Pressure measurement module, pressure measurement method and surgical robot system

Abstract

The application provides a pressure measurement module, a pressure measurement method and a surgical robot system, the pressure measurement module comprising: a contact body, a base, a buffer connecting part, a first sensor and a second sensor; the contact body and the base are arranged apart along a first direction to form a first gap, and the contact body and the base are connected through the buffer connecting part; the buffer connecting part has a deformation characteristic parameter that changes linearly with stress, and the buffer connecting part deforms when the contact body is subjected to pressure from a first object and generates displacement along the first direction; the first sensor is used to obtain the change amount of the deformation characteristic parameter of the buffer connecting part due to deformation; the pressure measurement module is configured to obtain the stress borne by the buffer connecting part according to the change amount of the deformation characteristic parameter; the second sensor is arranged on the base and located in the first gap; the second sensor is used to obtain the pressure from the contact body; and the pressure data comprises the sum of the stress borne by the buffer connecting part and the pressure obtained by the second sensor.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a pressure measurement module, a pressure measurement method, and a surgical robot system. Background Technology

[0002] Existing soft tissue balance measurement devices, such as joint pressure measurement devices, generally have complex structural designs and produce large errors in the test results, making them inaccurate.

[0003] Some joint pressure measurement devices transmit joint pressure to sensors through structural deformation to measure pressure. Due to the nonlinearity of materials, when applied to force detection in different situations such as the knee joint, pressure values ​​are often calculated only through empirical formulas or calibration methods, resulting in large errors and insufficient accuracy in the detection results.

[0004] In addition, structural deformation will also offset some of the force, so that only a portion of the force is actually transmitted to the sensor, which further increases the error of the calculation results and reduces the detection accuracy. Summary of the Invention

[0005] The purpose of this invention is to provide a pressure measurement module, a pressure measurement method, and a surgical robot system to solve the problem that existing joint pressure measurement devices have large errors and are not accurate enough.

[0006] To solve the above-mentioned technical problems, the present invention provides a pressure measurement module for detecting pressure data between a first object and a second object. The pressure measurement module includes: a contact body, a base, a buffer connection part, a first sensor, and a second sensor.

[0007] The contact body and the base are arranged at intervals along a first direction to form a first gap, and the contact body and the base are connected through the buffer connection part;

[0008] The buffer connection has a deformation characteristic parameter that changes linearly with force. When the contact body is subjected to pressure from the first object and displaces along the first direction, the buffer connection deforms. The first sensor is used to acquire the amount of change of the deformation characteristic parameter of the buffer connection due to deformation. The pressure measurement module is configured to obtain the stress on the buffer connection based on the amount of change of the deformation characteristic parameter.

[0009] The second sensor is disposed on the base and located in the first gap; the second sensor is used to acquire the pressure from the contact body;

[0010] The pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor.

[0011] Optionally, the buffer connection includes an elastic element arranged extensibly along the first direction; the deformation characteristic parameter is the length of the elastic element along the first direction, and the first sensor is a displacement sensor.

[0012] Optionally, the elastic element is a spring, and the axis of the spring is arranged along the first direction;

[0013] The contact body and the base have receiving cavities arranged along the first direction, the spring is housed in the receiving cavity, and the two ends of the spring along the axial direction are respectively connected to the contact body and the base.

[0014] Optionally, the accommodating cavity includes a first section formed in the contact body and a second section formed in the base, and the displacement sensor includes a magnet and a Hall element, the magnet being disposed at the end of the first section away from the base, and the Hall element being disposed at the end of the second section away from the contact body.

[0015] Optionally, the pressure measurement module further includes a seal disposed in the first gap and connected to the base to seal the second sensor together with the base; the pressure of the contact body is transmitted to the second sensor through the seal.

[0016] Optionally, the seal has a through hole extending along a first direction for the buffer connection to pass through.

[0017] Optionally, the pressure measurement module further includes a circuit module disposed on the base, and the seal is also used to seal the circuit module together with the base.

