Surgical robot and force detection system therefor

Abstract

The application relates to a surgical robot and a force detection system thereof. The force detection system comprises an assembly part, a mounting plate arranged on the assembly part, a mounting portion and a first stiffness weakening area arranged on the mounting plate, a driving part assembled on the mounting portion, an output shaft of the driving part used for being connected with a surgical instrument to drive the surgical instrument to move, and a first sensing element arranged on the first stiffness weakening area. The first sensing element is used for sensing the deformation of the mounting plate. In this way, when the driving part drives the surgical instrument to move, the driving part drives the mounting plate to deform, the first sensing element can sense the deformation of the mounting plate, so that the doctor can obtain the force applied by the driving part to the surgical instrument, the doctor can improve the surgical effect, the possibility of tissue damage can be reduced, and the problem that the surgical robot is prone to poor execution is improved.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to a surgical robot and its force detection system. Background Technology

[0002] With the development of modern robotics technology and the rapid advancement of medical standards, surgical robots are increasingly being applied to minimally invasive surgery. Compared to traditional minimally invasive surgery, robot-assisted surgery significantly improves the precision and safety of procedures, greatly reduces patient pain, and shortens recovery time. However, current surgical robots lack tactile feedback. This lack of feedback can lead to tissue damage and malfunctions in specific tasks (such as suturing and intraoperative decisions). For example, surgeons may not be able to sense suture tension or pressure applied to organs and tissues, potentially resulting in suture breakage or tissue damage during surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a surgical robot and its force detection system to address the problem of poor performance that current surgical robots are prone to.

[0004] In a first aspect, this application provides a force detection system for a surgical robot, the surgical robot including surgical instruments. The force detection system includes:

[0005] The assembly includes a mounting plate; the mounting plate includes a mounting section and a first stiffness reduction zone.

[0006] A drive unit is assembled on the mounting portion; the output shaft of the drive unit is used to connect with the surgical instrument to drive the surgical instrument to move.

[0007] A first sensing element is disposed in the first stiffness reduction zone; the first sensing element is used to sense the deformation of the mounting plate.

[0008] In one embodiment, the assembly includes a body, and the mounting plate is connected to the body;

[0009] The first stiffness reduction zone is located between the mounting part and the body.

[0010] In one embodiment, a first groove is provided in the first stiffness reduction zone.

[0011] In one embodiment, the assembly further includes a cantilever structure, on which a first connecting portion and a second connecting portion are arranged at intervals, and the second connecting portion is connected to the body.

[0012] The force detection system also includes:

[0013] A slide, one end of which is connected to the first connecting part, and the other end of which is used to connect to the robotic arm of the surgical robot;

[0014] A second sensing element is disposed on the cantilever structure and located between the first connecting portion and the second connecting portion; the second sensing element is used to sense the deformation of the cantilever structure.

[0015] In one embodiment, the cantilever structure is provided with a second stiffness reduction zone, which is located between the first connecting portion and the second connecting portion, and the second sensing element is located in the second stiffness reduction zone.

[0016] In one embodiment, a parallel beam portion is provided within the second stiffness reduction zone.

[0017] In one embodiment, the force detection system further includes a data acquisition element, wherein both the first sensing element and the second sensing element are electrically connected to the data acquisition element.

[0018] In one embodiment, both the first sensing element and the second sensing element are electrically connected to the acquisition element via conductive elements.

[0019] In one embodiment, the force detection system further includes:

[0020] A cannula, at least a portion of which is a reducing section; the inner diameter of the reducing section gradually increases from one end to the other, and the smaller diameter end of the reducing section forms the distal end of the cannula; wherein, of all the sections of the cannula, the inner diameter of the distal end of the cannula is the smallest; the cannula is configured such that it is fitted onto the surgical instrument, and the contact point between the surgical instrument and the cannula is located at the distal end of the cannula.

[0021] A third sensing element is disposed on the outside of the sleeve; the third sensing element is used to sense the deformation of the sleeve.

[0022] In one embodiment, a third stiffness reduction region is provided on the outer wall of the sleeve, and the third sensing element is disposed in the third stiffness reduction region.

[0023] In one embodiment, the sleeve has a fixed reference point, and the third stiffness reduction region is located on the side of the fixed reference point away from the proximal end of the sleeve.

[0024] In one embodiment, a second groove is provided in the third stiffness reduction zone, and the third sensing element is disposed in the second groove.

[0025] In one embodiment, the force detection system further includes:

[0026] An assembly base is disposed at the proximal end of the sleeve and located on the outer side wall of the sleeve;

[0027] The circuit board is electrically connected to the third sensing element.

[0028] In one embodiment, the circuit board includes a first portion and a second portion that are electrically connected to each other;

[0029] The outer wall of the sleeve is provided with a first receiving groove, and the mounting base is provided with a second receiving groove. The first part is disposed in the first receiving groove, and the second part is disposed in the second receiving groove.

[0030] In one embodiment, the force detection system further includes an encapsulation layer covering the outside of the third sensing element and at least a portion of the outside of the circuit board.

[0031] In one embodiment, the force detection system further includes a sterile connector comprising a first assembly portion and an electrical connection portion interconnected to each other, the first assembly portion being detachably connected to the mounting base, and the electrical connection portion being electrically connected to a second portion of the circuit board.

[0032] In one embodiment, the second portion of the circuit board is provided with metal contacts;

[0033] The electrical connection part is provided with a first through hole, and a conductive pin is provided in the first through hole; the conductive pin is electrically connected to the metal contact.

[0034] In one embodiment, an encapsulation plate is provided at the opening of the second receiving groove, and the encapsulation plate is provided with a second through hole opposite to the metal contact;

[0035] The electrical connection part is located on the side of the first assembly part away from the assembly base, and the first assembly part is provided with a third through hole; the conductive needle is also inserted in the second through hole and the third through hole.

