction coil 311 in the stamping card mounting part 120 is located inside the power supply coil 323 in the end connector 200. At this time, the induction coil 311 and the power supply coil 323 constitute a wireless induction power supply module.

[0117] In the second power supply section 320, the DC power output from the power supply 321 is boosted by the boost circuit 3221. After boosting, it is converted into AC power by the DC / AC converter 3222 and supplied to the power supply coil 323. After the induction coil 311 senses the AC power in the power supply coil 323 in the end connector 200, it generates a supply voltage. This voltage is rectified by a rectifier diode, and then filtered by the rectifier filter circuit 3121 to remove AC harmonics before being supplied to two voltage regulator circuits 3122. The voltage regulator circuits 3122 convert the filtered and rectified DC power into analog power signals and digital power signals, which then power the analog and digital circuits respectively.

[0118] In order to improve the power supply and transmission efficiency of the coil, within the electrical characteristics of the coil and the withstand voltage of the induction coil 311 in the force stamping card assembly 100, the amplitude of the boost circuit 3221 after boosting is increased as much as possible, and the AC frequency after AC conversion is increased to ensure that the power requirements of the signal acquisition and processing module 400 are met.

[0119] like Figure 14 and Figure 15 As shown, in one embodiment, the power supply module further includes a magnetic conductive element 330. After the force stamping card assembly 100 is connected to the end connector 200, the magnetic conductive element 330 is located between the stamping card mounting portion 120 and the inner wall of the mounting cavity 210. The magnetic conductive element 330 is used to increase the magnetic flux between the power supply coil 323 and the induction coil 311 to ensure power supply efficiency.

[0120] The magnetically conductive element 330 is made of a flexible magnetically conductive material. For example, the magnetically conductive element 330 is a magnetically conductive rubber ring. When the magnetically conductive stamp card assembly 100 is mated with the end connector 200, the magnetically conductive element 330 is first installed into the mounting cavity 210, and then the stamp card mounting portion 120 is installed into the magnetically conductive element 330. In this way, the space between the stamp card mounting portion 120 and the mounting cavity 210 of the end connector 200 is filled with the magnetically conductive element 330, increasing the magnetic flux and ensuring power supply efficiency.

[0121] After the card mounting part 120 is installed into the mounting cavity 210 of the end connector 200, the induction coil 311 and the power supply coil 323 coincide in the axial direction, ensuring the power supply efficiency of the power supply coil 323 to the induction coil 311. After a magnetic guide 330 is placed between the induction coil 311 and the power supply coil 323, the wireless power supply cable is raised. The power supply coil 323 is supplied with AC power by the second circuit board of the tool arm 70. The induction coil 311 receives the induced AC power and connects to the first circuit board 440 for conversion, supplying power to the signal acquisition and processing module 400.

[0122] See Figure 7 , Figure 12 , Figure 13 , Figure 16 and Figure 17 When the force-sensing connection structure 10 of the present invention is used, the force stamping card assembly 100 is connected to the end connector 200. At this time, the stamping card mounting part 120 of the force stamping card assembly 100 is installed in the mounting cavity 210 of the end connector 200. The induction coil 311 is located inside the power supply coil 323. The induction coil 311 can receive the induced AC power from the power supply coil 323, and convert it into multiple independent signal power supplies through rectification and conversion circuits to power different circuit modules. The connecting circuit board 450 is used to power the two orthogonal strain gauges 411 and to transmit the strain variable signals XY collected by the strain gauges 411.

[0123] The strain signal XY from strain gauge 411 is processed by two independent signal amplification circuits 420. The processed analog signal is then input to the first control unit 430 and acquired through its analog-to-digital converter. The transmitting component 520 is interconnected with the first control unit 430 via a first transmission module 433 interface. Signals emitted by the first control unit 430 are transmitted through the first transmission module 433 to the transmitting component 520 of the signal transmission module 500 for data exchange with the second circuit board of the tool arm 70. Furthermore, the first control unit 430 can access data parameter information through an external storage module.

[0124] The power supply 321 in the tool arm 70 is converted into excitation AC power by the DC / AC converter 3222 and connected to the power supply coil 323 for circuit transmission. The second control unit 701 is electrically connected to the receiving component 530 for data interaction. The second control unit 701 uses an EtherCAT (Ethernet Automation Technology) network module to realize data and command interaction and transmission with the display console 80 of the surgical system. Furthermore, the second control unit 701 can store data parameter information through an external storage module.

