A wire-driven surgical instrument with force feedback function

Abstract

The present invention relates to a wire-driven surgical instrument with a force feedback function, comprising a base, a hollow rod, an instrument end and an instrument box cover. The instrument end is installed at the front end of the hollow rod and rotates along the rod axis with the hollow rod. The tail end of the hollow rod is fixed to the base of the instrument box, and the instrument box cover is installed on the other side of the base. Four clutch disks that can rotate independently are installed on the base. The clutch disks are used to dock with the motor in the power box and control the movement of the instrument end under the drive of the motor. Two strain gauges are respectively installed on the inner side of the front and rear ends of the hollow rod. The strain gauges are used to detect their micro-strain information in real time and transmit it to the doctor's console, so that the doctor can perceive the force information fed back by the main hand when performing the operation. Compared with the existing technology, the wire-driven surgical instrument of the present invention improves the reliability and service life of the instrument, reduces the processing and manufacturing costs, and at the same time improves the safety and convenience of surgical robot operation by adding a force feedback function.

Description

[Technical field]

[0001] The present invention relates to the field of wire-driven surgical instruments, and in particular to a wire-driven surgical instrument that can be used in a minimally invasive surgical robot and provides a real-time force feedback function during surgery. [Background Technology]

[0002] Since the beginning of the 21st century, with the development and advancement of science and technology, minimally invasive surgical robots have been increasingly accepted by hospitals and physicians worldwide. They are being used in various clinical surgical procedures to improve the precision and defibrillation deficiencies of traditional minimally invasive surgery. Minimally invasive surgical robots generally have higher degrees of freedom than traditional minimally invasive surgical instruments and can reach more confined areas. However, at present, minimally invasive surgical robots still have many shortcomings, such as: the surgical instruments are complex in structure, have short reliability and lifespan, require frequent replacement, and generally lack force sensing, making it impossible for doctors to feel the pulling force at the end of the instrument when operating it at the control end.

[0003] Referring to the invention patent application with publication number CN113208736A, the proposed instrument drive device and surgical instrument have a high degree of freedom, enabling more complex surgical operations. However, they still suffer from complex structural design and low assembly reliability. Furthermore, the high machining accuracy requirements for precision parts have led to increased instrument costs. Furthermore, the surgical instrument proposed in this invention patent application still lacks end-point force sensing and cannot provide accurate force feedback information to the operating surgeon. [Summary of the invention]

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a wire-driven surgical instrument with force feedback function, which improves the reliability and service life of the instrument, reduces processing and manufacturing costs, and at the same time improves the safety and convenience of surgical robot operation by adding force feedback function.

[0005] In order to achieve the above-mentioned purpose, a wire-driven surgical instrument with force feedback function is designed, including a base 1, a hollow rod 2, an instrument end 3 and an instrument box cover 4. The instrument end 3 is installed at the front end of the hollow rod 2 and rotates along the rod axis with the hollow rod 2. The tail end of the hollow rod 2 is fixed on the base 1 of the instrument box, and the instrument box cover 4 is installed on the other side of the base 1. Four clutch disks 7 that can rotate independently are installed on the base 1. The clutch disk 7 is used to dock with the motor in the power box and control the movement of the instrument end 3 under the drive of the motor. Two strain gauges 21 are respectively installed on the inner side of the front and rear ends of the hollow rod 2. The strain gauges 21 are used to detect its microstrain information in real time and transmit it to the doctor's console, so that the doctor can perceive the force information fed back by the main hand when performing the operation.

[0006] Furthermore, a driven pulley 8, a driving pulley 9, a driving pulley 11 and a steering pulley 15 are installed in the instrument box. The tail end of the hollow rod 2 passes through the base 1 and is fixedly connected to the driven pulley 8. The driven pulley 8 is connected to the driving pulley 9 through a wire rope 10. The driving pulley 9 is fixed on the shaft on the back of one of the clutch disks 7. The hollow rod 2 rotates with the rotation of the clutch disk 7 through the driven pulley 8 and the driving pulley 9; the driving pulleys 11 are fixed in groups of two on the shafts on the back of the other three clutch disks 7. A wire rope 2 16 is fixedly connected to the driving pulley 11. The other end of the wire rope 2 16 passes through the hollow part of the hollow rod 2 after changing direction through the steering pulley 15, and is fixedly connected to the end 3 of the instrument.