[0036] In one embodiment, the force detection system further includes:

[0037] A sealing assembly is disposed at the proximal end of the sleeve and is coaxially arranged with the sleeve; wherein the sealing assembly and the mounting base are spaced apart from each other;

[0038] A fourth sensing element is disposed on the sealing assembly and electrically connected to the circuit board; the fourth sensing element is used to sense the deformation of the sealing assembly.

[0039] Secondly, this application provides a surgical robot, including the force detection system described in the first aspect.

[0040] The aforementioned force detection system and surgical robot, by setting a mounting plate on the assembly, and on the mounting plate, setting a first stiffness reduction zone and a mounting part for mounting the drive component, and positioning the first sensing element in the first stiffness reduction zone, allow the drive component to deform the mounting plate when it moves the surgical instrument. The first sensing element can detect this deformation, thereby helping the surgeon to obtain the force exerted by the drive component on the surgical instrument. This, in turn, helps the surgeon improve surgical outcomes, reduce the possibility of tissue damage, and mitigate the problem of malfunctions in surgical robots. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This application provides a schematic diagram of the structure of a surgical robot including a force detection system.

[0043] Figure 2 for Figure 1 A schematic diagram of the power box unit of the force detection system shown.

[0044] Figure 3 for Figure 2 The diagram shows the structural composition of the power box unit assembly from a first-view perspective.

[0045] Figure 4 for Figure 2 The diagram shows the structural design of the power box unit assembly from a second-view perspective.

[0046] Figure 5 for Figure 1 The diagram shows a partial structural diagram of a sleeve unit of the force detection system shown.

[0047] Figure 6 for Figure 5 A structural schematic diagram of a portion of the bushing unit (excluding the mounting base);

[0048] Figure 7 for Figure 1 A schematic diagram of another sleeve unit of the force detection system shown;

[0049] Figure 8 for Figure 7A partial structural schematic diagram of the bushing unit shown;

[0050] Figure 9 for Figure 7 The diagram shows a cross-sectional view of the cannula unit and surgical instruments in their assembled state.

[0051] Figure 10 for Figure 7 Exploded view;

[0052] Figure 11 for Figure 7 A schematic diagram of the assembly base of the sleeve unit shown;

[0053] Figure 12 for Figure 11 Exploded view;

[0054] Figure 13 A schematic diagram of the structure of the aseptic connector of the sleeve unit provided in the embodiments of this application;

[0055] Figure 14 for Figure 13 Exploded view;

[0056] Figure 15 for Figure 7 A schematic diagram of the force analysis of the bushing in the bushing unit shown;

[0057] Figure 16 This is a schematic diagram of the structure of a surgical robot provided in an embodiment of this application;

[0058] Figure 17 for Figure 16 A partial cross-sectional schematic diagram of the surgical robot shown;

[0059] Figure 18 for Figure 16 The diagram shows the structure of the cannula unit and surgical instruments of the surgical robot.

[0060] Explanation of reference numerals in the attached figures:

[0061] 1-Surgical robot; 10-Force detection system; 11-Power box unit; 111-Assembly; 1111-Mounting plate; 1111a-First stiffness reduction zone; 11111-Mounting part; 11112-First groove; 1112-Cantilever structure; 1112a-Second stiffness reduction zone; 11121-First connection part; 11122-Parallel beam part; 11123-Second connection part; 1113-Body body ; 11131-Lead hole; 112-Driver; 113-First sensing element; 114-Slide table; 115-Second sensing element; 116-Collection element; 117-Conductive element; 118-Shielding plate; 119-Connecting post; 12-Sleeve unit; 121-Sleeve; 121a-Distal end; 121b-Proximal end; 1211-Different diameter section; 1212-Same diameter section; 1213-Third stiffness reduction zone; 1 214 - Second recess; 1215 - First receiving groove; 122 - Third sensing element; 123 - Mounting base; 1231 - Second receiving groove; 1232 - Encapsulation board; 12321 - Second through hole; 1233 - Slot; 1234 - Third recess; 124 - Circuit board; 1241 - First part; 1242 - Second part; 12421 - Metal contact; 125 - Encapsulation layer; 126 - Sterile connector ; 1261-First assembly part; 12611-Plate body; 12612-Snap fastener; 12613-Third through hole; 1262-Electrical connection part; 12621-First through hole; 12622-Conductive needle; 1263-Second assembly part; 127-Sealing assembly; 1271-Sealing valve; 1272-Adapter; 1273-Glue-coated; 128-Fourth sensing element; 20-Surgical instrument; 30-Robotic arm. Detailed Implementation

[0062] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are 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 this application. However, this application can be implemented 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 this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0063] In the description of this application, 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", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0064] 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 application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0065] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," 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 expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0066] In this application, unless otherwise expressly 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," "on top of," and "over" 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.

[0067] 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.

[0068] When used herein, the singular forms of “a,” “an,” and “the” may also include the plural forms unless the context clearly indicates otherwise. It should also be understood that the terms “comprising / including” or “having,” etc., specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. Meanwhile, in this specification, the term “and / or” includes any and all combinations of the associated listed items.

[0069] Firstly, referring to Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this application embodiment provides a force detection system 10 for a surgical robot 1, the surgical robot 1 including surgical instruments 20. The force detection system 10 includes a power box unit 11, the power box unit 11 including an assembly 111, a drive component 112 and a first sensing element 113.

