Surgical robot and force detection device therefor

Abstract

The present application relates to a surgical robot and a force detection device thereof, the surgical robot comprising the force detection device and a surgical instrument, the force detection device being used to drive the surgical instrument to act. The force detection device comprises a mounting plate, a power mechanism and a force sensor assembly. The power mechanism is fixedly connected with the mounting plate, and an output shaft of the power mechanism is used to be connected with an axial end of the surgical instrument. When the surgical instrument is subjected to a force from a patient tissue, the surgical instrument transmits the force to the power mechanism. Since the power mechanism is fixedly connected with the mounting plate, i.e. the mounting plate can be subjected to the force from the surgical instrument, the force received by an end effector of the surgical instrument, i.e. the force received by the tissue in the patient body, can be acquired by arranging the force sensor assembly on the mounting plate. The degree of compression of the tissue in the patient body can be judged by the above-mentioned force, and the moving direction of the surgical instrument can be changed to avoid causing an injury to the tissue in the patient body.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to surgical robots and their force detection devices. Background Technology

[0002] Minimally invasive surgery, with its advantages of smaller incisions, less pain, less bleeding, faster recovery, and shorter hospital stays, is increasingly favored by doctors and patients. With advancements in science and technology, surgical robots assisting surgeons in performing minimally invasive procedures have entered a new stage of development.

[0003] However, in actual use, when the surgical instruments of the surgical robot move inside the patient's body, there is a risk that the surgical instruments may compress the patient's internal tissues, causing accidental injury to the patient's internal tissues. Summary of the Invention

[0004] Therefore, it is necessary to propose a surgical robot and its force detection device to address the problem of surgical instruments compressing patient tissues and causing accidental damage to the patient's internal tissues.

[0005] A force detection device, comprising:

[0006] Mounting plate;

[0007] A power mechanism, comprising a housing and an output shaft located within the housing, the housing being fixed to the mounting plate, and the output shaft being connected to the surgical instrument to drive the surgical instrument to move; and

[0008] A force sensor assembly, disposed on the mounting plate, is used to obtain the force exerted on the end effector of the surgical instrument based on the deformation of the mounting plate.

[0009] In one embodiment, the mounting plate includes a mounting plate body, a first mounting member, and an elastic beam. The first mounting member is used to mount a power mechanism for controlling the clamping of surgical instruments, and the first mounting member is connected to the mounting plate body through the elastic beam.

[0010] In one embodiment, the force sensor assembly includes a first sensitive element disposed on the elastic beam, the first sensitive element being used to measure the deformation of the elastic beam.

[0011] In one embodiment, the mounting plate is provided with a parallel beam structure, and the sensor assembly includes a second sensitive element disposed on the surface of the parallel beam structure for acquiring the deformation of the parallel beam structure.

[0012] In one embodiment, the parallel beam structure is a double-hole parallel beam structure, wherein the extension direction of the holes in the double-hole parallel beam structure is perpendicular to the axial direction of the surgical instrument, and a second sensitive element is respectively provided on the surface of the double-hole parallel beam structure along the axial direction of the surgical instrument, and the second sensitive element is provided in a one-to-one correspondence with the holes in the double-hole parallel beam structure.

[0013] In one embodiment, the force detection device further includes a sleeve and a third sensitive element disposed on the sleeve for detecting the frictional force between the surgical instrument and the sleeve.

[0014] In one embodiment, the sleeve includes:

[0015] Sleeve rods;

[0016] An adapter is disposed at one end of the sleeve rod near the power mechanism, the adapter having a mating surface that connects with the sleeve rod and is perpendicular to the axial direction of the sleeve rod; the third sensitive element is disposed on the mating surface.

[0017] In one embodiment, there are multiple third sensitive elements, which are arranged in two layers around the center of the mating surface, and the third sensitive elements in each layer are arranged symmetrically with respect to the center of the mating surface.

[0018] In one embodiment, the cannula further includes a seal disposed at the end of the adapter away from the cannula, the seal being fitted over the surgical instrument and fixed to the adapter, and the seal being interference-fitted with the surgical instrument.

[0019] A surgical robot includes surgical instruments and the aforementioned force detection device, the force detection device being used to drive the surgical instruments to move.