[0007] Furthermore, the steering wheels 15 are fixed in pairs on the wheel bracket 1 12 , the wheel bracket 2 13 , and the wheel bracket 3 14 , and are spatially staggered in sequence to avoid motion interference between the wire ropes 16 .

[0008] Furthermore, a bearing bracket 17 is fixed to the base 1 by a screw 18, and a bearing 19 is fixed to the bearing bracket 17. The bearing 19 is fixed to the shaft on the back of the clutch disc 7. The clutch disc 7 rotates stably through the bearing bracket 17 and the bearing 19, and the shaft on the back does not deform due to the excessive cantilever distance.

[0009] Furthermore, a spring sheet 20 is installed on the inner side of the instrument box cover 4. The spring sheet 20 has a U-shaped structure. Instrument release buttons 5 are respectively installed on both sides of the spring sheet 20. The instrument release buttons 5 are used to remove the instrument box from the robotic arm of the surgical robot.

[0010] Furthermore, the base 1 is provided with a guide pin hole 6 for installing an instrument, and the guide pin hole 6 for installing an instrument is used for guiding when installing the instrument.

[0011] Furthermore, the strain gauge 21 is connected to the main control board 1 of the patient surgical platform through the robotic arm control board. The strain gauge 21 detects its microstrain information in real time and transmits it to the main control board 1 through the robotic arm control board. The main control board 1 is electrically connected to the main control board 2 of the doctor's console. The main control board 2 is electrically connected to the main hand motor driver. The main hand motor driver is connected to the main hand motor and sends motion control commands to the corresponding main hand motor. The main hand motor is connected to the doctor's operating hand, so that the doctor's operating hand can perceive the force information fed back by the main hand motor.

[0012] Compared with the existing technology, the present invention provides a wire-driven surgical instrument with a force feedback function. The wire-driven surgical instrument greatly simplifies the structural design and assembly process, improves the reliability and service life of the instrument, and reduces the processing and manufacturing costs. By adding a force feedback function, the doctor can perceive the force acting on the instrument during the operation in real time as in traditional laparoscopic surgery, thereby improving the safety and convenience of surgical robot operation, and is worthy of promotion and application. [Brief Description of the Drawings]

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0014] Figure 2 The internal structure of the device drive box of the present invention Figure 1 ;

[0015] Figure 3 The internal structure of the device drive box of the present invention Figure 2 ;

[0016] Figure 4 It is a schematic diagram of the assembly of the instrument box cover and related components of the present invention;

[0017] Figure 5 This is a schematic diagram of the structure of the force feedback element of the present invention. Figure 1 ;

[0018] Figure 6 This is a schematic diagram of the structure of the force feedback element of the present invention. Figure 2 ;

[0019] Figure 7 Schematic diagram of the principle of the force feedback path of the present invention;

[0020] In the figure: 1, base 2, hollow rod 3, instrument end 4, instrument box cover 5, instrument release button 6, guide pin hole for instrument installation 7, clutch plate 8, driven reel 9, driving reel 10, wire rope 11, driving reel 12, reel bracket 1 13, reel bracket 2 14, reel bracket 3 15, steering reel 16, wire rope 2 17, bearing bracket 18, screw 19, bearing 20, spring sheet 21, strain gauge. [Specific implementation method]

[0021] The present invention provides a wire-driven surgical instrument with a force feedback function, comprising a base 1, a hollow rod 2, an instrument end 3 and an instrument box cover 4. The instrument end 3 is installed at the front end of the hollow rod 2 and rotates along the rod axis with the hollow rod 2. The tail end of the hollow rod 2 is fixed on the base 1 of the instrument box, and the instrument box cover 4 is installed on the other side of the base 1. Four clutch disks 7 that can rotate independently are installed on the base 1. The clutch disks 7 are used to dock with the motor in the power box and control the movement of the instrument end 3 under the drive of the motor. Two strain gauges 21 are respectively installed on the inner side of the front and rear ends of the hollow rod 2. The strain gauges 21 are used to detect their microstrain information in real time and transmit it to the doctor's console, so that the doctor can perceive the force information fed back by the main hand when performing the operation; a guide pin hole 6 for instrument installation is provided on the base 1, and the guide pin hole 6 for instrument installation is used for guiding when the instrument is installed.