[0070] The assembly 111 includes a mounting plate 1111. The mounting plate 1111 has a mounting portion 11111 and a first stiffness-reducing region 1111a. A drive member 112 is mounted on the mounting portion 11111. The output shaft of the drive member 112 is connected to a surgical instrument 20 to drive the surgical instrument 20 to move. A first sensing element 113 is disposed in the first stiffness-reducing region 1111a. The first sensing element 113 is used to sense the deformation of the mounting plate 1111.

[0071] It should be noted here that the "stiffness reduction zone" refers to the area on the mounting plate 1111 with lower stiffness. The drive component 112 provides driving force to the surgical instrument 20, enabling the surgical instrument 20 to perform actions such as shearing, clamping, and flaw detection. The drive component 112 can be a motor. The first sensing element 113 can be a foil strain gauge, a semiconductor resistance strain gauge, a fiber optic grating, a piezoelectric sensor, or a semiconductor pressure sensor, etc.

[0072] This embodiment of the application provides a mounting plate 1111 on the assembly 111, and a first stiffness reduction region 1111a and a mounting portion 11111 for mounting the drive member 112 are provided on the mounting plate 1111. The first sensing element 113 is located in the first stiffness reduction region 1111a. Thus, when the drive member 112 drives the surgical instrument 20, the torque or force output by the drive member 112 is more likely to produce elastic deformation due to the lower stiffness of the first stiffness reduction region 1111a. The first sensing element 113 can sense this elastic deformation, thereby helping the surgeon obtain the force exerted by the drive member 112 on the surgical instrument 20. This helps the surgeon improve surgical outcomes, reduce the possibility of tissue damage, and improve the problem of malfunction in the surgical robot 1.

[0073] It is understandable that the mounting part 11111 and the first stiffness reduction zone 1111a can be adjacent to each other or spaced apart.

[0074] In one embodiment, the assembly 111 includes a body 1113, and a mounting plate 1111 is connected to the body 1113. A first stiffness-reducing region 1111a is located between the mounting portion 11111 and the body 1113.

[0075] By setting the first stiffness reduction zone 1111a between the mounting part 11111 and the body 1113, the torque or force output by the drive member 112 can more easily cause deformation in the area where the first sensing element 113 is located (the first stiffness reduction zone 1111a), thereby facilitating the first sensing element 113 to sense the force applied by the drive member 112 to the surgical instrument 20 and improving the sensing sensitivity of the first sensing element 113.

[0076] Furthermore, the mounting portion 11111 can be located at the end of the mounting plate 1111 that is away from the body 1113. In this way, the torque or force output by the drive member 112 can more easily cause deformation in the area where the first sensing element 113 is located (the first stiffness reduction area 1111a), thereby further improving the sensing sensitivity of the first sensing element 113.

[0077] It is understood that other driving components can also be mounted on the mounting plate 1111. These other driving components are located between the first stiffness reduction zone 1111a and the body 1113. In this way, when the other driving components output force or torque, the interference of the other driving components on the first sensing element 113 can be reduced. At the same time, multiple mounting plates 1111 can be provided on the assembly 111. For example, the number of mounting plates 1111 can be two, and the two mounting plates 1111 can make the assembly 111 form a U-shaped structure. The embodiments of this application do not limit the number of mounting plates 1111 or the shape of the assembly 111.

[0078] In one embodiment, a first groove 11112 is provided within the first stiffness-reducing region 1111a. It is understood that, in one example, the first groove 11112 can be a through groove, meaning that the first groove 11112 extends through the mounting plate 1111 along its thickness direction. In another example, the first groove 11112 can also be a blind groove, meaning that the first groove 11112 does not extend through the mounting plate 1111 along its thickness direction. By providing the first groove 11112, the stiffness of the first stiffness-reducing region 1111a can be reduced.

[0079] In one example, the thickness of the mounting plate 1111 located in the first stiffness reduction zone 1111a can be thinner than the thickness of the mounting plate 1111 in other zones.

[0080] In one embodiment, reference Figure 3 and Figure 4 As shown, the assembly 111 is provided with a cantilever structure 1112, and the cantilever structure 1112 is provided with a first connecting portion 11121 and a second connecting portion 11123 arranged at intervals. The second connecting portion 11123 is connected to the body 1113. The force detection system 10 also includes a slide 114 and a second sensing element 115, wherein one end of the slide 114 is connected to the first connecting portion 11121, and the other end is used to connect to the robotic arm 30 of the surgical robot 1. The second sensing element 115 is disposed on the cantilever structure 1112 and is located between the first connecting portion 11121 and the second connecting portion 11123. The second sensing element 115 is used to sense the deformation of the cantilever structure 1112. For example, the second sensing element 115 may be a foil strain gauge, a semiconductor resistance strain gauge, a fiber optic grating, a piezoelectric sensor, or a semiconductor pressure sensor, etc.

[0081] It should be noted here that the "cantilever structure" can be a cantilever beam. The slide 114 can be mounted on the robotic arm 30 and can slide along the axis of the surgical instrument 20, thereby driving the surgical instrument 20 to move along its own axis. In this way, when the surgical instrument 20 is subjected to compressive force in the axial direction, the surgical instrument 20 transmits the compressive force to the assembly 111. Since the cantilever structure 1112 of the assembly 111 is connected to the slide 114, the cantilever structure 1112 will deform. The second sensing element 115 can sense the deformation of the cantilever structure 1112, thereby helping the doctor to obtain the compressive force of the surgical instrument 20 along its own axis, thus helping the doctor to improve the surgical effect, reduce the possibility of tissue damage, and improve the problem of poor execution of the surgical robot 1.

[0082] It should be emphasized that by placing the second sensing element 115 between the first connecting portion 11121 and the second connecting portion 11123, the axial compressive force on the surgical instrument 20 can more easily cause deformation in the area where the second sensing element 115 is located, thereby facilitating the second sensing element 115 to sense the axial compressive force and improving the sensing sensitivity of the second sensing element 115.