[0020] The aforementioned surgical robot and its force detection device have their power mechanism's output shaft connected to one axial end of the surgical instrument. Therefore, when the surgical instrument is subjected to a force from the patient's tissue, it transmits this force to the power mechanism. Since the power mechanism's housing is fixedly connected to the mounting plate, the mounting plate can also experience forces from the surgical instrument. By installing a force sensor assembly on the mounting plate, the force acting on the end effector of the surgical instrument—that is, the force received by the patient's internal tissue—can be obtained. The degree of compression on the patient's internal tissue can be determined using these forces, thereby adjusting the surgical instrument's direction of movement to avoid accidental injury to the patient's internal tissue. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of a surgical robot in one embodiment;

[0022] Figure 2 This is a schematic diagram of one side of the mounting plate.

[0023] Figure 3 This is a schematic diagram of the structure on the other side of the mounting plate;

[0024] Figure 4 This is a schematic diagram of the sleeve structure;

[0025] Figure 5 A schematic diagram showing the structure before the protective cover is installed with the adapter;

[0026] Figure 6 This is a schematic diagram of the installation structure of the power mechanism;

[0027] Figure 7 This is a schematic diagram of the structure of the seal and the surgical instrument with an interference fit.

[0028] Reference numerals: 10-Force detection device; 20-Surgical instrument; 21-Instrument rod; 22-End effector;

[0029] 100 - Mounting plate; 110 - Cantilever structure; 111 - Fixing part; 112 - Gap; 120 - First mounting component; 130 - Elastic beam; 140 - Parallel beam structure; 150 - Mounting plate body;

[0030] 200 - Power mechanism; 210 - Output shaft; 220 - Power output disc; 230 - First rotating component;

[0031] 300 - Second sensitive element;

[0032] 400 - Sleeve; 410 - Sleeve rod; 420 - Adapter; 421 - Butt joint; 430 - Support frame; 440 - Seal; 450 - Protective cover;

[0033] 500 - Third sensitive element;

[0034] 600 - Moving mechanism; 610 - Base; 620 - Moving slide;

[0035] 700 - First Sensitive Element;

[0036] 810-Shielding plate; 820-Equipment quick-release plate; 830-Column; 840-Processor; 850-Caliper. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] See Figures 1-7 An embodiment of the present invention provides a force detection device 10 for detecting the force applied to the end effector of a surgical instrument 20. The device includes a mounting plate 100, a power mechanism 200, and a force sensor assembly. The power mechanism 200 includes a housing and an output shaft 210 located within the housing. The housing is fixed to the mounting plate 100, and the output shaft 210 passes through the mounting plate 100 for axial connection to one end of the surgical instrument 20. A force sensor assembly is disposed on the mounting plate 100 for acquiring the force applied to the end effector of the surgical instrument 20.

[0044] In this embodiment, the output shaft 210 of the power mechanism 200 is connected to one axial end of the surgical instrument 20. Therefore, when the surgical instrument 20 is subjected to a force from the patient's tissue, the surgical instrument 20 transmits this force to the power mechanism 200. Since the housing of the power mechanism 200 is fixedly connected to the mounting plate 100, the force on the surgical instrument 20 can be transmitted to the mounting plate 100. The force sensor assembly mounted on the mounting plate 100 can detect the force transmitted from the surgical instrument 20 to the power mechanism 200, and thus detect the force on the end effector of the surgical instrument 20, i.e., the force on the patient's internal tissue. The magnitude of the force on the patient's internal tissue can be determined by the aforementioned force, thereby changing the direction of movement of the surgical instrument and avoiding accidental injury to the patient's internal tissue.

[0045] In some embodiments, combined with Figures 2-4 The mounting plate 100 includes a mounting plate body 150, a first mounting member 120, and an elastic beam 130. The first mounting member 120 is used to mount the power mechanism for controlling the clamping of the surgical instrument 20. The first mounting member 120 is connected to the mounting plate body 150 through the elastic beam 130.

[0046] In this embodiment, the surgical instrument 20 includes an instrument housing, an instrument rod 21, and an end effector 22. A power mechanism 200 is connected to the surgical instrument 20, and the movement of the power mechanism 200 drives the movement of the end effector 22 of the surgical instrument 20. The power mechanism 200 includes multiple independent rotating components, which act on the instrument rod 21 to drive the end effector 22 of the surgical instrument 20 to perform various actions, such as forward and backward movement, turning, rotation, and clamping. The rotating components can be motors. The power mechanism used to control the clamping of the surgical instrument is a first rotating component 230, which is mounted on a first mounting member 120 and is used to control the opening and closing of the end effector 22 to facilitate the clamping of tissues inside the patient's body.