[0022] Among them, the instrument box is equipped with a driven pulley 8, a driving pulley 9, a driving pulley 11 and a steering pulley 15. The tail end of the hollow rod 2 passes through the base 1 and is fixedly connected to the driven pulley 8. The driven pulley 8 is connected to the driving pulley 9 through a wire rope 10. The driving pulley 9 is fixed on the shaft on the back of one of the clutch discs 7. The hollow rod 2 rotates with the rotation of the clutch disc 7 through the driven pulley 8 and the driving pulley 9; the driving pulleys 11 are fixed in groups of two on the shafts on the back of the other three clutch discs 7, and a wire rope 2 16 is fixed to the driving pulley 11. The other end of the wire rope 2 16 is converted in direction by the steering pulley 15 and passes through the hollow part of the hollow rod 2, and is fixedly connected to the end 3 of the instrument; the steering pulleys 15 are fixed in groups of two on the pulley bracket 12, the pulley bracket 2 13, and the pulley bracket 3 14, and are spatially staggered in sequence to avoid motion interference of each wire rope 2 16.

[0023] In the present invention, a bearing bracket 17 is fixed to the base 1 via screws 18. A bearing 19 is fixed to the bearing bracket 17. The bearing 19 is secured to the shaft on the back of the clutch disc 7. The clutch disc 7 rotates stably via the bearing bracket 17 and the bearing 19, and the shaft on the back is prevented from deforming due to the excessive cantilever distance. A spring plate 20 is mounted on the inside of the instrument box cover 4. The spring plate 20 has a U-shaped structure and is flanked by instrument release buttons 5, which are used to remove the instrument box from the robotic arm of the surgical robot. A strain gauge 21 is connected to the main control board 1 of the patient surgical platform via the robotic arm control board. The strain gauge 21 detects microstrain information in real time and transmits it to the main control board 1 via the robotic arm control board. The main control board 1 is electrically connected to the main control board 2 of the doctor's console, which is electrically connected to the master hand motor driver. The master hand motor driver is connected to the master hand motor and sends motion control commands to the corresponding master hand motor. The master hand motor is connected to the doctor's operating hand, allowing the doctor's operating hand to sense the force information fed back by the master hand motor.

[0024] The present invention will be further described below with reference to the accompanying drawings and specific embodiments:

[0025] The present invention proposes a wire-driven surgical instrument with force feedback function, as shown in the attached Figure 1 To the attached Figure 7 As shown, the instrument end 3 is installed at the front end of the hollow rod 2 and can rotate along the rod axis with the hollow rod 2; the tail end of the hollow rod 2 is fixed on the instrument box base 1, and the base 1 is equipped with four clutch disks 7 that can rotate independently, which are used to connect with the motor in the power box, thereby controlling the movement of the instrument end under the drive of the motor.

[0026] Specifically, the tail end of the hollow rod 2 passes through the base 1 and is secured to the driven reel 8. The driven reel 8 is connected to the driving reel 9 via a steel wire rope 10. The driving reel 9 is secured to the shaft on the back of the clutch disc 7, causing the hollow rod 2 to rotate as the clutch disc 7 rotates. Six driving reels 11 are secured in pairs to the shafts on the back of the remaining three clutch discs 7. One end of a steel wire rope 16 is secured to the driving reel 11, and the other end, after being redirected by a steering reel 15, passes through the hollow portion of the hollow rod 2 and is secured to the end 3 of the device. The six steering reels 15 are secured in pairs to reel bracket 12, reel bracket 2 13, and reel bracket 3 14, respectively. These six reel brackets are spatially staggered, which helps prevent motion interference between the wire ropes, simplifies the assembly process, and improves the reliability of the device's drive mechanism. Bearing bracket 17 is fixed to base 1 via screws 18. Bearing 19 is fixed to bearing bracket 17 and secured to the shaft on the back of clutch disc 7. This ensures stable rotation of clutch disc 7 and prevents deformation of the shaft on the back due to excessive cantilever distance. A spring leaf 20 is mounted on the inside of the instrument box cover, flanked by instrument release buttons 5, which are used to remove the instrument box from the surgical robot's arm.

[0027] At the same time, two strain gauges 21 are installed at the front and rear ends of the inner side of the hollow rod 2. During the surgical operation, the strain gauges 21 detect their microstrain information in real time and transmit it to the main control board of the patient surgical platform via the robotic arm control board. Based on the collected microstrain information, the main control board calculates the forces acting on the instrument end in the X, Y, and Z directions and transmits it to the main control board of the doctor's console. After receiving this information, the main control board of the doctor's console calculates the force information that the master hand needs to feedback to the doctor and transmits it to the master hand motor driver. The driver then sends motion control commands to the corresponding master hand motor, allowing the doctor's operating hand to sense the force information fed back by the master hand and adjust the surgical operation of the instrument end in a timely manner based on the force situation.