[0083] In one embodiment, the cantilever structure 1112 is provided with a second stiffness reduction region 1112a, which is located between the first connecting portion 11121 and the second connecting portion 11123, and the second sensing element 115 is located in the second stiffness reduction region 1112a.

[0084] By setting a second stiffness reduction region 1112a on the cantilever structure 1112 and setting the second sensing element 115 in the second stiffness reduction region 1112a, when the axial compressive force of the surgical instrument 20 is applied to the assembly 111, the second stiffness reduction region 1112a can produce a certain elastic deformation due to its small stiffness, which makes it easier for the second sensing element 115 to sense the deformation, thereby improving the sensing sensitivity of the second sensing element 115.

[0085] In one embodiment, the first connecting portion 11121 and the second connecting portion 11123 may be located at both ends of the cantilever structure 1112, so that the axial compressive force on the surgical instrument 20 can more easily cause deformation in the area where the second sensing element 115 is located (the second stiffness reduction area 1112a), thereby further improving the sensing sensitivity of the second sensing element 115.

[0086] Furthermore, referring to Figure 3 and Figure 4 As shown, the body 1113 can be located on one side of the cantilever structure 1112 along the first direction a, and the mounting plate 1111 is located on the side of the body 1113 opposite to the cantilever structure 1112. The first direction a is perpendicular to the axial direction of the surgical instrument 20. The second connecting portion 11123 of the cantilever structure 1112 is connected to the body 1113, while other parts of the cantilever structure 1112 have gaps between them and the body 1113.

[0087] In one embodiment, reference Figure 4 As shown, a parallel beam section 11122 is provided in the second stiffness reduction zone 1112a.

[0088] It should be noted that "parallel beam portion 11122" can be understood as a parallel beam structure. By providing the parallel beam portion 11122 within the second stiffness reduction zone 1112a, on the one hand, the stiffness of the second stiffness reduction zone 1112a can be weakened, allowing the second stiffness reduction zone 1112a to undergo more significant deformation when subjected to axial compressive force, thereby improving the sensing sensitivity of the second sensing element 115; on the other hand, it can ensure that, apart from the axial compressive force causing the second stiffness reduction zone 1112a to undergo a preset deformation (i.e., the deformation that the second sensing element 115 can sense), other external forces will not cause the second stiffness reduction zone 1112a to undergo a preset deformation.

[0089] For example, the structure of the parallel beam section 11122 can be a square frame parallel beam structure, a single-hole parallel beam structure, a five-hole parallel beam structure, etc.

[0090] In a preferred embodiment, the parallel beam portion 11122 can be a double-hole parallel beam structure. This allows for higher sensitivity in the second stiffness reduction zone 1112a and better overall stiffness.

[0091] Furthermore, in the double-hole parallel beam structure, the extension direction of the holes is perpendicular to the axial direction of the surgical instrument 20. Second sensing elements 115 are respectively provided on the surface of the double-hole parallel beam structure along the axial direction of the surgical instrument 20, with each second sensing element 115 corresponding to a hole in the double-hole parallel beam structure. In one example, four second sensing elements 115 can be provided on the cantilever structure 1112, with two second sensing elements 115 respectively provided on both sides of the cantilever structure 1112 along the axial direction of the surgical instrument 20. The four second sensing elements 115 can be connected using a full-bridge method. Based on the characteristics of the double-hole parallel beam structure, since the double-hole parallel beam structure uses a full-bridge method, the strain components caused by non-axial forces cancel each other out and compensate for each other in the measurement circuit, thereby making the force detection system 10 more accurate in detecting the axial force on the surgical instrument 20.

[0092] In one embodiment, the power box unit 11 of the force detection system 10 further includes a data acquisition element 116, to which both the first sensing element 113 and the second sensing element 115 are electrically connected. The data acquisition element 116 can receive and process the force information sensed by the first sensing element 113 and the second sensing element 115. It is understood that the data acquisition element 116 can also supply power to the first sensing element 113 and the second sensing element 115.

[0093] In one embodiment, both the first sensing element 113 and the second sensing element 115 are electrically connected to the acquisition element 116 via a conductive element 117. Furthermore, at least a portion of the conductive element 117 is attached to the surface of the assembly 111. By attaching at least a portion of the conductive element 117 to the surface of the assembly 111, the wiring of the force detection system 10 can be made more organized, avoiding excessive wiring that would result in a cluttered wiring layout.

[0094] For example, the conductive element 117 can be a flexible circuit board. Specifically, the first sensing element 113 and the second sensing element 115 can be connected to the solder joints on the flexible circuit board through enameled wires to form a bridge. The body 1113 can be provided with a lead hole 11131. The conductive element 117 passes through the lead hole 11131 and is connected to the acquisition element 116.

[0095] Furthermore, the conductive element 117 may be surrounded by an electromagnetic shielding layer (not shown) to prevent other electrical signals from interfering with the conductive element 117, thereby improving the sensing sensitivity of the first sensing element 113 and the second sensing element 115.

[0096] It should be noted that, referring to Figure 2 As shown, the power box unit 11 of the force detection system 10 may also include a shielding plate 118 and a connecting column 119, wherein the connecting column 119 is connected to the slide table 114 and the assembly 111, the shielding plate 118 is connected to the end of the connecting column 119 away from the assembly 111, and the driving component 112 is located between the shielding plate 118 and the assembly 111.