[0018] Optionally, the buffer connection includes a hydraulic device or a pneumatic device, the deformation characteristic parameter is the pressure of the hydraulic device or the pneumatic device, and the first sensor is a pressure sensor.

[0019] Optionally, the pressure measurement module further includes a limiting component, which includes a first limiting part and a second limiting part. The first limiting part is disposed on the contact body, and the second limiting part is disposed on the base. The first limiting part and the second limiting part abut against each other to limit the axial travel of the contact body relative to the base along the first direction.

[0020] Optionally, the first limiting portion and the second limiting portion have a second gap in a second direction perpendicular to the first direction.

[0021] Optionally, one of the first limiting portion and the second limiting portion includes a screw or male thread, and the other includes a matching stepped hole or female thread.

[0022] To address the aforementioned technical problems, the present invention also provides a pressure measurement method for detecting pressure data between a first object and a second object, the pressure measurement method comprising:

[0023] The first sensor acquires the change in deformation characteristic parameters of the buffer connection due to deformation, wherein the buffer connection has deformation characteristic parameters that change linearly with force.

[0024] The stress on the buffer connection is obtained based on the change in the deformation characteristic parameters;

[0025] The pressure from the contact body is obtained through a second sensor;

[0026] The pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor.

[0027] Optionally, the buffer connection includes an elastic element, and the deformation characteristic parameter is the length of the elastic element. Then, the stress F1 on the buffer connection is ∑kxi, where xi is the change in the length of the elastic element, and k is the stiffness coefficient of the elastic element; or...

[0028] The buffer connection includes a hydraulic device or a pneumatic device, and the deformation characteristic parameter is the pressure of the hydraulic device or the pneumatic device. Then, the stress F1 on the buffer connection is ΔP*S, where ΔP is the change in pressure of the hydraulic device or the pneumatic device, and S is the contact area between the hydraulic device or the pneumatic device and the contact body.

[0029] To address the aforementioned technical problems, the present invention also provides a surgical robot system, which includes the pressure measurement module described above.

[0030] In summary, in the pressure measurement module, pressure measurement method, and surgical robot system provided by this invention, the pressure measurement module includes: a contact body, a base, a buffer connection, a first sensor, and a second sensor; the contact body and the base are arranged at intervals along a first direction to form a first gap, and the contact body and the base are connected through the buffer connection; the buffer connection has a deformation characteristic parameter that changes linearly with force, and the buffer connection deforms when the contact body is subjected to pressure from the first object and displaces along the first direction; the first sensor is used to acquire the change in the deformation characteristic parameter caused by the deformation of the buffer connection; the pressure measurement module is configured to obtain the stress on the buffer connection based on the change in the deformation characteristic parameter; the second sensor is disposed on the base and located in the first gap; the second sensor is used to acquire the pressure from the contact body; the pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor.

[0031] With this configuration, since the buffer connection has deformation characteristic parameters that change linearly with force, the change in these parameters caused by deformation can be obtained through the first sensor. This allows the stress on the buffer connection to be calculated based on the change in these parameters. Combined with the pressure of the contact body obtained by the second sensor, the pressure data between the first and second objects can be obtained. This ensures that a portion of the force offset by structural deformation is also detected and accounted for, effectively improving measurement accuracy. Furthermore, the pressure measurement module has a simple structure, simplifying design and manufacturing complexity, and also reducing the difficulty of the pressure measurement algorithm. Attached Figure Description

[0032] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0033] Figure 1 This is a schematic diagram illustrating an application scenario of the pressure measurement module according to an embodiment of the present invention;

[0034] Figure 2 This is a schematic diagram of the pressure measurement module according to an embodiment of the present invention;

[0035] Figure 3 This is a schematic diagram of the axial cross-section of the pressure measurement module along the first direction according to an embodiment of the present invention;

[0036] Figure 4 This is a schematic diagram of the assembly of the elastic element in the accommodating cavity according to an embodiment of the present invention;