[0047] Specifically, when the first rotating component 230 drives the surgical instrument 20 to operate on the patient's tissue, it will be subjected to the force of the patient's tissue. When the first rotating component 230 is a motor, since the moving part of the motor is kept relatively stationary due to the force of the patient's tissue, the stator (housing) of the motor will also be subjected to this resistance. Since the stator (housing) of the motor is fixedly installed on the mounting plate 100, the clamping force of the first rotating component 230 can be detected by setting a force sensor assembly on the mounting plate 100.

[0048] Furthermore, the force sensor assembly includes a first sensitive element 700, which is disposed on the elastic beam 130. The first sensitive element 700 is used to measure the deformation of the elastic beam 130, thereby obtaining the force exerted by the patient tissue on the end effector 22.

[0049] Specifically, the mounting plate 100 has a U-shaped structure with a U-shaped hole. The first mounting member 120 serves as one end of the U-shaped structure and is connected to the mounting plate 100 via two elastic beams 130, which are located on the inner and outer sides of the U-shaped hole, respectively. Each elastic beam 130 is provided with a first sensitive element 700.

[0050] When the first rotating element 230 outputs torque, one of the elastic beams 130 is stretched and the other elastic beam 130 is compressed. The deformation of the two elastic beams 130 can be measured by the two first sensitive elements 700. Based on the amount of deformation of the elastic beams, the clamping force of the surgical instrument 20 can be obtained to prevent excessive clamping force from causing damage to the patient.

[0051] In some embodiments, combined with Figure 3 and Figure 4 The mounting plate 100 is provided with a parallel beam structure 140, and the sensor assembly includes a second sensitive element 300, which is disposed on the surface of the parallel beam structure 140 and is used to obtain the deformation of the parallel beam structure 140.

[0052] In this embodiment, the mounting plate 100 further includes a cantilever structure 110, which is disposed on the side of the mounting plate body 150 away from the U-shaped opening. The cantilever structure 110 is fixedly connected to the mounting plate body 150 at one end of the U-shaped structure, and has a gap 112 between it and the mounting plate body 150 at the other end of the U-shaped structure, thus fixing one end of the cantilever structure 110 while leaving the other end suspended.

[0053] Specifically, the cantilever structure 110 has a fixing part 111, and there is a gap 112 between the fixing part 111 and the mounting plate body 150. The mounting plate 100 can be fixed by the fixing part 111. The parallel beam structure 140 is provided on the cantilever structure 110, and the sensitivity and deformability of the cantilever structure 110 are used to increase the sensitivity of the parallel beam structure 140.

[0054] By setting up the parallel beam structure 140, when the mounting plate 100 is subjected to a force along the axial direction of the surgical instrument 20, the parallel beam structure 140 is stretched and deformed along the axial direction of the surgical instrument 20. The deformation of the parallel beam structure 140 along the axial direction of the surgical instrument can be detected by the second sensitive element 300, and then the axial compressive force on the surgical instrument 20 can be calculated. The degree of compression on the patient's internal tissues can be determined by the aforementioned compressive force, and the direction of movement of the surgical instrument can be changed, thereby avoiding accidental injury to the patient's internal tissues.

[0055] The parallel beam structure 140 is provided to reduce the stiffness of the mounting plate 100 and to increase the deformation of the mounting plate 100 under the same compressive force.

[0056] Specifically, the parallel beam structure 140 is a double-hole parallel beam structure. The extension direction of the holes in the double-hole parallel beam structure is perpendicular to the axis of the surgical instrument 20. The surface of the double-hole parallel beam structure along the axis of the surgical instrument 20 is respectively provided with second sensitive elements 300, and the second sensitive elements 300 are provided in a one-to-one correspondence with the holes in the double-hole parallel beam structure.

[0057] In this embodiment, the double-hole parallel beam structure is located on the side of the mounting plate 100 opposite to the U-shaped opening, and the opening direction of the double-hole parallel beam structure is opposite to the opening direction of the U-shaped opening. Second sensitive elements 300 are respectively arranged on both sides of the mounting plate 100 corresponding to the position of the double-hole parallel beam structure. That is, a total of four second sensitive elements 300 are used, and the four second sensitive elements 300 adopt a full-bridge method. The double-hole parallel beam structure has high sensitivity and good overall rigidity of the mounting plate 100. The double-hole parallel beam structure adopts a full-bridge method, and the strain components caused by non-axial forces cancel each other out and compensate for each other in the measurement circuit, thereby making the axial force measurement result of the surgical instrument 20 more accurate. It should be noted that the mounting plate can also be of other shapes, as long as the compatibility of the surgical instrument and the power mechanism is ensured.