[0097] In one embodiment, reference Figures 7-14 As shown, the force detection system 10 also includes a sleeve unit 12, which includes a sleeve 121 and a third sensing element 122. At least a portion of the sleeve 121 is a reducing section 1211. The inner diameter of the reducing section 1211 gradually increases from one end to the other, with the smaller diameter end of the reducing section 1211 forming the distal end 121a of the sleeve 121. The distal end 121a has the smallest inner diameter among all the segments of the sleeve 121. This can also be understood as the smaller diameter end of the reducing section 1211 having the smallest inner diameter among all the segments of the sleeve 121. The sleeve 121 is configured such that it is fitted onto the surgical instrument 20, and the contact point between the surgical instrument 20 and the sleeve 121 is located at the distal end 121a of the sleeve 121. It is understandable that the sleeve 121 may also include a section 1212 of the same diameter, which can be connected to the larger diameter end of the section 1211 of different diameter.

[0098] Furthermore, a third sensing element 122 is disposed on the outside of the sleeve 121. The third sensing element 122 is used to sense the deformation of the sleeve 121. For example, the third sensing element 122 may be a foil strain gauge, a semiconductor resistance strain gauge, a fiber optic grating, a piezoelectric sensor, or a semiconductor pressure sensor, etc.

[0099] The force detection system 10 described above, by setting a different diameter section 1211 and a third sensing element 122 on the cannula 121, and making the smaller diameter end of the different diameter section 1211 the distal end 121a of the cannula 121, and making the inner diameter of the distal end 121a of the cannula 121 the smallest, ensures that when the surgical instrument 20 is subjected to force during surgery, the instrument rod of the surgical instrument 20 only contacts the distal end 121a of the cannula 121. At this time, the third sensing element 122 can sense the force on the cannula 121, thereby facilitating the surgeon to obtain the interaction force between the surgical instrument 20 and human tissue, thereby helping the surgeon to improve the surgical effect, reduce the possibility of tissue damage to the patient, and improve the problem of poor execution of the surgical robot 1.

[0100] It should be noted that the third sensing element 122 in this embodiment is used to sense the radial force on the surgical instrument 20, that is, the force perpendicular to the axis of the surgical instrument 20.

[0101] Understandably, the cross-sectional shape of the reducing section 1211 can be a stepped sleeve 121, that is, the inner diameter of the sleeve 121 changes in a stepped manner, decreasing segment by segment. In a preferred example, the cross-sectional shape of the reducing section 1211 is conical, which simplifies the structure of the reducing section 1211 and makes it easier to manufacture.

[0102] In one embodiment, a third stiffness-reducing region 1213 is provided on the outer wall of the sleeve 121, and a third sensing element 122 is disposed in the third stiffness-reducing region 1213. Thus, by providing the third stiffness-reducing region 1213 on the sleeve 121 and disposing of the third sensing element 122 within it, when the surgical instrument 20 and the sleeve 121 come into force contact, due to the lower stiffness of the third stiffness-reducing region 1213, the sleeve 121 can undergo a certain elastic deformation within the third stiffness-reducing region 1213. This facilitates the third sensing element 122 in sensing the force acting on the sleeve 121, thereby improving the sensing sensitivity of the third sensing element 122.

[0103] In one example, the wall thickness of the sleeve 121 located in the third stiffness reduction zone 1213 is less than the wall thickness of the sleeve 121 located outside the third stiffness reduction zone 1213.

[0104] In one embodiment, the cannula 121 has a stationary reference point, and the third stiffness reduction region 1213 is located on the side of the stationary reference point away from the proximal end 121b of the cannula 121. It should be noted that the stationary reference point can be the telecentric point of the surgical robot 1, which is typically located at an opening in the human body (e.g., an abdominal wall opening). The telecentric point remains stationary while the robotic arm 30 of the surgical robot 1 moves the surgical instrument 20. The third sensing element 122 is positioned below the telecentric point to prevent interference from the force exerted by the abdominal wall on the cannula 121 on the third sensing element 122.

[0105] In one embodiment, a second groove 1214 is provided in the third stiffness reduction region 1213, and a third sensing element 122 is disposed in the second groove 1214. By providing the second groove 1214, the stiffness of the region where the second groove 1214 is located can be reduced; on the other hand, it is convenient to assemble the third sensing element 122.

[0106] In one embodiment, the sleeve unit 12 of the force detection system 10 further includes a mounting base 123 and a circuit board 124. The mounting base 123 is disposed at the proximal end 121b of the sleeve 121 and located on the outer side wall of the sleeve 121. The circuit board 124 is electrically connected to the third sensing element 122. By providing the mounting base 123, it is easy to mount the sleeve 121 onto the robotic arm 30 of the surgical robot 1. In one example, the mounting base 123 may be soldered to the outer side wall of the sleeve 121. By providing the circuit board 124, the third sensing element 122 can transmit the sensed force signal to the circuit board 124.

[0107] In one embodiment, the circuit board 124 includes a first portion 1241 and a second portion 1242 that are electrically connected to each other. A first receiving groove 1215 is provided on the outer wall of the sleeve 121, and a second receiving groove 1231 is provided on the mounting base 123. The first portion 1241 is disposed in the first receiving groove 1215, and the second portion 1242 is disposed in the second receiving groove 1231. This effectively integrates the first portion 1241 of the circuit board 124 with the sleeve 121, and the second portion 1242 of the circuit board 124 with the mounting base 123, thereby reducing the routing difficulty of the third sensing element 122 and the structural dimensions of the sleeve 121.

[0108] In one embodiment, the sleeve unit 12 of the force detection system 10 further includes an encapsulation layer 125, which covers the outer side of the third sensing element 122 and at least part of the outer side of the circuit board 124. By providing the encapsulation layer 125, it can be ensured that the third sensing element 122 and the circuit board 124 will not be damaged during the cleaning, disinfection and sterilization of the sleeve 121; on the other hand, it can ensure airtightness during the operation.

