A seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery

Abstract

A seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery belongs to the field of medical devices. It includes a clamp, a six-dimensional force / torque sensor, a clamping force detection unit, a wrist mechanism, an instrument shaft and connecting mechanism, a transmission mechanism, a quick-connect mechanism, and a drive unit. The six-dimensional force / torque sensor and clamping force detection unit are installed at the rear end of the clamp and the front end of the wrist mechanism. Accurate sensing of six-dimensional external forces / torques and clamping forces is achieved through decoupling pulleys in the clamping force detection unit and signal compensation from the host computer software output. The instrument shaft and connecting mechanism are installed at the rear end of the wrist mechanism and the front end of the transmission mechanism. The rear end of the transmission mechanism is installed at the front end of the quick-connect mechanism, and the rear end of the quick-connect mechanism is installed at the front end of the drive mechanism. This invention achieves four degrees of freedom—roll, pitch, yaw, and clamp opening / closing—through wire transmission.

Description

Technical Field

[0001] This invention relates to a laparoscopic surgical instrument, specifically to an end clamp, wrist mechanism, sensing unit, transmission unit, and drive system of a seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery, belonging to the field of medical devices. Background Technology

[0002] Laparoscopic surgery offers advantages such as smaller incisions, reduced risk of tissue infection, and faster postoperative recovery. Laparoscopic surgical instruments are inserted into the patient's body through a sheath to perform the procedure. However, due to the lack of force detection capabilities and limitations in their own degrees of freedom, these instruments can only rotate around the sheath axis and open / close the end clamps. Since the surgeon's hands are far from the surgical field of view, they can only contact the patient's tissues by holding the instruments, making it impossible to accurately perceive the interaction forces between the instrument's end clamps and the patient's tissues. To overcome the shortcomings of traditional laparoscopic surgical instruments, a four-degree-of-freedom surgical instrument for robot-assisted laparoscopic surgery was designed. This instrument possesses four degrees of freedom: instrument axis roll, wrist pitch, yaw, and clamp opening / closing. A six-dimensional force / torque sensor and a clamping force sensor are integrated at the instrument's end, enabling the surgeon to perceive the magnitude and direction of seven-dimensional interaction forces, including six-dimensional external forces / torques in the x, y, and z directions, as well as the clamping force. A gimbal assembly is used to design the wrist mechanism of a surgical instrument, including a wrist distal end, a wrist center, and a wrist proximal end. This reduces the volume of the instrument distal end and enhances its flexibility and compactness. Differential drive is used to achieve pitch and yaw motion of the wrist. A wire drive mechanism is used to achieve long-distance transmission between the instrument wrist and the clamp, helping to reduce rigid damage to patient tissues caused by the surgical instrument. A modular design concept is adopted, with quick-connect mechanisms for rapid installation and disassembly of the transmission mechanism and drive unit, facilitating rapid instrument replacement according to surgical needs during the operation. To provide force sensing capabilities to laparoscopic surgical robots and enhance the flexibility of surgical instruments during surgery, a seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery is designed. Summary of the Invention

[0003] To address the above shortcomings, this invention provides a seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery.

[0004] This invention is achieved through the following technical solution: a seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery, comprising a clamp, a six-dimensional force / torque sensor, a clamping force detection unit, a wrist mechanism, an instrument shaft connection mechanism, a transmission mechanism, a quick-connect mechanism, and a drive unit. The rear end of the clamp is mounted on the front end of the six-dimensional force / torque sensor, the rear end of the clamping force detection unit is mounted inside the end of the wrist mechanism, the rear end of the six-dimensional force / torque sensor is mounted outside the end of the wrist mechanism, the proximal end of the wrist mechanism is mounted on the rear end of the instrument shaft, the rear end of the instrument shaft is mounted inside the instrument shaft connection mechanism, the instrument shaft connection mechanism is mounted on the front end of the transmission mechanism, the rear end of the transmission mechanism is mounted on the front end of the quick-connect mechanism, and the rear end of the quick-connect mechanism is mounted on the front end of the drive unit. The four degrees of freedom of the instrument shaft (roll), the wrist mechanism (pitch and yaw), and the clamp (opening and closing) are transmitted via steel wires.

[0005] The clamp includes an upper clamp, a lower clamp, a clamp connecting shaft, and a clamp mounting base. The clamp mounting base has a through hole at its front end and a boss at its rear end. The upper clamp has an upper clamp torsion spring mounting groove and an upper clamp through hole. Additionally, the upper clamp also has an upper clamp wire end fixing groove for fixing the wire end. The lower clamp has a lower clamp torsion spring mounting groove and a lower clamp through hole. Additionally, the lower clamp also has a groove for fixing the wire end. The lower clamp has a wire end fixing groove. The upper end face of the upper clamp is in contact with the inner surface of the clamp mounting base. The lower end face of the upper clamp is in contact with the upper end face of the lower clamp, and the through hole of the upper clamp is aligned with the through hole of the clamp mounting base. The lower end face of the lower clamp is in contact with the inner surface of the clamp mounting base, and the through hole of the lower clamp is aligned with the through hole of the clamp mounting base. The clamp connecting shaft is a cylindrical shaft that is installed through the through holes of the upper clamp, the lower clamp, and the clamp mounting base.

[0006] The six-dimensional force / torque sensor comprises three identical elastomer monoliths, six detection fiber optic cables (FBGs), and one reference FBG. The elastomer monoliths are evenly distributed at 120° angles around the instrument axis. The upper platform of each elastomer monolith is connected to the clamp mounting boss by screws, as is the lower platform of the elastomer monolith and its mounting boss. Each elastomer monolith has a first and a second connecting rod. The back of each connecting rod has a fiber optic groove for attaching the detection FBGs. The six detection FBG fibers are fixed to the six fiber optic grooves on the back of the three elastomer monoliths and sequentially pass through the detection FBG mounting holes, the wrist distal end, the wrist center, the proximal wrist end, and the instrument axis, exiting the instrument via the fiber optic guide. The reference FBG is mounted on the temperature sensor through-hole at the wrist distal end. A capillary tube is added to the outside of the optical fiber. The temperature change is reflected by detecting the strain caused by the temperature change and its influence on the capillary tube. The reference FBG optical fiber passes through the wrist end, the wrist center, the wrist proximal end and the instrument axis in sequence, and is led out of the instrument through the optical fiber guide seat. The six detection FBG optical fibers and the reference FBG optical fiber are connected to the fiber grating demodulator after being led out of the instrument. The fiber grating demodulator can measure the six-dimensional external force / torque by the wavelength change.

[0007] The wrist mechanism includes a wrist end, a wrist center, and a wrist proximal end. The wrist end has a single-piece elastomer mounting boss and a central through hole at its head, and a wrist center mounting hole one at its tail. In addition, the wrist end also has a wrist end winding groove, a wrist stress relief groove, a temperature sensor through hole, and a detection FBG mounting hole for a six-dimensional force / torque sensor. The wrist center has a wrist center mounting shaft one and a wrist center mounting shaft two. In addition, the wrist center also has a wrist center winding groove. The wrist proximal end has a wrist center mounting hole two at its head, and a wrist proximal end mounting boss at its tail. In addition, the wrist proximal end also has a wrist proximal end wiring hole for wiring. The single-piece elastomer mounting boss is mounted on the end of the six-dimensional force / torque sensor. The wrist center mounting hole one is coaxially connected to the wrist center mounting shaft one, and the wrist center mounting hole two is coaxially connected to the wrist center mounting shaft two. The wrist proximal end mounting boss is mounted on the front end of the instrument shaft.

[0008] The clamping force detection unit includes a first decoupling pulley, a second decoupling pulley, a decoupling pulley shaft, an elastic body of a clamping force sensor, and a detection FBG. The elastic body of the clamping force sensor has a mounting through hole for the decoupling pulley shaft and a through hole for the steel wire. The elastic body of the clamping force sensor has a connecting section, and a mounting hole for the detection FBG runs through the connecting section. Both the first decoupling pulley and the second decoupling pulley have a winding groove and a through hole. The surfaces of the first decoupling pulley and the second decoupling pulley are in contact. The decoupling pulley shaft is installed through the through hole of the first decoupling pulley, the through hole of the second decoupling pulley, and the mounting through hole of the decoupling pulley shaft. The outer ring of the end of the clamping force sensor is installed on the inner ring of the central through hole. The detection FBG optical fiber passes sequentially through the elastic body of the clamping force sensor, the wrist end, the wrist center, the proximal wrist end, and the instrument axis. It is led out of the instrument through the optical fiber guide seat. After the detection FBG optical fiber is led out of the instrument, it is connected to the fiber optic demodulator. The fiber optic demodulator can measure the clamping force by the wavelength change.

[0009] The decoupling pulley is designed to decouple the clamping force from the external force / torque, reducing the tension F of the clamp wire. c1 and F c2 Converted into clamping force, the two tension forces produce a component force f along the axis of the instrument. z The two component forces perpendicular to the axis cancel each other out. Since there is a certain distance between the points of application of the two component forces perpendicular to the axis, a torque m is formed around the axis of the instrument. z Component force f z and torque m z The output signal of the six-dimensional force / torque sensor will be compensated in the host computer software, and the component force f will be calculated. z The elastic body of the clamping force sensor deforms, and the deformation is detected by the FBG and led out to the fiber optic grating demodulator to measure the clamping force by the change in wavelength.

[0010] The instrument shaft connection mechanism includes an instrument shaft, a front mounting base, a first support bearing, a first bushing, a second support bearing, a second bushing, and a bearing retaining ring. The front mounting base has a central fixing boss and an internal stepped hole. Additionally, the front mounting base has a first bearing mounting hole, a second bearing mounting hole, a third bearing mounting hole, and a fourth bearing mounting hole. The left end face of the outer ring of the first support bearing fits into the internal stepped hole of the front mounting base. The left end face of the first bushing fits into the right end face of the inner ring of the first support bearing. The left end face of the inner ring of the second support bearing fits into the right end face of the first bushing. The left end face of the second bushing fits into the right end face of the inner ring of the second support bearing. The left end face of the bearing retaining ring fits into the right end face of the outer ring of the second support bearing. The bearing retaining ring has four threaded holes and is connected to the front mounting base by screws. The instrument shaft passes through the first support bearing, the first bushing, the second support bearing, and the second bushing.