[0037] Figure 5This is a schematic diagram of the elastic element and the first sensor according to an embodiment of the present invention;

[0038] Figure 6 This is a schematic diagram of the displacement change of the contact body along the first direction according to an embodiment of the present invention;

[0039] Figure 7 This is an assembly diagram of the contact body, seal, and base according to an embodiment of the present invention;

[0040] Figure 8 This is a schematic diagram of the contact body according to an embodiment of the present invention;

[0041] Figure 9 This is a schematic diagram of the sealing element according to an embodiment of the present invention;

[0042] Figure 10 This is a partial schematic diagram of the sealing element according to an embodiment of the present invention;

[0043] Figure 11 This is a schematic diagram of the assembly of the seal and the base according to an embodiment of the present invention;

[0044] Figure 12 This is a schematic diagram of the base and circuit module according to an embodiment of the present invention;

[0045] Figure 13 This is a partial cross-sectional schematic diagram of the base and circuit module according to an embodiment of the present invention;

[0046] Figure 14 This is a schematic diagram of a preferred example of the limiting component according to an embodiment of the present invention;

[0047] Figure 15 yes Figure 14 A magnified view of a portion of the limiting component;

[0048] Figure 16 This is a schematic diagram of another preferred example of the limiting component according to an embodiment of the present invention;

[0049] Figure 17 yes Figure 16 A magnified view of a portion of the limiting component. Detailed Implementation

[0050] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0051] As used in this invention, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding parts, which include not only endpoints. Furthermore, the terms "installed," "connected," and "attached," as used in this invention, and the term "set" on one element from another, should be interpreted broadly. They generally only indicate a connection, coupling, cooperation, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. They should not be construed as indicating or implying a spatial relationship between the two elements, meaning one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, and right are used relative to exemplary embodiments as shown in the figures, with upward or upper directions pointing towards the top of the corresponding figure, and downward or lower directions pointing towards the bottom of the corresponding figure.

[0052] The purpose of this invention is to provide a pressure measurement module and a surgical robot system to solve the problem that existing joint pressure measurement devices have large errors in the detection results, especially when pressure is applied to the tibia and femur from different directions, which is not accurate enough.

[0053] The following description refers to the accompanying drawings.

[0054] like Figures 1 to 3As shown, this embodiment of the invention provides a pressure measurement module for detecting pressure data between a first object 01 and a second object 02. The pressure measurement module includes: a contact body 1, a base 2, a buffer connection 3, a first sensor 4, and a second sensor 5. The contact body 1 and the base 2 are arranged at intervals along a first direction to form a first gap. The contact body 1 and the base 2 are connected by the buffer connection 3. The buffer connection 3 has a deformation characteristic parameter that changes linearly with force. When the contact body 1 is subjected to pressure from the first object 01 and displaces along the first direction, the buffer connection 3 deforms. The first sensor 4 is used to acquire the change in the deformation characteristic parameter of the buffer connection 3 caused by deformation. The pressure measurement module is configured to obtain the stress on the buffer connection 3 based on the change in the deformation characteristic parameter. The second sensor 5 is disposed on the base 2 and located in the first gap. The second sensor 5 is used to acquire the pressure from the contact body 1. The pressure data between the first object 01 and the second object 02 includes the sum of the stress on the buffer connection 3 and the pressure acquired by the second sensor 5.

[0055] In some applications, the first object 01 may be, for example, a femoral prosthesis, and the second object 02 may be, for example, a tibial prosthesis or the tibia. The contact body 1 is used to contact the first object 01, and the base 2 is used to contact the second object 02. That is, the pressure measurement module provided in this embodiment can be used to measure the pressure value between the joints and thereby determine the soft tissue balance and joint space balance. Of course, in other applications, the pressure measurement module of this embodiment is not limited to actual surgery; it can also be used in some knee joint prosthesis operation training or calibration applications. In this case, the pressure between the femoral and tibial prostheses can be provided by a mechanical device, and this invention is not limited to this.