[0058] In other embodiments, the parallel beam structure 140 may also be a rectangular parallel beam, a single-hole parallel beam, or a five-hole parallel beam.

[0059] In some embodiments, combined with Figure 5 The force detection device 10 also includes a sleeve 400 and a third sensitive element 500. The surgical instrument 20 extends into the patient's body through the sleeve 400. The third sensitive element 500 is disposed on the sleeve 400 and is used to detect the frictional force between the surgical instrument 20 and the sleeve 400.

[0060] Combination Figure 1 Since the surgical instrument 20 includes an instrument box, an instrument rod 21, and an end effector 22, and the power mechanism 200 is connected to the instrument box, a force transmission mechanism is provided inside the instrument box. This force transmission mechanism can transmit the motion of the power mechanism to the end effector 22 of the surgical instrument 20, thereby enabling the power mechanism 200 to control the surgical instrument 20. Before starting the surgical procedure, the surgical instrument 20 needs to be inserted into the patient's body through the cannula 400. In actual use, when the end effector 22 is subjected to pressure from the patient's internal tissues, the end effector 22 transmits the pressure to the instrument rod 21. Due to the friction between the instrument rod 21 and the cannula 400, the pressure detected by the second sensitive element 300 is less than the pressure exerted by the end effector 22 on the patient's internal tissues.

[0061] In this embodiment, the frictional force on the instrument rod 21 along the axial direction is detected by the third sensitive element 500. That is, the sum of the force value detected by the second sensitive element 300 and the force value detected by the third sensitive element 500 is the squeezing force of the end effector 22 on the patient's internal tissue.

[0062] Furthermore, in combination Figure 5The cannula 400 includes a cannula rod 410, an adapter 420, and a support frame 430. The cannula rod 410 is used to insert the surgical instrument 20. The adapter 420 is located at one end of the cannula rod 410 near the power mechanism 200, and has a mating surface 421 that mates with the cannula rod 410 and is perpendicular to the axial direction of the cannula rod 410. The support frame 430 is used to fix the adapter 420. A third sensitive element 500 is disposed on the mating surface 421 and is used to detect the axial force on the mating surface 421, thereby obtaining the axial frictional force on the surgical instrument 20.

[0063] In some embodiments, the cannula 400 further includes a seal 440, which is disposed at the end of the adapter 420 away from the cannula rod 410 and is fixedly connected to the adapter 420. The surgical instrument passes through the seal 440, and the seal 440 is in an interference fit with the surgical instrument 20. When the end effector 22 of the surgical instrument 20 is compressed, the end effector 22 transmits the compressive force to the instrument rod 21. Due to the interference fit between the instrument rod 21 and the seal 440, the instrument rod 21 is subjected to frictional force from the seal 440. Since the seal 440 is fixedly connected to the adapter 420, the frictional force of the seal 440 on the instrument rod 21 of the surgical instrument 20 can be obtained by providing a force sensor on the mating surface of the adapter 420.

[0064] In this embodiment, referring to Figure 5 and Figure 7 The sealing element 440 is press-fitted with the surgical instrument 20, providing a good seal and maintaining abdominal pressure during surgery. The adapter 420 connects the sealing element 440 to the cannula rod 410; the sealing element 440 and the adapter 420 can be connected via a snap-fit.

[0065] In this embodiment, the cross-section of the adapter 420 along the axial direction of the sleeve rod 410 can be circular. The instrument rod 21 also passes through the adapter 420. The diameter of the cross-section of the adapter 420 is larger than the diameter of the sleeve rod 410. Therefore, the adapter 420 has a mating surface 421 that mates with the sleeve rod 410. When the instrument rod 21 is subjected to compressive force, friction is generated between the instrument rod 21 and the seal 440. Since the seal 440 is fixed to the adapter 420, the friction force can be converted into a compressive force on the mating surface 421. This compressive force can cause the mating surface 421 to deform, which can then be detected by the third sensitive element 500.

[0066] Secondly, combining Figure 6 A protective cover 450 is provided outside the mating surface 421 of the adapter 420. The protective cover 450 cooperates with the adapter 420 to seal the third sensitive element 500, so as to protect the third sensitive element 500 and provide electromagnetic shielding.