[0028] In summary, the wire-driven surgical instrument of the present invention greatly simplifies the structural design and assembly process, improves the reliability and service life of the instrument, reduces processing and manufacturing costs, and by adding a force feedback function, enables doctors to perceive the forces acting on the instrument during the operation in real time as in traditional laparoscopic surgery, thereby improving the safety and convenience of surgical robot-operated operations.

[0029] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A wire-driven surgical instrument with force feedback function, characterized in that: The invention comprises a base (1), a hollow rod (2), an instrument end (3) and an instrument box cover (4), wherein the instrument end (3) is mounted on the front end of the hollow rod (2) and rotates along the rod axis together with the hollow rod (2), the tail end of the hollow rod (2) is fixed on the base (1) of the instrument box, and the instrument box cover (4) is mounted on the other side of the base (1), and four clutch disks (7) that can rotate independently are mounted on the base (1), and the clutch disks (7) are used to connect with the motor in the power box and control the movement of the instrument end (3) under the drive of the motor. Two strain gauges (21) are respectively installed on the inner sides of the front and rear ends of the hollow rod (2). The strain gauges (21) are used to detect the micro-strain information thereof in real time and transmit it to the doctor's console, so that the doctor can feel the force information fed back by the master hand when performing the operation. The instrument box is equipped with a driven line wheel (8), a driving line wheel (9), a driving line wheel (11) and a steering line wheel (15). The tail end of the hollow rod (2) passes through the base (1) and is fixedly connected to the driven line wheel (8). The driven line wheel (8) is connected to the driving line wheel (9) through a steel wire rope (10). The driving line wheel (9) is fixed on the shaft on the back of one of the clutch discs (7), and the hollow rod (2) rotates with the rotation of the clutch disc (7) through the driven line wheel (8) and the driving line wheel (9); the driving line wheels (11) are fixed on the shafts on the back of the other three clutch discs (7) in groups of two, and the driving line wheels (11) are fixedly connected to the second steel wire rope (16). The other end of the second steel wire rope (16) passes through the hollow part of the hollow rod (2) after changing direction through the steering line wheel (15) and is fixedly connected to the end (3) of the instrument. The strain gauge (21) is connected to the main control board 1 of the patient's surgical platform through the robotic arm control board. The strain gauge (21) detects its micro-strain information in real time and transmits it to the main control board 1 through the robotic arm control board. The main control board 1 is electrically connected to the main control board 2 of the doctor's console. The main control board 2 is electrically connected to the main hand motor driver. The main hand motor driver is connected to the main hand motor and sends the motion control command to the corresponding main hand motor. The main hand motor is connected to the doctor's operating hand, so that the doctor's operating hand can perceive the force information fed back by the main hand motor.

2. The wire-driven surgical instrument with force feedback function according to claim 1, wherein: The steering wheels (15) are fixed in pairs on the wheel bracket 1 (12), the wheel bracket 2 (13), and the wheel bracket 3 (14), and are spatially staggered to avoid motion interference between the wire ropes 2 (16).

3. The wire-driven surgical instrument with force feedback function according to claim 1, wherein: A bearing bracket (17) is fixed to the base (1) by a screw (18), a bearing (19) is fixed to the bearing bracket (17), and the bearing (19) is fixed to the shaft on the back of the clutch disc (7). The clutch disc (7) rotates stably through the bearing bracket (17) and the bearing (19), and the shaft on the back does not deform due to an excessive cantilever distance.

4. The wire-driven surgical instrument with force feedback function according to claim 1, wherein: A spring sheet (20) is installed on the inner side of the instrument box cover (4), and the spring sheet (20) is in a U-shaped structure. Instrument release buttons (5) are respectively installed on both sides of the spring sheet (20), and the instrument release buttons (5) are used to remove the instrument box from the mechanical arm of the surgical robot.

5. The wire-driven surgical instrument with force feedback function according to claim 1, wherein: The base (1) is provided with a guide pin hole (6) for installing an instrument, and the guide pin hole (6) for installing an instrument is used for guiding when installing the instrument.

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