[0011] The transmission mechanism includes a transmission mechanism housing, a rolling active reel, a rolling active reel preload block, a third bushing, a rolling driven reel, a first bearing, a second bearing, a third bearing, a fourth bearing, a first support rod, a second support rod, a rear mounting base, a fifth bearing, a sixth bearing, a seventh bearing, an eighth bearing, a wrist tensioning wheel, a clamping tensioning wheel, a wrist reel, a reverse wrist reel, a parallel isolating disc, a female parallel isolating disc, a wrist guide wheel seat one, a first wrist reel shaft, a second wrist reel shaft, a wrist reel preload block, a wrist guide wheel seat two, a wrist guide wheel one, a wrist guide wheel two, a clamping guide wheel one, a clamping guide wheel two, a clamping reel shaft, a clamping tensioning wheel seat, a clamping guide wheel seat, a rolling reel shaft, and an optical fiber guide seat. The housing has mounting bosses around its perimeter. The front face of the central fixed boss fits against the front face of the transmission mechanism housing. The edges of the front mounting base fit against the mounting bosses around the transmission mechanism housing. The rear mounting base has wire routing holes, fiber optic guide mounting slots, fifth bearing mounting holes, sixth bearing mounting holes, seventh bearing mounting holes, eighth bearing mounting holes, wrist guide wheel mounting holes, wrist guide wheel mounting holes, clamping tension wheel mounting holes, and clamping guide wheel mounting holes. The edges of the rear mounting base fit against the mounting bosses around the transmission mechanism housing. The first and second support rods are connected to the front and rear mounting bases by screws. Furthermore, the support rods provide axial positioning for the rear mounting base. The left end face of the rolling driven sheave is fitted with the right end face of the second bushing. The end of the instrument shaft passes through the rolling driven sheave. The rolling driven sheave is circumferentially fixed to the instrument shaft by a set screw. The first bearing is installed in the first bearing mounting hole, and the fifth bearing is installed in the fifth bearing mounting hole. The front end of the rolling sheave shaft has a threaded hole. The rolling sheave shaft passes through the inner ring of the fifth bearing, the rolling driven sheave, the third bushing, and the inner ring of the first bearing. The front end face of the threaded hole is fixed to the left end face of the inner ring of the first bearing by screws and washers. The rolling sheave shaft is axially fixed to the first and fifth bearings by a shoulder. The left end face of the third bushing is fitted with the right end face of the inner ring of the first bearing. The rolling driven sheave... The left end face of the wheel is in contact with the right end face of the third bushing. The rolling drive sheave and the rolling drive sheave preload block are mounted on the rolling sheave shaft with screws. The second bearing is mounted in the second bearing mounting hole, and the sixth bearing is mounted in the sixth bearing mounting hole. The front end of the first wrist sheave shaft has a threaded hole. The first wrist sheave shaft passes through the wrist sheave, the inner ring of the sixth bearing, and the inner ring of the second bearing. The front end face of the threaded hole is fixed to the left end face of the second bearing with screws and washers. The first wrist sheave shaft is axially fixed to the second bearing and the sixth bearing through a shoulder. The left end face of the wrist sheave is in contact with the shoulder. The wrist sheave and the wrist sheave preload block are mounted on the first wrist sheave shaft with screws.The third bearing is installed in the third bearing mounting hole, the seventh bearing is installed in the seventh bearing mounting hole, the front end face of the second wrist reel shaft has a threaded hole, the second wrist reel shaft passes through the wrist reel, the inner ring of the seventh bearing and the inner ring of the third bearing, the front end face of the threaded hole is fixed to the left end face of the third bearing by screws and washers, the second wrist reel shaft is axially fixed to the third bearing and the seventh bearing by a provided shoulder, the left end face of the wrist reel fits against the shoulder, the wrist reel and the wrist reel preload block are installed on the second wrist reel shaft by screws, the fourth bearing is installed in the fourth bearing mounting hole, the eighth bearing is installed in the eighth bearing mounting hole, and the front end of the clamping reel shaft has A threaded hole is provided, through which the clamping spool shaft passes the wrist spool, the reverse wrist spool, the inner ring of the eighth bearing, and the inner ring of the fourth bearing. The front end face of the threaded hole is fixed to the left end face of the fourth bearing by screws and washers. The clamping spool shaft is axially fixed to the fourth and eighth bearings by a provided shoulder. The left end face of the wrist spool is in contact with the shoulder, and the reverse wrist spool is in contact with the top of the wrist spool. The wrist spool, the reverse wrist spool, and the wrist spool preload block are mounted on the wrist spool by screws. The fiber optic guide seat is mounted on the fiber optic guide seat mounting slot by screws, and the bottom of the fiber optic guide seat is in contact with the bottom of the fiber optic guide seat mounting slot. The first wrist guide wheel seat is mounted on the first wrist guide wheel seat mounting hole by screws. The first wrist guide wheel seat is provided with... A wrist tensioner mounting boss and a wrist guide wheel mounting boss are provided. The wrist tensioner is mounted on the wrist tensioner mounting boss, and the wrist guide wheel is mounted below the wrist guide wheel mounting boss. A second wrist guide wheel is mounted below the wrist guide wheel. The wrist guide wheel and the second wrist guide wheel are connected to the wrist guide wheel mounting boss by screws. A second wrist guide wheel seat is mounted on the wrist guide wheel seat mounting hole by screws. The second wrist guide wheel seat has a second wrist tensioner mounting boss and a second wrist guide wheel mounting boss. The wrist tensioner is mounted on the second wrist tensioner mounting boss, and the first wrist guide wheel is mounted below the second wrist guide wheel mounting boss. The second guide wheel is mounted below the first wrist guide wheel. The first and second wrist guide wheels are connected to the second wrist guide wheel mounting boss by screws. The clamping tension wheel seat is mounted on the clamping tension wheel seat mounting hole by screws. The clamping tension wheel seat has a clamping tension wheel mounting boss, and the clamping tension wheel is mounted on the clamping tension wheel mounting boss. The clamping guide wheel seat is mounted on the clamping guide wheel seat mounting hole, and the clamping guide wheel seat has a clamping guide wheel mounting boss. The left side of the second clamping guide wheel is in contact with the right side of the clamping guide wheel mounting boss, and the left side of the first clamping guide wheel is in contact with the right side of the second clamping guide wheel. The first and second clamping guide wheels are connected to the second clamping guide wheel mounting boss by screws.The four parallel isolation discs are respectively mounted in parallel at the ends of the horizontal rolling reel axle, the first wrist reel axle, the second wrist reel axle, and the clamping reel axle via set screws. Each parallel isolation disc has a parallel isolation disc drive boss, and each female parallel isolation disc has a parallel isolation disc drive groove. The four female parallel isolation discs are respectively mounted on the four parallel isolation discs.

[0012] The quick-connect mechanism includes a transmission part connecting shell, a drive part connecting shell, a parallel isolation disc support bearing, a fastening terminal, a fastening spring, and a lever. The transmission part connecting shell is connected to the transmission mechanism housing by screws. The transmission part connecting shell has a parallel isolation disc support bearing mounting hole and a fastening terminal mounting hole. The parallel isolation disc support bearing is installed in the parallel isolation disc support bearing mounting hole, and the parallel isolation disc passes through the inner ring of the parallel isolation disc support bearing. The fastening terminal has a slot at its head and a thread at its tail. The fastening terminal is installed into the fastening terminal mounting hole from the rear of the transmission part connecting shell and secured with a nut at the rear of the transmission part connecting shell. The drive part connecting shell has a lever mounting groove to ensure that the fastening terminal is properly secured. The paddle can move a corresponding distance in the vertical direction. The drive part connecting shell is provided with two fastening spring fixing bosses. Two paddle buttons are installed at the head and bottom of the paddle for easier quick replacement. The paddle is also provided with corresponding fastening spring fixing bosses and fastening slots. A pair of fastening springs are installed on the two sets of fastening spring fixing bosses by a pin. Under the action of the pair of fastening springs, the paddle causes the fastening slot to press against the slot at the head of the fastening terminal. In addition, the drive part connecting shell is provided with a second parallel isolation disc support bearing mounting hole. The parallel isolation disc support bearing is installed in the second parallel isolation disc support bearing mounting hole. The female parallel isolation disc passes through the inner ring of the second parallel isolation disc support bearing mounting hole, and the end of the female parallel isolation disc is connected to the motor.

[0013] The drive unit includes a motor protective shell, a motor, a driver, a drive part housing, and an instrument rear cover. The motor protective shell is connected to the drive part housing by screws. The motor protective shell has motor mounting holes and a paddle limiting boss. Four motors are mounted on the motor mounting holes. The paddle limiting boss contacts the paddle to restrict the axial movement of the paddle. The motor shaft is connected to the end of the female parallel isolation disc by set screws. The rear end face of the motor protective shell and the front end face of the drive part housing are connected by screws. The front end face of the drive part housing also has a driver mounting hole. The driver is installed inside the drive part housing. The rear end face of the drive part housing is connected to the front end face of the instrument rear cover by screws.

[0014] The rolling degree of freedom winding method involves winding one end of each of the two steel wires onto a pair of rolling drive spools, and the other end onto the rolling driven spools. The rotational motion of the rolling drive spools is converted into the rotational motion of the rolling driven spools through the steel wires, thereby realizing the rolling motion of the instrument shaft.

[0015] The wrist-wound method involves the first wire being wound around a wrist reel on the second wrist reel shaft. The first wire passes over the upper groove of the wrist tensioner on the second wrist guide wheel seat, the first wrist guide wheel on the second wrist guide wheel seat, through the rolling driven reel, the instrument shaft, and the proximal wrist routing hole. It then passes over a central wrist winding groove and a distal wrist winding groove on one side, where the wire is fixed at the wrist distal end. The wire then passes sequentially through the proximal wrist routing hole, the instrument shaft, and the rolling driven reel, and around the second wrist guide wheel on the first wrist guide wheel seat and the lower groove of the wrist tensioner on the first wrist guide wheel seat. Finally, the other end of the first wire is wound around a wrist reel on the first wrist reel shaft. The second wire... One end of the wire is wound around the wrist reel on the second wrist reel shaft. The first wire passes through the lower groove of the wrist tension wheel on the second wrist guide wheel seat, the second wrist guide wheel on the second wrist guide wheel seat, passes through the rolling driven reel, the instrument shaft, and the wrist proximal end wire hole, and passes through the other wrist center winding groove and the other wrist end winding groove. The wire is fixed at the wrist end, and then passes through the wrist proximal end wire hole, the instrument shaft, and the rolling driven reel in sequence. It passes through the first wrist guide wheel on the first wrist guide wheel seat and the upper groove of the wrist tension wheel on the first wrist guide wheel seat. Finally, the other end of the second wire is wound around the wrist reel on the first wrist reel shaft. The pitch and yaw movements of the wrist mechanism are achieved by using differential speed.