[0125] The force-sensing connection structure 10 of the present invention uses a coil and induction method for wireless power supply. Utilizing the mating structure between the stamp card mounting part 120 and the end connector 200, an induction coil 311 is arranged in the stamp card mounting part 120, and a power supply coil 323 is arranged at the end connector 200. When the force stamp card assembly 100 is connected to the end connector 200, the power supply coil 323 induces a voltage in the induction coil 311, which is then converted into DC to power the signal acquisition and processing module 400 and the transmitting component 520 in the force stamp card assembly 100.

[0126] Furthermore, a first control unit 430 is added to the signal acquisition and processing module 400. After amplifying the strain signal of the strain gauge 411, the first control unit 430 acquires the signal and performs decoupling calculations. Software processing can replace the traditional method of zeroing with a fine-tuning potentiometer, improving output stability. A transmitting component 520 is embedded in the stamp card mounting part 120, and a receiving component 530 is embedded in the end connector 200. The first control unit 430 wirelessly transmits stress sensing information and encryption chip information to the receiving component 530 through the transmitting component 520.

[0127] The force-sensing connection structure 10 of the present invention uses a power supply coil 323 and an induction coil 311 for wireless power supply through induction, eliminating the need for electrical connection during any contact between the force stamping card assembly 100 and the end connector 200. This reduces the problem of electrical connection failure, achieves electrical isolation, and reduces noise crosstalk. From the perspective of analog signal acquisition, after the first control unit 430 is built into the force stamping card assembly 100, the first control unit 430 can acquire the strain locally and convert it into a communication digital signal for wireless transmission, greatly reducing the transmission distance of the analog signal. This enables the local acquisition of the output signal of the strain gauge 411, reducing signal attenuation and noise interference caused by the field acquisition path. Moreover, the signal is transmitted after digital conversion, which improves anti-interference and has high stability.

[0128] The present invention also provides a surgical robot, including a robot carriage, a tool arm 70, a surgical instrument 60, and a force-sensing connection structure 10 as described in any of the above embodiments. The tool arm 70 is disposed on the robot carriage, the force-sensing connection structure 10 is disposed at the end of the tool arm 70, and the surgical instrument 60 is disposed on the tool arm 70 and extends through the force-sensing connection structure 10. By employing the aforementioned force-sensing connection structure 10, the surgical robot of the present invention can detect the stress of the instrument rod 601 of the surgical instrument 60 during surgery, reduce electrical connections, reduce the transmission distance of analog signals, and ensure the stability and reliability of signal transmission.

[0129] See Figure 18The present invention also provides a surgical system, including a display platform 80 and a surgical robot as described in the above embodiments, wherein the tool arm 70 of the surgical robot is connected to the display platform 80 for transmission. During the operation, the instrument rod 601 and the force sensing sleeve 110 generate stress, which is converted by the signal acquisition and processing module 400 and transmitted to the display platform 80 of the surgical system for display. That is, the stress on the tip of the instrument rod 601 is processed and calculated and transmitted to the display platform 80 of the surgical system, where the stress and direction are displayed, making it convenient for medical staff to know the stress on the instrument rod 601.

[0130] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0131] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A force sensing connection structure, characterized by, include: A force-sensing sleeve assembly includes a force-sensing sleeve and a force-sensing sleeve mounting part. The force-sensing sleeve is disposed on the side of the force-sensing sleeve, and the instrument rod of a surgical instrument is installed in the force-sensing sleeve. An end connector is disposed at the end of a tool arm. The end connector has a mounting cavity. When the force-stamping card assembly is mated with the end connector, the stamping card mounting part is installed in the mounting cavity. as well as A wireless connection component wirelessly connects the force stamping card component and the end connector. After the force stamping card component and the end connector are connected, the wireless connection component can wirelessly supply power to collect the stress of the instrument rod on the force sensing sleeve, process it to obtain the torque on the instrument rod, and transmit the torque to the second circuit board of the tool arm. The wireless connection component includes a wireless power supply module, a signal acquisition and processing module, and a signal transmission module. The wireless power supply module is disposed between the force-sensing tube assembly and the end connector. The signal acquisition and processing module is disposed on the force-sensing sleeve and electrically connected to the power supply module and the signal transmission module. The signal transmission module is disposed between the force-sensing tube assembly and the end connector. The wireless power supply module supplies power to the signal acquisition and processing module, enabling the signal acquisition and processing module to acquire the stress of the instrument rod on the force-sensing sleeve and process it to generate the torque of the instrument rod during the surgical process. The signal transmission module transmits the torque to the second circuit board.