[0109] In one example, the encapsulation layer 125 may be made of a biocompatible material.

[0110] In one example, the mounting base 123 may have a third groove 1234, and a portion of the second part 1242 may also be located in the third groove 1234. The encapsulation layer 125 may be located in the first receiving groove 1215, the second groove 1214, and the third groove 1234. Furthermore, the outer surface of the encapsulation layer 125 may be flush with the outer surface of the sleeve 121 and the outer surface of the mounting base 123. This allows the outer surfaces of the sleeve 121 and the mounting base 123 to be flat, while facilitating the insertion of the sleeve 121 into the patient's body.

[0111] In one embodiment, the sleeve unit 12 of the force detection system 10 further includes a sterile connector 126. The sterile connector 126 includes a first assembly portion 1261 and an electrical connection portion 1262 connected to each other. The first assembly portion 1261 is detachably connected to the assembly base 123, and the electrical connection portion 1262 is electrically connected to a second portion 1242 of the circuit board 124. By providing the sterile connector 126, sterile isolation between the sleeve 121 and the robotic arm 30 can be achieved. It is understood that one end of the sterile connector 126 is connected to the assembly base 123, and the other end is connected to the robotic arm 30.

[0112] Furthermore, the above configuration effectively gives the aseptic connector 126 two functions: mechanical connection and aseptic isolation, and electrical connection. This results in a high degree of integration for the aseptic connector 126, which helps to reduce the structural size of the sleeve 121.

[0113] In one embodiment, a metal contact 1242 is provided on the second portion 1242 of the circuit board 124. A first through hole 12621 is provided on the electrical connection portion 12621, and a conductive pin 12622 is provided in the first through hole 12621. The conductive pin 12622 is electrically connected to the metal contact 12421. The above arrangement makes the electrical connection structure between the sterile connector 126 and the circuit board 124 relatively simple and easy to assemble. Specifically, when assembling the sterile connector 126, it is only necessary to make the conductive pin 12622 contact the metal contact 12421 to achieve the electrical connection between the sterile connector 126 and the circuit board 124.

[0114] In one example, the conductive needle 12622 can be a retractable conductive needle or an elastic conductive needle. In this way, when the conductive needle 12622 comes into contact with the metal contact 12421, the conductive needle 12622 can be compressed (or deformed), ensuring the stability of the contact.

[0115] In one embodiment, an encapsulation plate 1232 is provided at the opening of the second receiving groove 1231, and the encapsulation plate 1232 has a second through hole 12321 opposite to the metal contact 12421. An electrical connection portion 1262 is provided on the side of the first assembly portion 1261 opposite to the assembly base 123, and the first assembly portion 1261 has a third through hole 12613. A conductive pin 12622 also passes through the second through hole 12321 and the third through hole 12613.

[0116] Thus, when assembling the aseptic connector 126, the conductive pin 12622 is inserted into the second through hole 12321, thereby achieving an electrical connection between the aseptic connector 126 and the circuit board 124. It can be understood that when connecting the aseptic connector 126 to the robotic arm 30, the end of the conductive pin 12622 furthest from the circuit board 124 can contact the conductive contacts on the robotic arm 30, achieving an electrical connection between the aseptic connector 126 and the robotic arm 30.

[0117] In one embodiment, the first assembly part 1261 includes a plate 12611 and a buckle 12612 disposed on the plate 12611, and the assembly base 123 is provided with a groove 1233 that mates with the buckle 12612. A third through hole 12613 is provided on the plate 12611. In this way, the structure of the first assembly part 1261 can be simplified, and the structural complexity of the aseptic connector 126 can be reduced.

[0118] Furthermore, the sterile connector 126 also includes a second assembly part 1263, which is disposed on the plate 12611 and surrounds the outer periphery of the plate 12611. The second assembly part 1263 is used to connect with the robotic arm 30 of the surgical robot 1.

[0119] It should be noted that, referring to Figure 15 As shown in the figure, point O represents the hinge point of surgical instrument 20. The interaction force on surgical instrument 20 is F, the contact force between cannula 121 and surgical instrument 20 is Fs, the weight of surgical instrument 20 is Fg, the length of surgical instrument 20 is L, the distance between the force contact point of the third sensing element 122 and cannula 121 is Lt, the distance from the force contact point of cannula 121 to the hinge point is Ls, and the distance from the center of gravity of surgical instrument 20 to the hinge point is Lg. By establishing the torque balance equation for point O, the following equation can be obtained:

[0120] F·L+F s ·L s +F g ·L g =0

[0121] Using the above equation, the interaction force F between the surgical instrument 20 and the patient's tissue can be obtained by detecting the contact force Fs between the cannula 121 and the surgical instrument 20. It is understood that the above-mentioned force detection method must ensure that the cannula 121 and the surgical instrument 20 only contact at the distal end 121a of the cannula 121, which is why the embodiment of this application provides a different diameter section 1211 on the cannula 121.

[0122] In one embodiment, reference Figure 5 and Figure 6 As shown, the sleeve unit 12 of the force detection system 10 further includes a sealing assembly 127 and a fourth sensing element 128. The sealing assembly 127 is disposed at the proximal end 121b of the sleeve 121 and is coaxially arranged with the sleeve 121. The sealing assembly 127 is spaced apart from the mounting base 123. The fourth sensing element 128 is disposed on the sealing assembly 127 and is electrically connected to the circuit board 124. The fourth sensing element 128 is used to sense the deformation of the sealing assembly 127. For example, the fourth sensing element 128 may be a foil strain gauge, a semiconductor resistance strain gauge, a fiber optic grating, a piezoelectric sensor, or a semiconductor pressure sensor, etc.