[0016] The clamp's opening and closing freedom is achieved by winding two steel wires, one end of which is wound around the wrist reel and the reverse wrist reel, respectively. One wire passes over the left groove of the clamping tension wheel and the first clamping guide wheel, while the other wire passes over the right groove of the clamping tension wheel and the second clamping guide wheel. The other ends of the two wires pass through the rolling driven reel, the instrument shaft, the proximal end of the wrist, the center of the wrist, and the distal end of the wrist, and then pass over the first and second decoupling pulleys in opposite directions. They are fixed in the upper clamp wire end fixing groove and the lower clamp wire end fixing groove, respectively. The opening and closing movement of the clamp is controlled by the rotation of the wrist reel and the reverse wrist reel.

[0017] The advantages of this invention are: by connecting the transmission mechanism and the drive unit through a quick-connect mechanism, instruments can be changed quickly during surgery; and the modular design makes system integration easy.

[0018] The clamp is kept open by the tension of the torsion spring, and the drive unit drives the steel wire to control the opening and closing of the clamp. The structure is simple.

[0019] By setting up a six-dimensional force / torque sensor, the interaction force between human tissue and surgical instruments can be sensed, improving the surgeon's tactile sensation during the operation. In addition, the clamp mounting base serves as both the base of the clamp and the upper platform of the six-dimensional force / torque sensor, simplifying instrument design and reducing instrument size.

[0020] By setting a cross-shaped wrist center, the flexibility of the instrument can be improved. The wrist stress relief groove isolates the stress from the steel wire on the distal end of the wrist mechanism from the six-dimensional force / torque sensor, thus preserving its accuracy. Furthermore, differential speed drive of the wrist mechanism allows for a reduction in the instrument's size.

[0021] By setting up a clamping force detection unit, the clamping force of the instrument clamp can be sensed. Therefore, in addition to obtaining the six-dimensional force by using a six-dimensional force / torque sensor, the clamping force, i.e. the seventh-dimensional force, is also obtained through the clamping force detection unit.

[0022] By setting support bearing one and support bearing two in the instrument shaft connection mechanism, the instrument shaft can rotate smoothly and provide good support for the instrument shaft. Setting first bushing, second bushing and bearing retaining ring can limit the axial position of the bearing.

[0023] By setting mounting bosses around the perimeter of the transmission mechanism housing and a fixing boss in the middle of the front mounting seat, the installation method of the instrument shaft connection mechanism is made simpler.

[0024] The design of the shoulders of the first support rod, the second support rod, the horizontal rolling wheel shaft, the first wrist wheel shaft, the second wrist wheel shaft, and the clamping wheel shaft provides axial limiting for the transmission mechanism while increasing overall stability.

[0025] By setting up a mounting boss 1 for the wrist tension wheel, a mounting boss 1 for the wrist guide wheel, a mounting boss 2 for the wrist tension wheel, a mounting boss 2 for the wrist guide wheel, a mounting boss 1 for the clamping tension wheel, and a mounting boss 2 for the wrist guide wheel, the mounting positions of the wrist tension wheel, wrist guide wheel 1, wrist guide wheel 2, clamping tension wheel, clamping guide wheel 1, and clamping guide wheel 2 are made symmetrical and parallel, improving the smoothness of movement and avoiding interference.

[0026] The front mounting base, rear mounting base, and bearings provide stable support for the transmission mechanism, improving overall stability.

[0027] By setting up a quick-connect mechanism, the transmission mechanism and drive unit can be aseptically separated. The design of the lever, fastening spring, and fastening terminal is simple and efficient, enabling rapid instrument changes during surgery.

[0028] By setting up a motor protective shell and a drive unit housing, the drive unit is protected and its lifespan is improved. The motor rotation is controlled by the driver, and the motor transmits the rotation to the transmission mechanism, thereby realizing the four degrees of freedom of the instrument. Attached image description:

[0029] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0030] Figure 2 for Figure 1 A magnified view of a section at point I;

[0031] Figure 3 This is a schematic diagram of the clamp structure of the present invention;

[0032] Figure 4 This is a schematic diagram of the structure of the clamp of the present invention;

[0033] Figure 5 This is a schematic diagram of the structure of the lower clamp of the present invention;

[0034] Figure 6 This is a schematic diagram of the clamp mounting base of the present invention;

[0035] Figure 7 This is a schematic diagram of the structure of the elastomer monolayer of the present invention;

[0036] Figure 8 This is a schematic diagram of the structure of the wrist end of the present invention;

[0037] Figure 9 This is a schematic diagram of the structure of the wrist center of the present invention;

[0038] Figure 10 This is a schematic diagram of the proximal end of the wrist in this invention;

[0039] Figure 11 This is a schematic diagram of the clamping force detection unit of the present invention;

[0040] Figure 12 This is a schematic diagram of the clamping force sensor of the present invention;

[0041] Figure 13 This is a two-dimensional schematic diagram of the clamping force sensor of the present invention;

[0042] Figure 14 This is a schematic diagram of the decoupling pulley of the present invention;

[0043] Figure 15 This is a schematic diagram illustrating the decoupling principle of the pulley in this invention.

[0044] Figure 16 This is a diagram of the optical fiber lead wires for this invention;

[0045] Figure 17This is a schematic diagram of the fiber optic grating demodulator topology of the present invention;

[0046] Figure 18 This is a schematic diagram of the structure of the instrument shaft connection mechanism of the present invention;

[0047] Figure 19 This is a schematic diagram of the structure of the front mounting base of the present invention;

[0048] Figure 20 for Figure 16 View A in the middle;

[0049] Figure 21 This is a schematic diagram of the bearing retaining ring of the present invention;

[0050] Figure 22 This is a schematic diagram of the structure of the housing of the transmission mechanism of the present invention;

[0051] Figure 23 for Figure 19 View A in the middle;

[0052] Figure 24 This is a schematic diagram of the transmission mechanism of the present invention;

[0053] Figure 25 This is a schematic diagram of the front part of the rear mounting base of the present invention;

[0054] Figure 26 This is a schematic diagram of the structure of the back of the rear mounting bracket of the present invention;

[0055] Figure 27 This is a two-dimensional schematic diagram of the transmission mechanism of the present invention;

[0056] Figure 28 for Figure 24 A two-dimensional schematic diagram of the AA section in the middle;

[0057] Figure 29 for Figure 24 A two-dimensional schematic diagram of the BB section;

[0058] Figure 30 for Figure 24 A two-dimensional schematic diagram of the CC section;

[0059] Figure 31 This is a schematic diagram of the structure of the horizontal rolling drive pulley of the present invention;

[0060] Figure 32 This is a schematic diagram of the structure of the rolling driven wheel of the present invention;

[0061] Figure 33 This is a schematic diagram of the structure of the transverse rolling line wheel shaft of the present invention;

[0062] Figure 34 This is a schematic diagram of the structure of the wrist thread reel shaft of the present invention;

[0063] Figure 35 This is a schematic diagram of the structure for clamping the reel shaft of the present invention;

[0064] Figure 36 This is a schematic diagram of the support rod of the present invention;

[0065] Figure 37 This is a schematic diagram of the structure of the optical fiber guide seat of the present invention;

[0066] Figure 38 This is a schematic diagram of the structure of the wrist guide wheel seat of the present invention;

[0067] Figure 39 This is a schematic diagram of the structure of the wrist guide wheel seat 2 of the present invention;

[0068] Figure 40 This is a schematic diagram of the wrist tension wheel and clamping tension wheel of the present invention;

[0069] Figure 41 This is a schematic diagram of the wrist guide wheel and the clamping guide wheel of the present invention;

[0070] Figure 42 This is a schematic diagram of the structure of the wrist guide wheel 2 and the clamping guide wheel 2 of the present invention;

[0071] Figure 43 This is a schematic diagram of the structure of the tension wheel seat of the present invention;

[0072] Figure 44 This is a schematic diagram of the structure of the guide wheel holder of the present invention;

[0073] Figure 45 This is a schematic diagram of the wrist thread reel of the present invention;

[0074] Figure 46 This is a schematic diagram of the reverse wrist reel of the present invention;

[0075] Figure 47 This is a schematic diagram of the structure of the wrist-mounted reel preload block of the present invention;

[0076] Figure 48 This is a schematic diagram of the structure of the fair isolation disk of the present invention;

[0077] Figure 49 This is a schematic diagram of the structure of the mother parallel isolation disk of the present invention;

[0078] Figure 50 This is a schematic diagram of the front structure of the quick-connect mechanism of the present invention;

[0079] Figure 51 This is a schematic diagram of the structure of the back of the quick-connect mechanism of the present invention;

[0080] Figure 52 This is a schematic diagram of the structure of the connecting shell of the transmission part of the present invention;

[0081] Figure 53 This is a schematic diagram of the structure of the connecting shell of the driving part of the present invention;

[0082] Figure 54 This is a schematic diagram of the fastening terminal of the present invention;

[0083] Figure 55 This is a schematic diagram of the structure of the pry bar of the present invention;

[0084] Figure 56 This is a schematic diagram of the structure of the motor protective shell of the present invention;

[0085] Figure 57 This is a schematic diagram of the structure of the outer shell of the driving part of the present invention;

[0086] Figure 58 This is a schematic diagram of the structure of the rear cover of the instrument of the present invention;

[0087] Figure 59 This is a schematic diagram of the trajectory of the rolling motion of the instrument axis;

[0088] Figure 60 A schematic diagram of the wiring for the opening and closing motion of the clamps;

[0089] Figure 61 A schematic diagram of the wiring for the opening and closing motion of the clamps;

[0090] Figure 62 A partial schematic diagram of the wrist's pitch and yaw movements;

[0091] Figure 63 This is a partial schematic diagram of the wrist's pitch and yaw movements.