[0056] For ease of explanation, the first direction is defined here as the axial direction of the tibia and femur when the leg is extended (i.e., the direction of the axis fitted when the leg is extended). Figures 1 to 3 The direction is roughly vertical. Research has shown that a buffer connection 3 is provided between the contact body 1 and the base 2 to connect them. This buffer connection 3 is generally configured with low hardness and stiffness, making it prone to deformation to minimize obstruction and loss of force transmission. However, no matter how low the hardness and stiffness of the buffer connection 3 are configured, it will still obstruct and consume force to some extent, and this is often difficult to statistically calculate, thus reducing the accuracy of force detection.

[0057] In this embodiment, the buffer connection 3 is configured to have a deformation characteristic parameter that changes linearly with the applied force. Thus, when the contact body 1 is subjected to pressure from the first object 01 and displaces along the first direction, the buffer connection 3 deforms. The first sensor 4 can then acquire the change in the deformation characteristic parameter of the buffer connection 3 caused by the deformation. Based on this change in the deformation characteristic parameter, the stress on the buffer connection 3 can be determined. Furthermore, combined with the pressure of the contact body 1 acquired by the second sensor 5, the pressure data between the first object 01 and the second object 02 can be obtained. This ensures that a portion of the stress offset by structural deformation is also detected and accounted for, effectively improving measurement accuracy. In addition, the pressure measurement module has a simple structure, simplifying the design and manufacturing complexity, and also reducing the difficulty of the pressure measurement algorithm.

[0058] In one embodiment, please refer to Figures 2 to 6 The buffer connection 3 includes an elastic element 31, which is scalably arranged along a first direction. The deformation characteristic parameter is the length of the elastic element 31 along the first direction. The first sensor 4 is a displacement sensor, which can acquire the change in the length of the elastic element 31 along the first direction. According to Hooke's theorem, within the elastic limit, the stress of an elastic object is proportional to its strain. Therefore, within the elastic limit, the change in the length of the elastic element 31 can reflect the stress it experiences.

[0059] Optional, please refer to Figure 4 and Figure 5 The elastic element 31 is a spring, with its axis arranged along a first direction. The contact body 1 and the base 2 have receiving cavities 6 arranged along the first direction, and the spring is housed in the receiving cavity 6. The two ends of the spring along the axial direction are respectively connected to the contact body 1 and the base 2. Preferably, the cross-sectional dimensions of the receiving cavity 6 are adapted to the outer contour dimensions of the spring, so that the spring can be restricted to a radial position when housed in the receiving cavity 6.

[0060] In one example, the accommodating cavity 6 includes a first section 61 formed in the contact body 1 and a second section 62 formed in the base 2. The displacement sensor includes a magnet 41 and a Hall effect sensor 42. The magnet 41 is disposed at the end of the first section 61 away from the base 2 (i.e., Figures 4 to 6 The Hall element 42 is located at the end of the second section 62 away from the contact body 1 (i.e., the upper end of the section). Figures 4 to 6 (the lower end of the middle).

[0061] Those skilled in the art will understand that the Hall element 42 can determine the distance between the magnet 41 and the Hall element 42 based on the magnetic field strength around the magnet 41. Preferably, the magnet 41 is fixed at the upper end of the first section 61, and the Hall element 42 is fixed at the lower end of the first section 61. When the contact body 1 is in its initial position without external force, the distance between the Hall element 42 and the magnet 41 is known. Therefore, the output of the Hall element 42 is also known. The arrangement of the first section 61 and the second section 62 allows the two ends of the spring to be limited axially by the first section 61 and the second section 62 respectively, preventing any end of the spring from shifting radially. This improves the detection accuracy of the Hall element 42.

[0062] Furthermore, in one example, one of the contact body 1 and the base 2 has a first cavity 11 disposed along a first direction, and the other has a matching first protrusion 21. The first protrusion 21 can engage with the first cavity 11, thereby limiting the radial position of both the contact body 1 and the base 2. That is, when the first protrusion 21 engages with the first cavity 11, it can guide the contact body 1 to move relative to the base 2 along the first direction, preventing the contact body 1 from shifting relative to the base 2. It should be noted that the first protrusion 21 and the first cavity 11 are not tightly fitted; there may be a slight gap between them in the radial direction to avoid hindering the movement of the contact body 1.