[0123] Understandably, during the assembly of the surgical instrument 20, the surgical instrument 20 extends into the cannula 121 through the sealing assembly 127. By setting the sealing assembly 127, the assembly and sealing of the surgical instrument 20 and the cannula 121 can be improved, which facilitates the maintenance of pressure during the operation.

[0124] It should be noted that when the surgical instrument 20 is in motion, the surgical instrument 20 will generate friction with the sealing component 127. By setting a fourth sensing element 128 on the sealing component 127, the doctor can obtain the friction force between the sealing component 127 and the surgical instrument 20.

[0125] Specifically, refer to Figure 5 As shown, the sealing assembly 127 may include an adapter 1272 and a sealing valve 1271. The adapter 1272 is disposed on the sleeve 121 and is used to assemble the sealing valve 1271. The sealing valve 1271 and the adapter 1272 can be connected by a snap-fit ​​connection. After the surgical instrument 20 is installed, the surgical instrument 20 passes through both the adapter 1272 and the sealing valve 1271. It can be understood that the adapter 1272 can be integrally disposed with the sleeve 121, that is, the adapter 1272 and the sleeve 121 are a single structural component.

[0126] In one example, the fourth sensing element 128 can be disposed on the sealing valve 1271. Thus, when the instrument rod of the surgical instrument 20 moves, friction is generated between the instrument rod and the sealing valve 1271, causing the sealing valve 1271 to deform. The fourth sensing element 128 obtains the frictional force between the instrument rod and the sealing valve 1271 by sensing the deformation of the sealing valve 1271.

[0127] In another example, refer to Figure 5 and Figure 6 As shown, the fourth sensing element 128 can be disposed on the adapter 1272. When the instrument rod of the surgical instrument 20 moves, friction is generated between the instrument rod and the sealing valve 1271. Since the sealing valve 1271 is connected to the adapter 1272, this friction can cause the adapter 1272 to undergo a certain deformation. Thus, the friction between the instrument rod and the sealing valve 1271 can be obtained by sensing the deformation of the adapter 1272 through the fourth sensing element 128.

[0128] In some embodiments, the cross-section of the adapter 1272 along its own axis can be circular, and there are multiple fourth sensing elements 128. The multiple fourth sensing elements 128 are arranged symmetrically around the axis of the adapter 1272 and attached to the surface of the adapter 1272 near the mounting base 123 to form a Wheatstone bridge. This measurement method can improve the sensing sensitivity of the fourth sensing elements 128.

[0129] Furthermore, a plurality of fourth sensing elements 128 are arranged in two layers around the axis of the adapter 1272, and the fourth sensing elements 128 in each layer are symmetrically arranged with respect to the axis of the adapter 1272. The arrangement of the plurality of fourth sensing elements 128 in two layers facilitates the simultaneous acquisition of the force values ​​on the inner and outer sides of the adapter 1272, and enables the comparison of the two force values, thereby improving the sensing sensitivity of the fourth sensing elements 128.

[0130] Furthermore, referring to Figure 6 As shown, the sealing assembly 127 may further include an encapsulation 1273, which is used to encapsulate the fourth sensing element 128, thereby preventing the fourth sensing element 128 from being exposed and providing protection for the fourth sensing element 128.

[0131] Secondly, referring to Figure 16 , Figure 17 and Figure 18 and combined Figures 1-15 As shown, this application provides a surgical robot 1, including the force detection system 10 described in the first aspect.

[0132] Specifically, the surgical robot 1 also includes a surgical instrument 20 and a robotic arm 30. The power box unit 11 and the cannula unit 12 of the force detection system 10 are both connected to the robotic arm 30. The proximal end of the surgical instrument 20 is connected to the power box unit 11, and part of the structure of the surgical instrument 20 is inserted into the cannula 121 of the cannula unit 12.

[0133] The surgical robot 1 described above, by setting a mounting plate 1111 on the assembly 111, and setting a first stiffness reduction zone 1111a and a mounting part 11111 for mounting the drive component 112 on the mounting plate 1111, and positioning the first sensing element 113 in the first stiffness reduction zone 1111a, allows the drive component 112 to generate a certain amount of elastic deformation when it drives the surgical instrument 20, due to the lower stiffness of the first stiffness reduction zone 1111a. The first sensing element 113 can sense this elastic deformation, thereby helping the surgeon to obtain the force exerted by the drive component 112 on the surgical instrument 20, thus helping the surgeon to improve surgical results, reduce the possibility of tissue damage, and improve the problem of malfunction in the surgical robot 1.

[0134] It is understood that the surgical robot 1 may also include a controller (not shown). The controller is set with a preset safety force value. When the surgical robot 1 detects through the force detection system 10 that the force or force on the surgical instrument 20 is greater than the preset safety force value, the controller can control the surgical instrument 20 to perform the opposite movement so that the force or force on the surgical instrument 20 is less than the preset safety force value, thereby avoiding accidental damage to the patient's internal tissues.

[0135] In the description of this specification, the references to terms such as "some embodiments," "other embodiments," "ideal embodiments," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example that are included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiments or examples.

[0136] 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 of 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.