[0092] In the diagram, 1. Clamp; 2. Six-dimensional force / torque sensor; 201. Protective shell for six-dimensional force / torque sensor; 3. Clamping force detection unit; 301. Winding groove; 302. Through hole; 4. Wrist mechanism; 5. Instrument shaft; 6. Instrument shaft connection mechanism; 7. Transmission mechanism; 8. Quick-connect mechanism; 9. Drive unit; 11. Upper clamp; 1101. Upper clamp torsion spring mounting slot; 1102. Upper clamp through hole; 1103. Upper clamp wire end fixing slot; 12. Lower clamp; 1201. Lower clamp through hole; 1202. Lower clamp torsion spring mounting slot; 1203. Lower clamp wire end fixing slot; 13. Clamp connecting shaft; 14. Clamp mounting base; 1401. Clamp mounting base through hole; 1402. Clamp mounting base boss; 15. 1501. Elastomer monolith, 1502. Link 1, 1503. Fiber optic groove, 16. Wrist end, 1601. Elastomer monolith mounting boss, 1602. Center through hole, 1603. Wrist center mounting hole 1, 1604. Wrist end winding groove, 1605. Wrist stress relief groove, 1606. Temperature sensor through hole, 1607. Six-dimensional force / torque sensor detection FBG mounting hole, 17. Wrist center, 1701. Wrist center mounting shaft 1, 1702. Wrist center mounting shaft 2, 1703. Wrist center winding groove, 18. Wrist proximal end, 1801. Wrist center mounting hole 2, 1802. Wrist proximal end mounting boss, 1803. Wrist proximal end wiring hole, 19. Decoupling slide 20. Decoupling pulley 2, 21. Decoupling pulley shaft, 22. Elastic body of clamping force sensor, 2201. Decoupling pulley shaft mounting through hole, 2202. Steel wire through hole, 2203. Connecting section, 2204. Detection FBG mounting hole, 23. Front mounting seat, 2301. Intermediate fixing boss, 2302. First bearing mounting hole, 2303. Second bearing mounting hole, 2304. Third bearing mounting hole, 2305. Fourth bearing mounting hole, 2306. First bearing, 2307. Second bearing, 2308. Third bearing, 2309. Fourth bearing, 24. Support bearing 1, 25. First bushing, 26. Support bearing 2, 27. Second bushing, 28. Bearing retaining ring, 29. Transmission mechanism housing, 3 0. Rolling drive sheave; 3001. Rolling drive sheave preload block; 3002. Third bushing; 31. Rolling driven sheave; 32. First support rod; 33. Second support rod; 34. Rear mounting base; 3401. Fifth bearing; 3402. Sixth bearing; 3403. Seventh bearing; 3404. Eighth bearing; 3405. Wire routing hole; 3406. Fiber optic guide mounting slot; 3407. Fifth bearing mounting hole; 3408. Sixth bearing mounting hole; 3409. Seventh bearing mounting hole; 3410. Eighth bearing mounting hole; 3411. Wrist guide sheave seat one mounting hole; 3412. Wrist guide sheave seat two mounting hole; 3413. Clamping tension wheel seat mounting hole; 3414. Clamping guide wheel seat mounting hole.35. Wrist tensioning wheel; 3501. Clamping tensioning wheel; 36. Wrist thread pulley; 3601. Wrist thread pulley preload block; 37. Reverse wrist thread pulley; 38. Parallel isolation disc; 3801. Parallel isolation disc transmission boss; 39. Female parallel isolation disc; 3901. Parallel isolation disc transmission groove; 40. Wrist guide pulley seat one; 4001. Wrist tensioning wheel mounting boss one; 4002. Wrist guide wheel mounting boss one; 4 1. First wrist thread sheave shaft; 42. Second wrist thread sheave shaft; 43. Wrist guide sheave seat two; 4301. Wrist tension wheel mounting boss two; 4302. Wrist guide wheel mounting boss two; 44. Wrist guide wheel one; 4401. Clamping guide wheel one; 45. Wrist guide wheel two; 4501. Clamping guide wheel two; 46. Clamping thread sheave shaft; 47. Clamping tension wheel seat; 4701. Clamping tension wheel mounting boss; 48. 4801 Clamping guide wheel seat; 49 Clamping guide wheel mounting boss; 50 Horizontal rolling wheel axle; 51 Fiber optic guide seat; 52 Transmission part connecting shell; 5101 Parallel isolation disc support bearing mounting hole one; 5102 Fastening terminal mounting hole; 52 Drive part connecting shell; 5201 Paddle mounting slot; 5202 Fastening spring fixing boss; 5203 Parallel isolation disc support bearing mounting hole two; 53 Parallel isolation disc support bearing; 54 Fastening terminal; 5401 Slot; 5402 Tail thread; 55 Fastening spring; 56 Paddle; 5601 Fastening slot; 5602 Paddle button; 57 Motor protective shell; 5701 Motor mounting hole; 5702 Paddle limiting boss; 58 Servo motor; 59 Driver; 60 Drive part shell; 6001 Driver mounting hole; 61 Instrument rear cover. Detailed Implementation

[0093] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0094] In the description of this invention, it should be noted that the terms "front," "rear," "upper," "lower," "left," "right," "end," and "inner," etc., 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 the invention and for 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 the invention. Furthermore, the terms "first," "second," "third," "fourth," "fifth," "sixth," "seventh," and "eighth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0095] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0096] Detailed implementation methods: such as Figures 1 to 63 As shown, a seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery includes a clamp 1, a six-dimensional force / torque sensor 2, a clamping force detection unit 3, a wrist mechanism 4, an instrument shaft connection mechanism 6, a transmission mechanism 7, a quick-connect mechanism 8, and a drive unit 9. The rear end of the clamp 1 is mounted on the front end of the six-dimensional force / torque sensor 2. The rear end of the clamping force detection unit 3 is mounted inside the end of the wrist mechanism 4. The rear end of the six-dimensional force / torque sensor 2 is mounted outside the end of the wrist mechanism 4. The proximal end of the wrist mechanism 4 is mounted on the rear end of the instrument shaft 5. The rear end of the instrument shaft 5 is mounted inside the instrument shaft connection mechanism 6. The instrument shaft connection mechanism 6 is mounted on the front end of the transmission mechanism 7. The rear end of the transmission mechanism 7 is mounted on the front end of the quick-connect mechanism 8. The rear end of the quick-connect mechanism 8 is mounted on the front end of the drive unit 9. The four degrees of freedom of the instrument shaft 5 (roll), the wrist mechanism 4 (pitch and yaw), and the clamp 1 (opening and closing) are transmitted via steel wires.

[0097] The transmission mechanism 7 and drive unit 9 are connected by quick-connect mechanism 8, which enables quick instrument changes during surgery. The modular design makes system integration easy.

[0098] The clamp 1 includes an upper clamp 11, a lower clamp 12, a clamp connecting shaft 13, and a clamp mounting base 14. The clamp mounting base 14 has a clamp mounting base through hole 1401 at its first end and a clamp mounting base boss 1402 at its last end. The upper clamp 11 has an upper clamp torsion spring mounting groove 1101 and an upper clamp through hole 1102. Additionally, the upper clamp 11 also has an upper clamp wire end fixing groove 1103 for fixing the wire end. The lower clamp 12 has a lower clamp torsion spring mounting groove 1202 and a lower clamp through hole 1201. Furthermore, the lower clamp 12 also has a groove for fixing the wire end... The lower clamp has a wire end fixing groove 1203. The upper end face of the upper clamp 11 is in contact with the inner surface of the clamp mounting base 14. The lower end face of the upper clamp 11 is in contact with the upper end face of the lower clamp 12, and the upper clamp through hole 1102 and the clamp mounting base through hole 1401 are aligned. The lower end face of the lower clamp 12 is in contact with the inner surface of the clamp mounting base 14, and the lower clamp through hole 1201 and the clamp mounting base through hole 1401 are aligned. The clamp connecting shaft 13 is a cylindrical shaft that is installed through the upper clamp through hole 1102, the lower clamp through hole 1201 and the clamp mounting base through hole 1401.

[0099] The clamp 1 is kept in an open state by the tension of the torsion spring, and the drive unit 9 drives the steel wire to realize the opening and closing control of the clamp 1. The structure is simple.

[0100] The six-dimensional force / torque sensor 2 includes three identical elastomer monoliths 15, six detection FBGs, and one reference FBG. The elastomer monoliths 15 are evenly distributed at 120° around the axis of the instrument shaft 5. The upper platform of the elastomer monolith 15 is connected to the clamp mounting boss 1402 by screws, and the lower platform of the elastomer monolith 15 is connected to the elastomer monolith mounting boss 1601 by screws. Each elastomer monolith 15 is provided with a first connecting rod 1501 and a second connecting rod 1502. The back of the first connecting rod 1501 and the second connecting rod 1502 are provided with fiber optic grooves 1503 for attaching the detection FBGs. The six detection FBG optical fibers are fixed on the six fiber slots 1503 on the back of the three elastomer monoliths 15 for attaching the detection FBGs. They pass sequentially through the detection FBG mounting hole 1607 of the six-dimensional force / torque sensor, the wrist end 16, the wrist center 17, the wrist proximal end 18, and the instrument shaft 5, and are led out of the instrument through the fiber guide seat 50. The reference optical fiber is fixed in the temperature sensor through hole 1606 of the wrist end 16. A capillary tube is added to the outside of the optical fiber. The temperature change is reflected by detecting the strain caused by the temperature change and its influence on the capillary tube. The reference FBG optical fiber passes sequentially through the wrist end 16, the wrist center 17, the wrist proximal end 18, and the instrument shaft 5, and is led out of the instrument through the fiber guide seat 50. After being led out of the instrument, the six detection FBG optical fibers and the reference FBG optical fiber are connected to a fiber optic demodulator. The fiber optic demodulator can measure the six-dimensional external force / torque by the wavelength change.

[0101] By setting up a six-dimensional force / torque sensor 2, the interaction force between human tissue and surgical instruments can be sensed, improving the doctor's tactile sensation during the operation. In addition, the clamp mounting base 14 serves as both the base of the clamp 1 and the upper platform of the six-dimensional force / torque sensor 2, simplifying instrument design and reducing instrument size.

[0102] The wrist mechanism 4 includes a wrist end 16, a wrist center 17, and a wrist proximal end 18. The wrist end 16 has an elastomer monolithic mounting boss 1601 and a central through hole 1602 at its head, and a wrist center mounting hole 1603 at its tail. Additionally, the wrist end also has a wrist end winding groove 1604, a wrist stress relief groove 1605, a temperature sensor through hole 1606, and a detection FBG mounting hole 1607 for a six-dimensional force / torque sensor. The wrist center 17 has a wrist center mounting shaft 1701 and a wrist center mounting shaft 1702. Furthermore, the wrist center 17 also has a wrist proximal end... The wrist is provided with a winding groove 1703, a wrist center mounting hole 1801 at the head of the proximal end 18, a wrist proximal end mounting boss 1802 at the tail, and a wrist proximal end wiring hole 1803 for wiring. The elastic monolithic mounting boss 1601 is installed at the end of the six-dimensional force / torque sensor 2. The wrist center mounting hole 1603 is coaxially connected to the wrist center mounting shaft 1701, the wrist center mounting hole 1801 is coaxially connected to the wrist center mounting shaft 1702, and the wrist proximal end mounting boss 1802 is installed at the front end of the instrument shaft 5.