[0063] Please refer to Figure 6 , Figure 6 The dashed line represents the initial position of contact body 1 when it is not subjected to external force. When contact body 1 is subjected to pressure from the first object 01, it will displace towards the base 2. Figure 6 The solid line in the figure represents the position of the contact body 1 when it is subjected to pressure from the first object 01. It is understood that since the magnet 41 is fixed at the upper end of the first section 61, when the contact body 1 is displaced under pressure, the magnet 41 will move along with it. The Hall element 42 can thus detect the displacement change of the magnet 41, and based on the change in the output of the Hall element 42, the change in the distance between the Hall element 42 and the magnet 41 can be calculated. The change in the distance between the Hall element 42 and the magnet 41 is also the change in the length of the spring. Furthermore, the change in the length of the spring can reflect the stress it experiences. Of course, the displacement sensor is not limited to including the Hall element 42 and the magnet 41. In other embodiments, the displacement sensor may also include other types of sensing components, such as eddy current sensing components, capacitive sensing components, etc., all of which can achieve the function of displacement detection.

[0064] Optionally, to make the force transmitted from the contact body 1 to the base 2 more uniform, the buffer connection 3 includes at least two elastic elements 31, and the stiffness coefficient of all elastic elements 31 is preferably the same. Let the stiffness coefficient of each elastic element 31 be k, and the change in length of each elastic element 31 be x, then the sum of the changes in length of all elastic elements 31 is ∑xi (i is the number of elastic elements 31), and the stress F1 on the buffer connection 3 is ∑kxi.

[0065] Furthermore, the second sensor 5 is, for example, a force sensor, which can be fixedly mounted on the base 2 and can detect the pressure from the contact body 1. Let the pressure detected by the second sensor 5 be F2. Then, it can be seen that the pressure between the first object 01 and the second object 02 (i.e., the actual pressure between the joints) is the sum of the stress F1 on the buffer connection 3 and the pressure F2 detected by the second sensor 5. That is, the pressure between the first object 01 and the second object 02 is F = F1 + F2.

[0066] Please refer to Figures 4 to 13 Optionally, the pressure measurement module also includes a seal 7, which is disposed in the first gap and connected to the base 2 to seal the second sensor 5 together with the base 2; the pressure of the contact body 1 is transmitted to the second sensor 5 through the seal 7. The seal 7 is located in the first gap, and the material of the seal 7 can be silicone or TPU, etc. The seal 7 can be connected to the base 2 by means of adhesive (such as silicone glue), welding (such as high frequency welding), or fusion, thereby sealing the second sensor 5 to prevent the second sensor 5 from being contaminated by external liquids. Preferably, the seal 7 includes a pressure equalization area 71, which can be a flat plate-shaped area whose shape is approximately the same as the shape of the opposite surfaces of the second sensor 5 and the contact body 1. The thickness of the pressure equalization area 71 is preferably greater than the thickness of other areas of the seal 7. When the contact body 1 is compressed, the pressure equalization area 71 abuts against the contact body 1 and the second sensor 5 on both sides along the first direction, respectively. Furthermore, the Shore hardness of the pressure equalization zone 71 is no greater than 90, for example, around 80. The pressure equalization zone 71 can distribute the transmitted pressure of the contact body 1 evenly on the second sensor 5 through its own deformation, thereby further improving the measurement accuracy.