2. The force sensing connection structure according to claim 1, characterized in that The wireless power supply module includes a first power supply part and a second power supply part that are wirelessly connected. The first power supply part is disposed on the force stamp card assembly, and the second power supply part is disposed on the end connector. When the force stamping card assembly is connected to the end connector, the second power supply part causes the first power supply part to generate a power supply voltage. The first power supply section is electrically connected to the signal acquisition and processing module and supplies power to the signal acquisition and processing module.

3. The force sensing connection structure according to claim 2, characterized in that The force sensing sleeve includes an inner sleeve and an outer sleeve, with the outer sleeve fitted over the outside of the inner sleeve. The signal acquisition and processing module includes four strain gauges, which are evenly and spaced apart between the inner sleeve and the outer sleeve, and are electrically connected to form a full-bridge circuit.

4. The force sensing connection structure according to claim 3, characterized in that The signal acquisition and processing module further includes a connecting circuit board and a first circuit board. The force sensing sleeve further includes a base. The outer sleeve is disposed on the base. The first circuit board is disposed in the base and electrically connected to the first power supply part and the connecting circuit board. The connecting circuit board is electrically connected to the full-bridge circuit.

5. The force sensing connection structure according to claim 4, characterized in that The signal acquisition and processing module further includes a first control unit and a signal amplification circuit. The first control unit and the signal amplification circuit are integrated on the first circuit board. The signal amplification circuit is electrically connected to the connecting circuit board and the first control unit. The first control unit includes an analog-to-digital converter, a first storage module, a decoupling module, and a first transmission module. The analog-to-digital converter is electrically connected to the decoupling module and the signal amplification circuit. The first storage module is electrically connected to the decoupling module. The first transmission module is a transmission connection between the decoupling module and the signal transmission module.

6. The force sensing connection structure according to any one of claims 1 to 5, characterized in that, The signal transmission module includes a transmitting component and a receiving component. The transmitting component is disposed on the stamp card mounting part, and the receiving component is disposed on the inner wall of the mounting cavity. When the force stamp card assembly is connected to the end connector, the transmitting component and the receiving component are correspondingly arranged to realize the torque transmission. The transmitting component is electrically connected to the signal acquisition and processing module, and the receiving component is electrically connected to the second control unit of the tool arm.

7. The force sensing connection structure according to claim 6, characterized in that The end connector also has a limiting member, which is disposed in the mounting cavity and is used to limit the position of the stamp card mounting part.

8. The force sensing connection structure according to any one of claims 2 to 5, characterized in that, The second power supply section includes a power supply, a second power supply circuit, and a power supply coil. The power supply and the second power supply circuit are electrically connected and disposed on the tool arm. The power supply coil is disposed on the end connector and electrically connected to the second power supply circuit. The power supply provides power to the power supply coil through the second power supply circuit.

9. The force-sensing connection structure according to claim 8, characterized in that, The first power supply section includes an induction coil and a first power supply circuit. The induction coil is disposed on the stamping card mounting part. The first power supply circuit is electrically connected to the induction coil and the signal acquisition and processing module. After the stamping card assembly is connected to the end connector, the power supply coil is sleeved on the induction coil. The induction coil senses the AC current in the power supply coil to generate an induced voltage. The first power supply circuit converts the induced voltage into an analog power signal and a digital power signal to power the signal acquisition and processing module. The first power supply circuit includes a rectifier and filter circuit, two voltage regulator circuits, an analog signal power supply, and a digital signal power supply. The rectifier and filter circuit is electrically connected to the induction coil and the two voltage regulator circuits. One of the voltage regulator circuits is electrically connected to the analog signal power supply, and the other voltage regulator circuit is electrically connected to the digital signal power supply.

10. The force-sensing connection structure according to claim 8, characterized in that, The power supply module also includes a magnetic conductive component. After the force stamping card assembly is connected to the end connector, the magnetic conductive component is located between the stamping card mounting part and the inner wall of the mounting cavity.

11. A surgical robot, characterised in that, The device includes a robot trolley, a tool arm, surgical instruments, and a force-sensing connection structure as described in any one of claims 1 to 10, wherein the tool arm is disposed on the robot trolley, the force-sensing connection structure is disposed at the end of the tool arm, and the surgical instruments are disposed on the tool arm and extend through the force-sensing connection structure.

12. A surgical system, characterized by comprising: It includes a display platform and a surgical robot as described in claim 11, wherein the tool arm of the surgical robot is transmittedly connected to the display platform.

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