[0103] By setting a cross-shaped wrist center 17, the flexibility of the instrument can be improved. By setting a wrist stress relief groove 1605, the stress of the steel wire on the distal end of the wrist mechanism 4 can be isolated from the six-dimensional force / torque sensor 2, without affecting the accuracy of the six-dimensional force / torque sensor 2. In addition, by using differential speed drive for the wrist mechanism 4, the size of the instrument can be reduced.

[0104] The clamping force detection unit 3 includes a decoupling pulley 19, a decoupling pulley 20, a decoupling pulley shaft 21, an elastic body 22 of the clamping force sensor, and a detection FBG. The elastic body 22 of the clamping force sensor has a decoupling pulley shaft mounting through hole 2201 and a wire through hole 2202. The elastic body 22 of the clamping force sensor has a connecting section 2203, and a detection FBG mounting hole 2204 passes through the connecting section 2203. Both the first decoupling pulley 19 and the second decoupling pulley 20 are provided with a winding groove 302 and a through hole 302. The surfaces of the first decoupling pulley 19 and the second decoupling pulley 20 are in contact. The decoupling pulley shaft 21 is installed through and in the through hole 302 of the first decoupling pulley 19, the through hole 302 of the second decoupling pulley 20, and the decoupling pulley shaft mounting through hole 2201. The outer ring of the end of the elastic body 22 of the clamping force sensor is installed in the inner ring of the central through hole 1602. The detection FBG optical fiber is fixed inside the elastic body 22 of the clamping force sensor at the head of the detection FBG mounting hole 2204, and passes sequentially through the elastic body 22 of the clamping force sensor, the wrist end 16, the wrist center 17, the wrist proximal end 18, and the instrument shaft 5. It is led out of the instrument through the optical fiber guide seat 50. After the detection FBG optical fiber is led out of the instrument, it is connected to the fiber optic demodulator. The fiber optic demodulator can measure the clamping force by the wavelength change.

[0105] By setting up the clamping force detection unit 3, the clamping force of the instrument clamp 1 can be sensed. Therefore, in addition to obtaining the six-dimensional force by means of the six-dimensional force / torque sensor 2, the clamping force, i.e. the seventh-dimensional force, is also obtained by means of the clamping force detection unit 3.

[0106] The decoupling pulley is designed to decouple the clamping force from the external force / torque, reducing the tension F of the clamp wire. c1 and F c2 Converted into clamping force, the two tension forces produce a component force f along the axis of the instrument. z The two component forces perpendicular to the axis cancel each other out. Since there is a certain distance between the points of application of the two component forces perpendicular to the axis, a torque m is formed around the axis of the instrument. z Component force f z and torque m z The output signal of the six-dimensional force / torque sensor will be compensated in the host computer software, and the component force f will be calculated. z The elastic body of the clamping force sensor deforms, and the deformation is detected by the FBG and led out to the fiber optic grating demodulator to measure the clamping force by the change in wavelength.

[0107] The instrument shaft connection mechanism 6 includes an instrument shaft 5, a front mounting base 23, a first support bearing 24, a first bushing 25, a second support bearing 26, a second bushing 27, and a bearing retaining ring 28. The front mounting base 23 is provided with a central fixing boss 2301 and an internal stepped hole. In addition, the front mounting base 23 is also provided with a first bearing mounting hole 2302, a second bearing mounting hole 2303, a third bearing mounting hole 2304, and a fourth bearing mounting hole 2305. The left end face of the outer ring of the first support bearing 24 is fitted with the internal stepped hole of the front mounting base 23. The left end face of the first bushing 25 is in contact with the right end face of the inner ring of the first support bearing 24, the left end face of the inner ring of the second support bearing 26 is in contact with the right end face of the first bushing 25, the left end face of the second bushing 27 is in contact with the right end face of the inner ring of the second support bearing 26, the left end face of the bearing retainer 28 is in contact with the right end face of the outer ring of the second support bearing 26, the bearing retainer 28 is provided with four threaded holes and is connected to the front mounting seat 23 by screws, and the instrument shaft 5 passes through the first support bearing 24, the first bushing 25, the second support bearing 26 and the second bushing 27.

[0108] By providing support bearing 24 and support bearing 26 in the instrument shaft connection mechanism 6, the instrument shaft 5 can rotate smoothly and provide good support for the instrument shaft 5. The first bushing 25, the second bushing 27 and the bearing retaining ring 28 can limit the axial position of the bearing.

[0109] The transmission mechanism 7 includes a transmission mechanism housing 29, a horizontal rolling drive spool 30, a horizontal rolling drive spool preload block 3001, a third bushing 3002, a horizontal rolling driven spool 31, a first bearing 2306, a second bearing 2307, a third bearing 2308, a fourth bearing 2309, a first support rod 32, a second support rod 33, a rear mounting base 34, a fifth bearing 3401, a sixth bearing 3402, a seventh bearing 3403, an eighth bearing 3404, a wrist tensioning wheel 35, a clamping tensioning wheel 3501, a wrist spool 36, a reverse wrist spool 37, a parallel isolating disc 38, a female parallel isolating disc 39, a wrist guide wheel seat 40, a first wrist spool shaft 41, a second wrist spool shaft 42, a wrist spool preload block 3601, and a wrist guide wheel seat 40. The transmission mechanism comprises a guide wheel seat 23, a wrist guide wheel 1 44, a wrist guide wheel 2 45, a clamping guide wheel 1 4401, a clamping guide wheel 2 4501, a clamping thread wheel shaft 46, a clamping tension wheel seat 47, a clamping guide wheel seat 48, a horizontal rolling thread wheel shaft 49, and an optical fiber guide seat 50. The transmission mechanism housing 29 has surrounding mounting bosses inside. The front end face of the central fixing boss 2301 is fitted with the front end face inside the transmission mechanism housing 29. The edges of the front mounting seat 23 are fitted with the surrounding mounting bosses inside the transmission mechanism housing 29. The rear mounting seat 34 has a wire routing hole 3405, an optical fiber guide seat mounting groove 3406, a fifth bearing mounting hole 3407, a sixth bearing mounting hole 3408, a seventh bearing mounting hole 3409, and an eighth bearing mounting hole 3400. The rear mounting seat 34 has a bearing mounting hole 3410, a wrist guide wheel seat first mounting hole 3411, a wrist guide wheel seat second mounting hole 3412, a clamping tension wheel seat mounting hole 3413, and a clamping guide wheel seat mounting hole 3414. The four edges of the rear mounting seat 34 are fitted with the mounting bosses inside the transmission mechanism housing 29. The first support rod 32 and the second support rod 33 are connected to the front mounting seat 23 and the rear mounting seat 34 by screws. In addition, the support rods play an axial positioning role for the rear mounting seat 34. The left end face of the rolling driven wire wheel 31 is fitted with the right end face of the second bushing 27. The end of the instrument shaft 5 passes through the rolling driven wire wheel 31. The rolling driven wire wheel 31 is circumferentially fixed to the instrument shaft 5 by set screws. The first bearing 230 The fifth bearing 3401 is installed in the first bearing mounting hole 2302, and the fifth bearing 3401 is installed in the fifth bearing mounting hole 3407. The front end of the transverse rolling sheave shaft 46 has a threaded hole. The transverse rolling sheave shaft 46 passes through the inner ring of the fifth bearing 3401, the transverse rolling drive sheave 30, the third bushing 3002, and the inner ring of the first bearing 2306. The front end face of the threaded hole is fixed to the left end face of the inner ring of the first bearing 2306 by screws and washers. The transverse rolling sheave shaft 46 is axially fixed to the first bearing 2306 and the fifth bearing 3401 by a shoulder. The left end face of the third bushing 3002 is in contact with the right end face of the inner ring of the first bearing 2306, and the left end face of the transverse rolling drive sheave 30 is in contact with the right end face of the third bushing 3002.The rolling drive spool 30 and the rolling drive spool preload block 3001 are mounted on the rolling spool shaft 46 by screws. The second bearing 2307 is installed in the second bearing mounting hole 2303, and the sixth bearing 3402 is installed in the sixth bearing mounting hole 3408. The front end of the first wrist spool shaft 41 has a threaded hole. The first wrist spool shaft 41 passes through the wrist spool 36, the inner ring of the sixth bearing 3402, and the inner ring of the second bearing 2307. The front end face of the threaded hole is fixed to the left end face of the second bearing 2307 by screws and washers. The first wrist spool shaft 41 is axially fixed to the second bearing 2307 and the sixth bearing 3402 by a shoulder. The left end face of the wrist spool 36 is... The wrist reel 36 and the wrist reel preload block 3601 are mounted on the first wrist reel shaft 41 with screws. The third bearing 2308 is installed in the third bearing mounting hole 2304, and the seventh bearing 3403 is installed in the seventh bearing mounting hole 3409. The front end face of the second wrist reel shaft 42 is provided with a threaded hole. The second wrist reel shaft 42 passes through the wrist reel 36, the inner ring of the seventh bearing 3403, and the inner ring of the third bearing 2308. The front end face of the threaded hole is fixed to the left end face of the third bearing 2308 with screws and washers. The second wrist reel shaft 42 is axially fixed to the third bearing 2308 and the seventh bearing 3403 through the provided shoulder. The wrist reel 36... 6. The left end face fits against the shaft shoulder. The wrist thread pulley 36 and the wrist thread pulley preload block 3601 are mounted on the second wrist thread pulley shaft 42 by screws. The fourth bearing 2309 is installed in the fourth bearing mounting hole 2305, and the eighth bearing 3404 is installed in the eighth bearing mounting hole 3410. The front end of the clamping thread pulley shaft 46 has a threaded hole. The clamping thread pulley shaft 46 passes through the wrist thread pulley 36, the reverse wrist thread pulley 37, the inner ring of the eighth bearing 3404, and the inner ring of the fourth bearing 2309. The front end face of the threaded hole is fixed to the left end face of the fourth bearing 2309 by screws and washers. The clamping thread pulley shaft 46 is axially fixed to the fourth bearing 2309 and the eighth bearing 3404 by the provided shaft shoulder. The wrist thread pulley... The left end face of wheel 36 is in contact with the shoulder of the shaft. The reverse wrist wheel 37 is in contact with the top of the wrist wheel 36. The wrist wheel 36, the reverse wrist wheel 37, and the wrist wheel preload block 3601 are mounted on the clamping wheel shaft 46 with screws. The fiber optic guide seat 50 is mounted on the fiber optic guide seat mounting groove 3406 with screws. The bottom of the fiber optic guide seat 50 is in contact with the bottom of the fiber optic guide seat mounting groove 3406. The wrist guide wheel seat 40 is mounted on the wrist guide wheel seat mounting hole 3411 with screws. The wrist guide wheel seat 40 is provided with a wrist tension wheel mounting boss 4001 and a wrist guide wheel mounting boss 4002. The wrist tension wheel 35 is mounted on the wrist tension wheel mounting boss 4001.The first wrist guide wheel 44 is installed below the first wrist guide wheel mounting boss 4002, and the second wrist guide wheel 45 is installed below the first wrist guide wheel 44. The first wrist guide wheel 44 and the second wrist guide wheel 45 are connected to the first wrist guide wheel mounting boss 4002 by screws. The second wrist guide wheel seat 43 is installed on the second wrist guide wheel seat mounting hole 3412 by screws. The second wrist guide wheel seat 43 is provided with a second wrist tension wheel mounting boss 4301 and a second wrist guide wheel mounting boss 4302. The wrist tension wheel 35 is mounted on the second wrist tension wheel mounting boss 4301. The first wrist guide wheel 44 is mounted below the second wrist guide wheel mounting boss 4302. The second wrist guide wheel 45 is mounted below the first wrist guide wheel 44. The first wrist guide wheel 44 and the second wrist guide wheel 45 are connected to the second wrist guide wheel mounting boss 4302 by screws. The clamping tension wheel seat 47 is mounted on the clamping tension wheel seat mounting hole 3413 by screws. The clamping tension wheel seat 47 is provided with clamping... Tensioner wheel mounting boss 4701, clamping tensioner wheel 3501 is mounted on clamping tensioner wheel mounting boss 4701, clamping guide wheel seat 47 is mounted on clamping guide wheel seat mounting hole 3414, clamping guide wheel seat 48 is provided with clamping guide wheel mounting boss 4801, the left side of clamping guide wheel 2 4501 is in contact with the right side of clamping guide wheel mounting boss 4801, the left side of clamping guide wheel 1 4401 is in contact with the right side of clamping guide wheel 2 4501, clamping guide wheel 1 4401 and clamping guide wheel 2 4501 are in contact with each other. Guide wheel 4501 is connected to the clamping guide wheel mounting boss 4801 by screws. The four parallel isolation discs 38 are respectively and parallelly mounted on the end 46 of the transverse rolling thread wheel shaft 49, the first wrist thread wheel shaft 41, the second wrist thread wheel shaft 42, and the clamping thread wheel shaft by set screws. Each parallel isolation disc 38 has a parallel isolation disc drive boss 3801, and each female parallel isolation disc 39 has a parallel isolation disc drive groove 3901. The four female parallel isolation discs 39 are respectively mounted on the four parallel isolation discs 38.