[0067] The seal 7 has a through hole 72 extending along a first direction, through which the buffer connection 3 passes. It is understood that the seal 7 itself has a certain degree of flexibility, and since it is sandwiched between the contact body 1 and the base 2, if the buffer connection 3 is located on one side of the seal 7 (i.e., according to the connection relationship of contact body 1 ~ buffer connection 3 ~ seal 7 ~ base 2), then when the buffer connection 3 is under force, a certain stress will inevitably be generated on the seal 7. This stress is difficult to measure and will reduce measurement accuracy. Therefore, a through hole 72 can be opened on the seal 7 so that the buffer connection 3 passes through it. In this way, the seal 7 will not affect the force on the buffer connection 3, thereby reducing or avoiding the impact on measurement accuracy. Furthermore, in some embodiments, the accommodating cavity 6 is divided into a first section 61 and a second section 62. In such scenarios, it is even more necessary to open a through hole 72 on the seal 7 so that both ends of the spring can easily enter the first section 61 and the second section 62. Preferably, the inner diameter of the through hole 72 is larger than the outer diameter of the spring to avoid interference with the spring.

[0068] Please refer to Figures 7 to 13 Optionally, the pressure measurement module also includes a circuit module 8, which is mounted on the base 2. The seal 7 is also used to seal the circuit module 8 together with the base 2. Figure 8 As shown, in an alternative example, the contact body 1 has a second recess 12 facing the base 2, adapted as follows: Figure 9 and Figure 10 As shown, the seal 7 includes a circuit accommodating region 73, which is a hollow area whose shape is approximately adapted to the second recess 12. Understandably, the circuit accommodating region 73 is a boss-shaped structure relative to the base 2, and its interior, together with the base 2, forms a circuit accommodating cavity 74. Please refer to... Figure 7 , Figures 11 to 13 The circuit module 8 is disposed on the base 2 and housed in the circuit accommodating cavity 74, and is sealed together with the sealing member 7 and the base 2 to prevent contamination by external liquids. It should be noted that the shape of the protrusion of the circuit accommodating area 73 is roughly similar to the internal shape of the second recess 12, but the two are not completely fitted together; rather, there is a certain gap to avoid obstructing the movement of the contact body 1. Optionally, the base 2 also has a groove 22, which connects the circuit accommodating cavity 74 and the second section 62, and is used to house the connecting cable of the Hall element 42. That is, the connecting cable of the Hall element 42 can extend into the circuit accommodating cavity 74 through the groove 22 and connect to the circuit module 8. The circuit module 8 includes, for example, a battery, a wireless transmission unit, a signal processing unit, etc., which can be configured by those skilled in the art according to existing technology; this embodiment will not elaborate further.

[0069] Optional, please refer to Figures 14 to 17The pressure measurement module also includes a limiting component 9, which includes a first limiting part 91 and a second limiting part 92. The first limiting part 91 is disposed on the contact body 1, and the second limiting part 92 is disposed on the base 2. The first limiting part 91 and the second limiting part 92 abut against each other to limit the axial travel of the contact body 1 relative to the base 2 in the first direction.

[0070] Optional, such as Figure 14 and Figure 15 As shown, one of the first limiting part 91 and the second limiting part 92 includes a screw 911, and the other includes a matching stepped hole 921. In one example, the base 2 has a stepped hole 921, which has an adjacent large stepped area 9211 and a small stepped area 9212 along a first direction. The small stepped area 9212 is located on the side closer to the contact body 1. The screw 911 passes through the stepped hole 921 and is driven into the contact body 1 to achieve a fixed connection with the contact body 1. The screw 911 has an adjacent screw head 9111 and a screw body 9112 along the first direction. The screw body 9112 can pass through the small stepped area 9212, and the screw head 9111 can pass through the large stepped area 9211, but is blocked by the end face 9213 of the large stepped area 9211 and cannot pass through the small stepped area 9212. Preferably, after the screw 911 is installed on the contact body 1 and the screw cap 9111 penetrates the large step area 9211, the opening of the large step area 9211 away from the small step area 9212 can be closed by the cap 9214. Figure 15 (The lower end of the large step area 9211 is in the middle). When the contact body 1 is in its initial position without external force, there is a gap between the screw cap 9111 and the cover 9214 to allow the contact body 1 to move freely in the first direction. Optionally, the travel of the contact body 1 away from the base 2 is limited by the abutment of the end face 9213 against the screw cap 9111. Of course, it is understood that in other embodiments, the second limiting part 92 may include the screw 911, while the first limiting part 91 may include a matching stepped hole 921, in which case the connection relationship between the screw 911 and the stepped hole 921 is the same as that between the screw 911 and the step hole 921. Figure 14 and Figure 15 The example shown is the opposite, but the principle is similar, so it will not be repeated here.