[0067] In some embodiments, there are multiple third sensing elements 500, which are symmetrically arranged around the center of the mating surface 421 and attached to the mating surface 421 to form a Wheatstone bridge. This measurement method can improve measurement accuracy.

[0068] Furthermore, multiple third sensing elements 500 are arranged in two layers around the center of the mating surface 421, with each layer of third sensing elements 500 symmetrically arranged with respect to the center of the mating surface 421. This arrangement of multiple third sensing elements 500 in two layers facilitates the simultaneous acquisition of the force values ​​of the inner layer near the center and the outer layer away from the center on the mating surface 421, and allows for comparison of the two force values, thereby improving the measurement accuracy of the compressive force on the mating surface 421.

[0069] In some embodiments, combined with Figure 1 The force detection device 10 also includes a moving mechanism 600, which includes a base 610 and a moving slide 620. The sleeve 400 is fixedly connected to the base 610. The moving slide 620 is mounted on the base 610 and is fixedly connected to the mounting plate via the fixing part 111. Therefore, the moving slide 620 can drive the surgical instrument 20 to move axially.

[0070] In this embodiment, a moving mechanism 600 is provided, and a power mechanism 200 is mounted on a moving slide 620. The movement of the moving slide 620 drives the surgical instrument 20 to move axially, thereby realizing the forward or backward movement of the surgical instrument 20. Specifically, the moving mechanism 600 can be a synchronous belt module, a ball screw module, or a linear motor module. Here, a ball screw module is used as an example. The fixing part 111 of the mounting plate 100 is fixedly connected to the slider of the ball screw module, so that the movement of the slider drives the power mechanism 200 to move.

[0071] Combination Figure 2 The force detection device 10 also includes a power box, a shielding plate 810, an instrument quick-release plate 820, and a column 830. The column 830 connects the shielding plate 810, the mounting plate 100, and the instrument quick-release plate 820 sequentially along the axial direction of the surgical instrument 20. The rotating component has a power output disk 220, which is snapped onto the instrument quick-release plate 820. One end of the rotating component is fixedly connected to the shielding plate 810, and the other end is fixedly connected to the mounting plate 100 through the housing. The output shafts of multiple rotating components pass through the instrument quick-release plate 820 and are connected to the power output disk 220 one-to-one. The multiple rotating components are used to connect to the surgical instrument 20 and the instrument box bottom plate through the multiple power output disks 220 to drive the surgical instrument 20 to perform various actions.

[0072] Specifically, when the surgical instrument 20 is subjected to axial compressive force from the patient's internal tissue, the axial force is first transmitted to the power output plate 220 through the instrument rod 21, and then to the instrument quick release plate 820 through the power output plate 220. Since the instrument quick release plate 820 and the mounting plate 100 are fixed by the column 830, the axial force can finally be transmitted to the mounting plate 100.

[0073] The first sensitive element 700, the second sensitive element 300, the shielding plate 810, the instrument quick-release plate 820, the mounting plate 100, the column 830, and the power mechanism 200 are all integrated into the power box. This avoids the increased cost caused by the limited lifespan of the surgical instrument 20 when the first sensitive element 700 and / or the second sensitive element 300 are directly placed on the end effector 22. It also avoids biocompatibility issues caused by direct contact between the first sensitive element 700 and / or the second sensitive element 300 and the patient's internal tissues. Furthermore, integrating the first sensitive element 700 and / or the second sensitive element 300 into the power box also avoids the adverse effects of high temperatures on sensor accuracy, enabling long-term, stable, and high-precision use.

[0074] In some embodiments, the first sensitive element 700, the second sensitive element 300, and the third sensitive element 500 are resistance strain gauges. When the resistance strain gauge is stretched and deformed, the resistance value in the resistance strain gauge changes, and the magnitude of the force can be detected by measuring the change in the resistance value of the resistance strain gauge.

[0075] In other embodiments, the first sensitive element 700, the second sensitive element 300, and the third sensitive element 500 can also be photosensitive elements, such as fiber optic gratings. When the fiber optic grating is subjected to force, its grating length changes. The wavelength or phase of the reflected light can be obtained through the receiver and demodulator, thereby obtaining the magnitude of the force.

[0076] Specifically, a processor 840 is also located on the side of the quick-release plate 820 away from the fixed plate. The first sensitive element 700 and the second sensitive element 300 are connected to solder joints on the FPC cable 850 via enameled wires to form a bridge. The entire surface of the FPC cable 850 has an electromagnetic shielding layer to prevent signal interference to rotating parts. The FPC cable 850 is connected to the processor 840, which is used to power the sensitive elements and receive and process strain information from the sensitive elements. Using the FPC cable 850 can effectively solve the problem of tangled and messy wires caused by too many wires in a confined space, while also increasing the electromagnetic shielding function.