[0110] By setting mounting bosses around the outer shell 29 of the transmission mechanism and fixing boss 2301 in the middle of the front mounting base 23, the installation method of the instrument shaft connection mechanism 6 is made simpler.

[0111] The design of the shoulders of the first support rod 32, the second support rod 33, the horizontal rolling wheel shaft 49, the first wrist wheel shaft 41, the second wrist wheel shaft 42, and the clamping wheel shaft 46 provides axial limiting for the transmission mechanism 7 while increasing overall stability.

[0112] By setting the wrist tension wheel mounting boss 4001, wrist guide wheel mounting boss 4002, wrist tension wheel mounting boss 4301, wrist guide wheel mounting boss 4302, clamping tension wheel mounting boss 4701, and wrist guide mounting boss 4801, the mounting positions of the wrist tension wheel 35, wrist guide wheel 44, wrist guide wheel 45, clamping tension wheel 3501, clamping guide wheel 4401, and clamping guide wheel 4501 are symmetrical and parallel, improving the smoothness of movement and avoiding interference.

[0113] The front mounting base 34, the rear mounting base 23, and the bearings provide stable support for the transmission mechanism 7, improving overall stability.

[0114] The quick-connect mechanism 8 includes a transmission part connecting shell 51, a drive part connecting shell 52, a parallel isolation disc support bearing 53, a fastening terminal 54, a fastening spring 55, and a lever 56. The transmission part connecting shell 51 is connected to the transmission mechanism housing 29 by screws. The transmission part connecting shell 51 has a parallel isolation disc support bearing mounting hole 5101 and a fastening terminal mounting hole 5102. The parallel isolation disc support bearing 53 is installed in the parallel isolation disc support bearing mounting hole 5101. The parallel isolation disc 38 passes through the inner ring of the parallel isolation disc support bearing 53. The fastening terminal 54 has a slot 5401 at the head and a tail thread 5402 at the tail. The fastening terminal 54 is installed into the fastening terminal mounting hole 5102 from the rear of the transmission part connecting shell 51 and fixed to the rear of the transmission part connecting shell 51 with a nut. The drive part connecting shell 52 has a lever mounting groove 5201 to ensure that the fastening terminal is properly secured. The paddle 56 can move a corresponding distance in the vertical direction. The drive part connecting shell 52 is provided with two fastening spring fixing bosses 5202. Two paddle buttons 5602 are installed at the head and bottom of the paddle to make quick switching more convenient. The paddle 56 is also provided with corresponding fastening spring fixing bosses 5202 and fastening slots 5601. A pair of fastening springs 55 are installed on the two sets of fastening spring fixing bosses 5202 by a pin. Under the action of the pair of fastening springs 55, the paddle 56 causes the fastening slot 5601 to press against the slot 5401 at the head of the fastening terminal 54. In addition, the drive part connecting shell 52 is provided with a parallel isolation disc support bearing mounting hole 2 5203. The parallel isolation disc support bearing 53 is installed in the parallel isolation disc support bearing mounting hole 2 5203. The female parallel isolation disc 39 passes through the inner ring of the parallel isolation disc support bearing mounting hole 2 5203, and the end of the female parallel isolation disc 39 is connected to the motor.

[0115] By setting up the quick-connect mechanism 8, the transmission mechanism 7 and the drive unit 9 can be aseptically separated. The design of the lever, fastening spring and fastening terminal is simple and efficient, enabling quick instrument changes during surgery.

[0116] The drive unit 9 includes a motor protective shell 57, a servo motor 58, a driver 59, a drive part housing 60, and an instrument rear cover 61. The motor protective shell 57 is connected to the drive part connecting shell 52 by screws. The motor protective shell 57 has a motor mounting hole 5701 and a paddle limiting boss 5702. The four motors 58 are mounted on the motor mounting hole 5701. The paddle limiting boss 5702 contacts the paddle 56 to restrict the axial movement of the paddle 56. The motor shaft is connected to the end of the female parallel isolation disc 39 by a set screw. The rear end face of the motor protective shell 57 and the front end face of the drive part housing 60 are connected by screws. The front end face of the drive part housing 60 also has a driver mounting hole 6001. The driver 59 is installed inside the drive part housing 60. The rear end face of the drive part housing 60 is connected to the front end face of the instrument rear cover 61 by screws.

[0117] By setting up a motor protective shell 59 and a drive part housing 60, the drive unit 9 is protected and its lifespan is improved. The rotation of the motor 58 is controlled by the driver 59, and the motor 58 transmits the rotation to the transmission mechanism 7, thereby realizing the four degrees of freedom of the instrument.

[0118] The rolling degree of freedom of the instrument shaft is achieved by winding two steel wires, one end of which is wound around a pair of rolling drive wheels 30, and the other end of which is wound around the rolling driven wheel 31. The rotational motion of the rolling drive wheels 30 is converted into the rotational motion of the rolling driven wheel 31 through the steel wires, thereby realizing the rolling motion of the instrument shaft.

[0119] In the wrist-degree-of-freedom winding method, one end of the first steel wire is wound around the wrist reel 36 on the second wrist reel shaft 42. The first steel wire passes over the upper groove of the wrist tension wheel 35 on the second wrist guide wheel seat 43, the first wrist guide wheel 44 on the second wrist guide wheel seat 43, passes through the rolling driven reel 31, the instrument shaft 5, and the wrist proximal winding hole 1803, and passes over the center winding groove 1703 on one side of the wrist and the end winding groove 1604 on one side of the wrist. The steel wire is fixed at the end of the wrist, and then passes through the proximal winding hole 1803, the instrument shaft 5, and the rolling driven reel 31 in sequence. It also passes over the second wrist guide wheel 45 on the first wrist guide wheel seat 40 and the lower groove of the wrist tension wheel 35 on the first wrist guide wheel seat 40. Finally, the other end of the first steel wire is wound around the wrist reel 36 on the first wrist reel shaft 41. The second steel wire... One end of the wire is wound around the wrist reel 36 on the second wrist reel shaft 42. The first wire passes through the lower groove of the wrist tension wheel 35 on the wrist guide wheel seat 43, the wrist guide wheel 45 on the wrist guide wheel seat 43, passes through the rolling driven reel 31, the instrument shaft 5, and the wrist proximal thread hole 1803, and passes through the other wrist center winding groove 1703 and the other wrist end winding groove 1604. The wire is wound around the wrist. The end is fixed, and then the wire passes through the proximal wrist cable hole 1803, the instrument shaft 5 and the rolling driven wire wheel 31 in sequence. It then passes around the wrist guide wheel 44 on the wrist guide wheel seat 40 and the upper wire groove of the wrist tension wheel 35 on the wrist guide wheel seat 40. Finally, the other end of the second wire is wound around the wrist wire wheel 36 on the first wrist wire wheel shaft 41. The pitch and yaw movements of the wrist mechanism are realized by using differential speed.

[0120] The clamp's opening and closing freedom is achieved by winding two steel wires, one end of which is wound around the wrist reel 36 and the reverse wrist reel 37, respectively. One steel wire passes over the left groove of the clamping tension wheel 3501 and the clamping guide wheel 4401, while the other steel wire passes over the right groove of the clamping tension wheel 3501 and the clamping guide wheel 4501. The other ends of the two steel wires pass through the rolling driven reel 31, the instrument shaft 5, the proximal wrist 18, the center of the wrist 17, and the distal wrist 16, and pass over the decoupling pulleys 19 and 20 in opposite directions. They are fixed in the upper clamp wire end fixing groove 1103 and the lower clamp wire end fixing groove 1203, respectively. The opening and closing movement of the clamp is controlled by the rotation of the wrist reel 36 and the reverse wrist reel 37.