[0071] Furthermore, the first limiting part 91 and the second limiting part 92 have a second gap in a second direction perpendicular to the first direction. Figure 14 and Figure 15In the illustrated example, the inner diameter of the small step area 9212 is larger than the outer diameter of the nail body 9112, creating a second gap between the nail body 9112 and the inner wall of the small step area 9212. This gap reduces or avoids obstruction and interference to the movement of the contact body 1, thereby reducing or avoiding impact on measurement accuracy. Optionally, the through hole 72 of the seal 7 can also be used for the screw 911 to pass through. That is, the seal 7 includes multiple through holes 72, some of which are used for the buffer connection 3 to pass through, and others are used for the screw 911 to pass through.

[0072] Optional, such as Figure 16 and Figure 17 As shown, in another embodiment, one of the first limiting portion 91 and the second limiting portion 92 includes a male buckle 912, and the other includes a matching female buckle 922. The male buckle 912 and the female buckle 922 are a set of snap-fit ​​components capable of engaging with each other along a first direction. In an alternative example, the male buckle 912 is disposed on the base 2, for example, it can be integrally formed with the base 2, or it can be connected to the base 2 by means of adhesive or screw fixation. The female buckle 922 is disposed on the contact body 1. Further, after the male buckle 912 and the female buckle 922 engage with each other, the travel of the contact body 1 away from the base 2 can be restricted by abutting against each other. However, the engagement of the male buckle 912 and the female buckle 922 does not restrict the movement of the contact body 1 toward the base 2. Furthermore, a second gap is formed between the inner sidewall of the male buckle 912 and the outer flange of the female buckle 922, which can reduce or avoid obstruction and interference to the movement of the contact body 1, thereby reducing or avoiding the impact on measurement accuracy.

[0073] In other embodiments, the buffer connection 3 includes a hydraulic or pneumatic device, the deformation characteristic parameter being the pressure of the hydraulic or pneumatic device, and the first sensor 4 is a pressure sensor. The hydraulic or pneumatic device is telescopically connected to the contact body 1 and the base 2 along a first direction. The specific structure of the hydraulic or pneumatic device can be found in the prior art and will not be described in detail here. It is understood that the hydraulic or pneumatic device has a fixed contact area with the contact body 1. When the contact body 1 moves along the first direction, the pressure on the hydraulic or pneumatic device will change accordingly, and the amount of pressure change reflects the amount of stress change on the hydraulic or pneumatic device.

[0074] In one example, when the contact body 1 is in its initial position without external force, the initial pressure on the hydraulic or pneumatic device is P1. When the contact body 1 is subjected to pressure from the first object 01, it will displace towards the base 2, and the pressure on the hydraulic or pneumatic device will change accordingly. Let the pressure on the hydraulic or pneumatic device when the contact body 1 is pressed and moves to a certain position be P2, and the change in pressure ΔP = P2 - P1. Then the stress F1 on the buffer connection 3 is F1 = ΔP * S, where S is the contact area between the hydraulic or pneumatic device and the contact body 1. Let the pressure detected by the second sensor 5 be F2, then the pressure between the first object 01 and the second object 02 is F = F1 + F2.

[0075] Based on the pressure measurement module described above, this embodiment of the invention also provides a surgical robot system, which includes the pressure measurement module described above. Other components and structures of the surgical robot system can be found in the prior art, and will not be described in detail here.

[0076] This invention also provides a pressure measurement method for detecting pressure data between a first object 01 and a second object 02. The pressure measurement method includes:

[0077] Step S1: The first sensor 4 is used to obtain the change in deformation characteristic parameters of the buffer connection part 3 caused by deformation, wherein the buffer connection part 3 has deformation characteristic parameters that change linearly with force.