[0077] In some embodiments, the force detection device 10 further includes a controller, which is provided with an axial force feedback module. By presetting an axial safety force value in the axial force feedback module, when the measured axial force is greater than or equal to the axial safety force value, the controller controls the surgical instrument 20 to move in the opposite direction to the axial force through the force detection device 10, so as to reduce the force and avoid accidental damage to the patient's internal tissues.

[0078] In addition, the controller is equipped with a clamping force feedback module, which has an automatic on / off function. When a clamping action is required, the clamping force feedback module automatically turns off; when a clamping action is not required, the clamping force feedback module automatically turns on. At this time, by preset a clamping safety force value in the clamping force feedback module, when the measured clamping force is greater than or equal to the clamping safety force value, the controller controls the surgical instrument 20 to move in the opposite direction to the clamping force through the force detection device 10, so as to reduce the force and avoid accidental injury to the patient's internal tissues.

[0079] The present invention also discloses a surgical robot, including a surgical instrument 20 and a force detection device 10. The force detection device 10 is used to drive the surgical instrument 20 to perform surgical operations inside the patient's body.

[0080] 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.

[0081] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but 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 detection device (10) for detecting the force applied to the end effector of a surgical instrument (20), characterized in that, include: Mounting plate (100); A power mechanism (200) includes a housing and an output shaft (210) located within the housing. The housing is fixed to the mounting plate (100), and the output shaft is connected to the surgical instrument (20) to drive the surgical instrument to move. as well as A force sensor assembly, disposed on the mounting plate, is used to acquire the force applied to the end effector of the surgical instrument (20); A cannula (400) for through which the surgical instrument (20) passes; the cannula (400) includes a cannula rod (410) and an adapter (420), the adapter (420) being disposed at one end of the cannula rod (410) near the power mechanism (200), the adapter (420) having a mating surface (421) that mates with the cannula rod (410) and is perpendicular to the axial direction of the cannula rod (410). A third sensitive element (500) is disposed on the mating surface (421); the third sensitive element (500) is used to detect the frictional force between the surgical instrument (20) and the cannula (400); There are multiple third sensitive elements (500), and the multiple third sensitive elements (500) are arranged in two layers around the center of the docking surface (421).

2. The force detection device (10) according to claim 1, characterized in that, The mounting plate (100) includes a mounting plate body (150), a first mounting member (120), and an elastic beam (130). The first mounting member (120) is used to install a power mechanism for controlling the clamping of surgical instruments. The first mounting member (120) is connected to the mounting plate body (150) through the elastic beam (130).

3. The force detection device (10) according to claim 2, characterized in that, The force sensor assembly includes a first sensing element (700) disposed on the elastic beam (130) and the first sensing element (700) is used to measure the deformation of the elastic beam (130).

4. The force detection device (10) according to claim 1, characterized in that, The mounting plate (100) is provided with a parallel beam structure (140), and the sensor assembly includes a second sensitive element (300), which is disposed on the surface of the parallel beam structure (140) for obtaining the deformation of the parallel beam structure (140).

5. The force detection device (10) according to claim 4, characterized in that, The parallel beam structure (140) is a double-hole parallel beam structure. The extension direction of the holes in the double-hole parallel beam structure is perpendicular to the axial direction of the surgical instrument (20). The surface of the double-hole parallel beam structure along the axial direction of the surgical instrument (20) is respectively provided with a second sensitive element (300). The second sensitive element (300) is provided in a one-to-one correspondence with the holes in the double-hole parallel beam structure.

6. The force detection device (10) according to claim 1, characterized in that, The third sensitive element (500) on each layer is arranged symmetrically with respect to the center of the mating surface (421).

7. The force detection device (10) according to claim 1, characterized in that, The cannula (400) further includes a seal (440), which is disposed at the end of the adapter (420) away from the cannula rod (410). The seal (440) is used to be sleeved on the outside of the surgical instrument (20) and fixed to the adapter (420), and the seal (440) is interference-fitted with the surgical instrument (20).

8. A surgical robot, characterized in that, The device includes a surgical instrument (20) and a force detection device (10) according to any one of claims 1-7, wherein the force detection device (10) is used to drive the surgical instrument (20) to move.

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