[0121] In use, the system consists of six detection FBG optical fibers fixed to six fiber slots 1503 on the back of the three elastomer monoliths 15 for attaching the detection FBGs. These fibers pass sequentially through the detection FBG mounting holes 1607, wrist end 16, wrist center 17, wrist proximal end 18, and instrument shaft 5 of the six-dimensional force / torque sensor. The instrument is then led out through the fiber guide seat 50. A reference FBG grating is fixed inside the temperature sensor through-hole 1606 of the wrist end 16. A capillary tube is added outside the fiber. Temperature changes are reflected by detecting the strain caused by temperature changes in the capillary tube. The reference FBG optical fiber passes sequentially through the wrist end 16, wrist center 17, wrist proximal end 18, and instrument shaft 5, and is led out through the fiber guide seat 50. After being led out of the instrument, the six detection FBG optical fibers and the reference FBG optical fiber are connected to a fiber optic grating demodulator. The fiber optic grating demodulator can measure six-dimensional external force / torque by wavelength change.

[0122] In use, the seventh detection FBG optical fiber is fixed inside the elastic body 22 of the clamping force sensor at the head of the detection FBG mounting hole 2204. It passes sequentially through the elastic body 22 of the clamping force sensor, the wrist end 16, the wrist center 17, the proximal wrist 18, and the instrument shaft 5, and is led out of the instrument through the optical fiber guide seat 50. After exiting the instrument, the seventh detection FBG optical fiber is connected to a fiber optic demodulator, which measures the clamping force by the wavelength change.

[0123] When in use, the system moves the lever 56 up and down to overcome the pressure of the fastening spring 55, causing the fastening slot 5601 of the lever 56 to separate from the head slot 5401 of the fastening terminal 54, thus realizing the quick change function of the instrument.

[0124] When in use, the system utilizes the servo motor 58 to output a corresponding speed, which drives the horizontal rolling sheave shaft 46 to rotate through the flat isolation plate (mother) 39 and the parallel isolation plate 38, thereby driving the rotation of the horizontal rolling drive sheave 30. The two steel wires are transmitted through the horizontal rolling degree of freedom winding method, converting the rotational motion of the horizontal rolling drive sheave 30 into the rotational motion of the horizontal rolling driven sheave 31, thus realizing the horizontal rolling motion of the instrument shaft 5.

[0125] When in use, the system uses the servo motor 58 to output the corresponding speed, which drives the first wrist reel shaft 41 and the second wrist reel shaft 42 to rotate through the flat isolation plate (mother) 39 and the parallel isolation plate 38, thereby driving the wrist reel 36 to rotate. The steel wire is transmitted through the wrist degree of freedom winding method, and the wrist mechanism pitching and yaw motion is realized by using differential speed.

[0126] When in use, the system uses the servo motor 58 to output the corresponding speed, which drives the clamping wire wheel shaft 46 to rotate through the flat isolation plate (mother) 39 and the parallel isolation plate 38, thereby driving the wrist wire wheel 36 and the reverse wrist wire wheel 37 to rotate. The steel wire is transmitted through the clamp opening and closing degree of freedom winding method, thereby realizing the control of the opening and closing movement of the clamp 1.

Claims

1. A seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery, characterized in that, The device includes a clamp, a six-dimensional force / torque sensor, a clamping force detection unit, a wrist mechanism, an instrument shaft, an instrument shaft connection mechanism, a transmission mechanism, a quick-connect mechanism, and a drive unit. The rear end of the clamp is mounted on the front end of the six-dimensional force / torque sensor. The rear end of the clamping force detection unit is mounted inside the end of the wrist mechanism. The rear end of the six-dimensional force / torque sensor is mounted outside the end of the wrist mechanism. The proximal end of the wrist mechanism is mounted on the rear end of the instrument shaft. The rear end of the instrument shaft is mounted inside the instrument shaft connection mechanism. The instrument shaft connection mechanism is mounted on the front end of the transmission mechanism. The rear end of the transmission mechanism is mounted on the front end of the quick-connect mechanism. The rear end of the quick-connect mechanism is mounted on the front end of the drive unit. The four degrees of freedom of the instrument shaft (roll), the wrist mechanism (pitch and yaw), and the clamp (opening and closing) are transmitted via steel wire. The clamping force detection unit includes a first decoupling pulley, a second decoupling pulley, a decoupling pulley shaft, an elastic body of the clamping force sensor, and a detection FBG. The detection FBG optical fiber passes sequentially through the elastic body of the clamping force sensor, the wrist end, the wrist center, the wrist proximal end, and the instrument shaft, and is led out of the instrument through an optical fiber guide seat. The clamp's opening and closing freedom is achieved by winding two steel wires, one end of which is wound around the wrist reel and the reverse wrist reel, respectively. The other ends of the two steel wires pass through the rolling driven reel, the instrument shaft, the proximal end of the wrist, the center of the wrist, and the distal end of the wrist, and then pass around the decoupling pulley one and the decoupling pulley two in opposite directions. The opening and closing motion of the clamp is controlled by the rotation of the wrist reel and the reverse wrist reel. The clamp includes an upper clamp, a lower clamp, a clamp connecting shaft, and a clamp mounting base. The clamp mounting base has a through hole at its front end and a boss at its rear end. The upper clamp has an upper clamp torsion spring mounting groove and an upper clamp through hole, and also has an upper clamp wire end fixing groove for fixing the wire end. The lower clamp has a lower clamp torsion spring mounting groove and a lower clamp through hole, and also has a lower clamp for fixing the wire end. The clamp has a wire end fixing groove. The upper end face of the upper clamp is in contact with the inner surface of the clamp mounting base. The lower end face of the upper clamp is in contact with the upper end face of the lower clamp, and the through hole of the upper clamp is aligned with the through hole of the clamp mounting base. The lower end face of the lower clamp is in contact with the inner surface of the clamp mounting base, and the through hole of the lower clamp is aligned with the through hole of the clamp mounting base. The clamp connecting shaft is a cylindrical shaft that is installed through the through holes of the upper clamp, the lower clamp, and the clamp mounting base.

2. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 1, characterized in that, The six-dimensional force / torque sensor comprises three identical elastomer monoliths, six detection fiber optic cables (FBGs), and one reference FBG. The elastomer monoliths are evenly distributed at 120° angles around the instrument axis. The upper platform of each elastomer monolith is connected to the clamp mounting boss by screws, and the lower platform of each elastomer monolith is also connected to the mounting boss by screws. Each elastomer monolith has a connecting rod 1 and a connecting rod 2. The back of each connecting rod 1 and connecting rod 2 has fiber optic slots for attaching the detection FBGs. The six detection FBG fibers are fixed to the six fiber optic slots on the back of the three elastomer monoliths and pass sequentially through the detection FBGs of the six-dimensional force / torque sensor. The device is led out through a fiber optic guide via mounting holes, wrist distal end, wrist center, wrist proximal end, and device axis. The reference FBG is mounted on the temperature sensor through-hole at the wrist distal end. A capillary tube is added outside the fiber optic cable. Temperature changes are reflected by detecting the strain caused by temperature changes in the capillary tube. The reference FBG fiber passes sequentially through the wrist distal end, wrist center, wrist proximal end, and device axis, and is led out through the fiber optic guide via the device axis. The six detection FBG fibers and the reference FBG fiber are connected to a fiber optic demodulator after being led out of the device. The fiber optic demodulator can measure six-dimensional external forces / torques by wavelength changes.

3. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 1, characterized in that, The wrist mechanism includes a wrist end, a wrist center, and a wrist proximal end. The wrist end has a single-piece elastomer mounting boss and a central through hole at its head, and a wrist center mounting hole one at its tail. The wrist end also has a wrist end winding groove, a wrist stress relief groove, a temperature sensor through hole, and a detection FBG mounting hole for a six-dimensional force / torque sensor. The wrist center has a wrist center mounting shaft one and a wrist center mounting shaft two, and a wrist center winding groove. The wrist proximal end has a wrist center mounting hole two at its head, a wrist proximal end mounting boss at its tail, and a wrist proximal end wiring hole for wiring. The single-piece elastomer mounting boss is mounted on the end of the six-dimensional force / torque sensor. The wrist center mounting hole one is coaxially connected to the wrist center mounting shaft one, and the wrist center mounting hole two is coaxially connected to the wrist center mounting shaft two. The wrist proximal end mounting boss is mounted on the front end of the instrument shaft.

4. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 1, characterized in that, The decoupling pulley is designed to decouple the clamping force from the external force / torque, reducing the tension F of the clamp wire. c1 and F c2 Converted into clamping force, the two tension forces produce a component force along the axis of the instrument. f z ， The two component forces perpendicular to the axis cancel each other out. Since there is a certain distance between the points of application of the two component forces perpendicular to the axis, a torque is formed around the axis of the instrument. m z , component force f z and torque m z The output signal of the six-dimensional force / torque sensor will be compensated in the host computer software, and the force component will be calculated. f z The elastic body of the clamping force sensor deforms, and the deformation is detected by the FBG and led out to the fiber optic grating demodulator to measure the clamping force by the change in wavelength.

5. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 1, characterized in that, The instrument shaft and its connecting mechanism include an instrument shaft, a front mounting base, a first support bearing, a first bushing, a second support bearing, a second bushing, and a bearing retaining ring. The front mounting base has a central fixing boss and an internal stepped hole. It also has a first bearing mounting hole, a second bearing mounting hole, a third bearing mounting hole, and a fourth bearing mounting hole. The left end face of the outer ring of the first support bearing fits into the internal stepped hole of the front mounting base. The left end face of the first bushing fits into the right end face of the inner ring of the first support bearing. The left end face of the inner ring of the second support bearing fits into the right end face of the first bushing. The left end face of the second bushing fits into the right end face of the inner ring of the second support bearing. The left end face of the bearing retaining ring fits into the right end face of the outer ring of the second support bearing. The bearing retaining ring has four threaded holes and is connected to the front mounting base by screws. The instrument shaft passes through the first support bearing, the first bushing, the second support bearing, and the second bushing.

6. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 5, characterized in that, The transmission mechanism includes a transmission mechanism housing, a rolling active reel, a rolling active reel preload block, a third bushing, a rolling driven reel, a first bearing, a second bearing, a third bearing, a fourth bearing, a first support rod, a second support rod, a rear mounting base, a fifth bearing, a sixth bearing, a seventh bearing, an eighth bearing, a wrist tensioning wheel, a clamping tensioning wheel, a wrist reel, a reverse wrist reel, a parallel isolating disc, a female parallel isolating disc, a wrist guide wheel seat one, a first wrist reel shaft, a second wrist reel shaft, a wrist reel preload block, a wrist guide wheel seat two, a wrist guide wheel one, a wrist guide wheel two, a clamping guide wheel one, a clamping guide wheel two, a clamping guide wheel shaft, a clamping tensioning wheel seat, a clamping guide wheel seat, a rolling reel shaft, and an optical fiber guide seat. The housing has mounting bosses around its perimeter. The front face of the central fixed boss fits against the front face of the transmission mechanism housing. The edges of the front mounting base fit against the mounting bosses around the transmission mechanism housing. The rear mounting base has wire routing holes, fiber optic guide mounting slots, fifth bearing mounting holes, sixth bearing mounting holes, seventh bearing mounting holes, eighth bearing mounting holes, wrist guide wheel seat one mounting hole, wrist guide wheel seat two mounting holes, clamping tension wheel seat mounting holes, and clamping guide wheel seat mounting holes. The edges of the rear mounting base fit against the mounting bosses around the transmission mechanism housing. The first support rod and the second support rod are connected to the front and rear mounting bases by screws. The support rods provide axial positioning for the rear mounting base. The left end face of the rolling driven spool is in contact with the right end face of the second bushing. The end of the instrument shaft passes through the rolling driven spool. The rolling driven spool is circumferentially fixed to the instrument shaft by a set screw. The first bearing is installed in the first bearing mounting hole, and the fifth bearing is installed in the fifth bearing mounting hole. The front end of the rolling spool shaft has a threaded hole. The rolling spool shaft passes through the inner ring of the fifth bearing, the rolling driven spool, the third bushing, and the inner ring of the first bearing. The front end face of the threaded hole is fixed to the left end face of the inner ring of the first bearing by screws and washers. The rolling spool shaft is axially fixed to the first and fifth bearings by a shoulder. The left end face of the third bushing is in contact with the right end face of the inner ring of the first bearing. The rolling driven spool... The left end face is in contact with the right end face of the third bushing. The rolling drive pulley and the rolling drive pulley preload block are mounted on the rolling pulley shaft with screws. The second bearing is mounted in the second bearing mounting hole, and the sixth bearing is mounted in the sixth bearing mounting hole. The front end of the first wrist pulley shaft has a threaded hole. The first wrist pulley shaft passes through the wrist pulley, the inner ring of the sixth bearing, and the inner ring of the second bearing. The front end face of the threaded hole is fixed to the left end face of the second bearing with screws and washers. The first wrist pulley shaft is axially fixed to the second bearing and the sixth bearing through a shoulder. The left end face of the wrist pulley is in contact with the shoulder. The wrist pulley and the wrist pulley preload block are mounted on the first wrist pulley shaft with screws.The third bearing is installed in the third bearing mounting hole, the seventh bearing is installed in the seventh bearing mounting hole, the front end face of the second wrist reel shaft has a threaded hole, the second wrist reel shaft passes through the wrist reel, the inner ring of the seventh bearing and the inner ring of the third bearing, the front end face of the threaded hole is fixed to the left end face of the third bearing by screws and washers, the second wrist reel shaft is axially fixed to the third bearing and the seventh bearing by a provided shoulder, the left end face of the wrist reel fits against the shoulder, the wrist reel and the wrist reel preload block are installed on the second wrist reel shaft by screws, the fourth bearing is installed in the fourth bearing mounting hole, the eighth bearing is installed in the eighth bearing mounting hole, and the front end of the clamping reel shaft has A threaded hole is provided, through which the clamping spool shaft passes the wrist spool, the reverse wrist spool, the inner ring of the eighth bearing, and the inner ring of the fourth bearing. The front end face of the threaded hole is fixed to the left end face of the fourth bearing by screws and washers. The clamping spool shaft is axially fixed to the fourth and eighth bearings by a provided shoulder. The left end face of the wrist spool is in contact with the shoulder, and the reverse wrist spool is in contact with the top of the wrist spool. The wrist spool, the reverse wrist spool, and the wrist spool preload block are mounted on the wrist spool by screws. The fiber optic guide seat is mounted on the fiber optic guide seat mounting slot by screws, and the bottom of the fiber optic guide seat is in contact with the bottom of the fiber optic guide seat mounting slot. The first wrist guide wheel seat is mounted on the first wrist guide wheel seat mounting hole by screws. The first wrist guide wheel seat is provided with... A wrist tensioner mounting boss and a wrist guide wheel mounting boss are provided. The wrist tensioner is mounted on the wrist tensioner mounting boss, and the wrist guide wheel is mounted below the wrist guide wheel mounting boss. A second wrist guide wheel is mounted below the wrist guide wheel. The wrist guide wheel and the second wrist guide wheel are connected to the wrist guide wheel mounting boss by screws. A second wrist guide wheel seat is mounted on the wrist guide wheel seat mounting hole by screws. The second wrist guide wheel seat has a second wrist tensioner mounting boss and a second wrist guide wheel mounting boss. The wrist tensioner is mounted on the second wrist tensioner mounting boss, and the first wrist guide wheel is mounted below the second wrist guide wheel mounting boss. The second guide wheel is mounted below the first wrist guide wheel. The first and second wrist guide wheels are connected to the second wrist guide wheel mounting boss by screws. The clamping tension wheel seat is mounted on the clamping tension wheel seat mounting hole by screws. The clamping tension wheel seat has a clamping tension wheel mounting boss, and the clamping tension wheel is mounted on the clamping tension wheel mounting boss. The clamping guide wheel seat is mounted on the clamping guide wheel seat mounting hole, and the clamping guide wheel seat has a clamping guide wheel mounting boss. The left side of the second clamping guide wheel is in contact with the right side of the clamping guide wheel mounting boss, and the left side of the first clamping guide wheel is in contact with the right side of the second clamping guide wheel. The first and second clamping guide wheels are connected to the second clamping guide wheel mounting boss by screws.Four parallel isolation discs are respectively and parallelly mounted at the ends of the transverse rolling reel axle, the first wrist reel axle, the second wrist reel axle, and the clamping reel axle via set screws. Each parallel isolation disc has a parallel isolation disc drive boss, and each female parallel isolation disc has a parallel isolation disc drive groove. The four female parallel isolation discs are respectively mounted on the four parallel isolation discs.

7. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 6, characterized in that, The quick-connect mechanism includes a transmission part connecting shell, a drive part connecting shell, a parallel isolation disc support bearing, a fastening terminal, a fastening spring, and a lever. The transmission part connecting shell is connected to the transmission mechanism housing by screws. The transmission part connecting shell has a parallel isolation disc support bearing mounting hole and a fastening terminal mounting hole. The parallel isolation disc support bearing is installed in the parallel isolation disc support bearing mounting hole, and the parallel isolation disc passes through the inner ring of the parallel isolation disc support bearing. The fastening terminal has a slot at its head and a thread at its tail. The fastening terminal is installed into the fastening terminal mounting hole from the rear of the transmission part connecting shell and secured with a nut at the rear of the transmission part connecting shell. The drive part connecting shell has a lever mounting groove to ensure... The paddle can move a corresponding distance in the vertical direction. The drive part connecting shell is provided with two fastening spring fixing bosses. Two paddle buttons are installed at the head and bottom of the paddle for easier quick replacement. The paddle is also provided with corresponding fastening spring fixing bosses and fastening slots. A pair of fastening springs are installed on the two sets of fastening spring fixing bosses by a pin. Under the action of the pair of fastening springs, the paddle causes the fastening slot to press against the slot at the head of the fastening terminal. The drive part connecting shell is provided with a second parallel isolation disc support bearing mounting hole. The parallel isolation disc support bearing is installed in the second parallel isolation disc support bearing mounting hole. The female parallel isolation disc passes through the inner ring of the second parallel isolation disc support bearing mounting hole, and the end of the female parallel isolation disc is connected to the motor.

8. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 7, characterized in that, The drive unit includes a motor protective shell, a motor, a driver, a drive part housing, and an instrument rear cover. The motor protective shell is connected to the drive part housing by screws. The motor protective shell has motor mounting holes and a paddle limiting boss. Four motors are mounted on the motor mounting holes. The paddle limiting boss contacts the paddle to restrict the axial movement of the paddle. The motor shaft is connected to the end of the female parallel isolation disc by set screws. The rear end face of the motor protective shell and the front end face of the drive part housing are connected by screws. The front end face of the drive part housing also has a driver mounting hole. The driver is installed inside the drive part housing. The rear end face of the drive part housing is connected to the front end face of the instrument rear cover by screws.

9. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 6, characterized in that, The rolling degree of freedom of the instrument shaft is achieved by winding two steel wires, one end of which is wound on a pair of rolling drive spools, and the other end of which is wound on the rolling driven spools. The rotational motion of the rolling drive spools is converted into the rotational motion of the rolling driven spools through the steel wires, thereby realizing the rolling motion of the instrument shaft.

10. The seven-dimensional force-sensing surgical instrument for robot-assisted laparoscopic surgery according to claim 6, characterized in that, The wrist-wound method involves the first wire being wound around a wrist reel on the second wrist reel shaft. The first wire passes over the upper groove of the wrist tensioner on the second wrist guide wheel seat, the first wrist guide wheel on the second wrist guide wheel seat, through the rolling driven reel, the instrument shaft, and the proximal wrist routing hole. It then passes over a central wrist winding groove and a distal wrist winding groove on one side, where the wire is fixed at the wrist distal end. The wire then passes sequentially through the proximal wrist routing hole, the instrument shaft, and the rolling driven reel, and around the second wrist guide wheel on the first wrist guide wheel seat and the lower groove of the wrist tensioner on the first wrist guide wheel seat. Finally, the other end of the first wire is wound around a wrist reel on the first wrist reel shaft. The second wire... One end of the wire is wound around the wrist reel on the second wrist reel shaft. The first wire passes through the lower groove of the wrist tension wheel on the second wrist guide wheel seat, the second wrist guide wheel on the second wrist guide wheel seat, passes through the rolling driven reel, the instrument shaft, and the wrist proximal end wire hole, and passes through the other wrist center winding groove and the other wrist end winding groove. The wire is fixed at the wrist end, and then passes through the wrist proximal end wire hole, the instrument shaft, and the rolling driven reel in sequence. It passes through the first wrist guide wheel on the first wrist guide wheel seat and the upper groove of the wrist tension wheel on the first wrist guide wheel seat. Finally, the other end of the second wire is wound around the wrist reel on the first wrist reel shaft. The pitch and yaw movements of the wrist mechanism are achieved by using differential speed.

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