[0137] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A force detection system for a surgical robot (1), the surgical robot (1) comprising surgical instruments (20), characterized in that, The force detection system (10) includes: The assembly (111) is provided with a mounting plate (1111); the mounting plate (1111) is provided with a mounting part (11111) and a first stiffness reduction zone (1111a). A drive unit (112) is assembled on the mounting part (11111); the output shaft of the drive unit (112) is used to connect with the surgical instrument (20) to drive the surgical instrument (20) to move; A first sensing element (113) is disposed in the first stiffness reduction region (1111a); the first sensing element (113) is used to sense the deformation of the mounting plate (1111); The assembly (111) includes a body (1113), and the mounting plate (1111) is connected to the body (1113); the assembly (111) also includes a cantilever structure (1112), on which a first connecting part (11121) and a second connecting part (11123) are arranged at intervals, and the second connecting part (11123) is connected to the body (1113); The force detection system (10) further includes: A slide (114), one end of which is connected to the first connecting part (11121), and the other end is used to connect to the robotic arm (30) of the surgical robot (1); The second sensing element (115) is disposed on the cantilever structure (1112) and located between the first connecting part (11121) and the second connecting part (11123); the second sensing element (115) is used to sense the deformation of the cantilever structure (1112).

2. The force detection system according to claim 1, characterized in that, The first stiffness reduction zone (1111a) is located between the mounting part (11111) and the body (1113).

3. The force detection system according to claim 2, characterized in that, The first stiffness reduction zone (1111a) is provided with a first groove (11112).

4. The force detection system according to claim 2, characterized in that, The cantilever structure (1112) is provided with a second stiffness reduction zone (1112a), which is located between the first connecting part (11121) and the second connecting part (11123), and the second sensing element (115) is located in the second stiffness reduction zone (1112a).

5. The force detection system according to claim 4, characterized in that, The second stiffness reduction zone (1112a) is provided with a parallel beam section (11122).

6. The force detection system according to claim 2, characterized in that, The force detection system (10) further includes a data acquisition element (116), wherein the first sensing element (113) and the second sensing element (115) are both electrically connected to the data acquisition element (116).

7. The force detection system according to claim 6, characterized in that, Both the first sensing element (113) and the second sensing element (115) are electrically connected to the acquisition element (116) through a conductive element (117).

8. The force detection system according to any one of claims 1-7, characterized in that, The force detection system (10) further includes: A cannula (121), at least a portion of which is a reducing section (1211); the inner diameter of the reducing section (1211) gradually increases from one end to the other end, and the smaller diameter end of the reducing section (1211) forms the distal end (121a) of the cannula (121); wherein, among all the sections of the cannula (121), the inner diameter of the distal end (121a) of the cannula (121) is the smallest; the cannula (121) is configured such that: the cannula (121) is fitted onto the surgical instrument (20), and the contact point when the surgical instrument (20) contacts the cannula (121) is located at the distal end (121a) of the cannula (121); A third sensing element (122) is disposed on the outside of the sleeve (121); the third sensing element (122) is used to sense the deformation of the sleeve (121).

9. The force detection system according to claim 8, characterized in that, The outer wall of the sleeve (121) is provided with a third stiffness reduction zone (1213), and the third sensing element (122) is disposed in the third stiffness reduction zone (1213).

10. The force detection system according to claim 9, characterized in that, The sleeve (121) has a fixed reference point, and the third stiffness reduction zone (1213) is located on the side of the fixed reference point away from the proximal end (121b) of the sleeve (121).

11. The force detection system according to claim 10, characterized in that, The third stiffness reduction zone (1213) is provided with a second groove (1214), and the third sensing element (122) is disposed in the second groove (1214).

12. The force detection system according to claim 8, characterized in that, The force detection system (10) further includes: The mounting base (123) is disposed at the proximal end (121b) of the sleeve (121) and is located on the outer side wall of the sleeve (121); The circuit board (124) is electrically connected to the third sensing element (122).

13. The force detection system according to claim 12, characterized in that, The circuit board (124) includes a first part (1241) and a second part (1242) that are electrically connected to each other. The outer wall of the sleeve (121) is provided with a first receiving groove (1215), and the mounting base (123) is provided with a second receiving groove (1231). The first part (1241) is disposed in the first receiving groove (1215), and the second part (1242) is disposed in the second receiving groove (1231).

14. The force detection system according to claim 13, characterized in that, The force detection system (10) further includes an encapsulation layer (125) that covers the outside of the third sensing element (122) and at least part of the outside of the circuit board (124).

15. The force detection system according to claim 13, characterized in that, The force detection system (10) further includes a sterile connector (126), which includes a first assembly part (1261) and an electrical connection part (1262) connected to each other. The first assembly part (1261) is detachably connected to the assembly base (123), and the electrical connection part (1262) is electrically connected to the second part (1242) of the circuit board (124).

16. The force detection system according to claim 15, characterized in that, The second part (1242) of the circuit board (124) is provided with metal contacts (12421). The electrical connection part (1262) is provided with a first through hole (12621), and a conductive pin (12622) is provided in the first through hole (12621); the conductive pin (12622) is electrically connected to the metal contact (12421).

17. The force detection system according to claim 16, characterized in that, The second receiving groove (1231) is provided with a packaging plate (1232) at the groove opening, and the packaging plate (1232) is provided with a second through hole (12321) opposite to the metal contact (12421). The electrical connection part (1262) is located on the side of the first assembly part (1261) away from the assembly base (123), and the first assembly part (1261) is provided with a third through hole (12613); the conductive needle (12622) is also inserted in the second through hole (12321) and the third through hole (12613).

18. The force detection system according to claim 12, characterized in that, The force detection system (10) further includes: A sealing assembly (127) is disposed at the proximal end (121b) of the sleeve (121) and is coaxially arranged with the sleeve (121); wherein the sealing assembly (127) and the mounting base (123) are spaced apart from each other; A fourth sensing element (128) is disposed on the sealing assembly (127) and electrically connected to the circuit board (124); the fourth sensing element (128) is used to sense the deformation of the sealing assembly (127).

19. A surgical robot, characterized in that, Includes the force detection system (10) as described in any one of claims 1-18.

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