[0078] Step S2: Obtain the stress on the buffer connection 3 based on the change in deformation characteristic parameters;

[0079] Step S3: Obtain the pressure from the contact body 1 using the second sensor 5;

[0080] Step S4: The pressure data between the first object 01 and the second object 02 includes the sum of the stress on the buffer connection 3 and the pressure obtained by the second sensor 5.

[0081] Further optionally, when the buffer connection 3 includes an elastic element 31, the deformation characteristic parameter is the length of the elastic element 31, then the stress F1 on the buffer connection 3 is ∑kxi, where xi is the change in the length of the elastic element 31 and k is the stiffness coefficient of the elastic element 31.

[0082] Optionally, the buffer connection 3 includes a hydraulic or pneumatic device, and the deformation characteristic parameter is the pressure of the hydraulic or pneumatic device. Then, the stress F1 on the buffer connection 3 is F1 = ΔP*S, where ΔP is the change in pressure of the hydraulic or pneumatic device, and S is the contact area between the hydraulic or pneumatic device and the contact body 1. The principles of each step in the above pressure measurement method can be found in the previous explanation of the pressure measurement module, and will not be repeated here.

[0083] This invention also provides a readable storage medium storing a program that, when executed, implements the steps of the pressure measurement method described above. This readable storage medium can be integrated into the circuit module 8 or externally mounted; this embodiment is not limited to either.

[0084] In summary, in the pressure measurement module, pressure measurement method, and surgical robot system provided by this invention, the pressure measurement module includes: a contact body, a base, a buffer connection, a first sensor, and a second sensor; the contact body and the base are arranged at intervals along a first direction to form a first gap, and the contact body and the base are connected by the buffer connection; the buffer connection has a deformation characteristic parameter that changes linearly with force, and the buffer connection deforms when the contact body is subjected to pressure from a first object and displaces along the first direction; the first sensor is used to acquire the change in the deformation characteristic parameter of the buffer connection caused by the deformation; the pressure measurement module is configured to obtain the stress on the buffer connection based on the change in the deformation characteristic parameter; the second sensor is disposed on the base and located in the first gap; the second sensor is used to acquire the pressure from the contact body; the pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor. This configuration, due to the linearly changing deformation characteristic parameters of the buffer connection, allows the first sensor to capture the change in these parameters caused by deformation. This change in deformation characteristic parameters enables the determination of the stress on the buffer connection. Combined with the pressure data of the contact body acquired by the second sensor, the pressure data between the first and second objects is obtained. This ensures that a portion of the force offset by structural deformation is also detected and accounted for, effectively improving measurement accuracy. Furthermore, the pressure measurement module has a simple structure, simplifying design and manufacturing complexity, as well as the difficulty of the pressure measurement algorithm.

[0085] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A pressure measurement module for detecting pressure data between a first object and a second object, characterized in that, The pressure measurement module includes: a contact body, a base, a buffer connection, a first sensor, and a second sensor; The contact body and the base are arranged at intervals along a first direction to form a first gap, and the contact body and the base are connected through the buffer connection part; The buffer connection has a deformation characteristic parameter that changes linearly with force. When the contact body is subjected to pressure from the first object and displaces along the first direction, the buffer connection deforms. The first sensor is used to acquire the amount of change of the deformation characteristic parameter of the buffer connection due to deformation. The pressure measurement module is configured to obtain the stress on the buffer connection based on the amount of change of the deformation characteristic parameter. The second sensor is disposed on the base and located in the first gap; the second sensor is used to acquire the pressure from the contact body; The pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor.

2. The pressure measurement module according to claim 1, characterized in that, The buffer connection includes an elastic element that is scalably arranged along the first direction; the deformation characteristic parameter is the length of the elastic element along the first direction, and the first sensor is a displacement sensor.

3. The pressure measurement module according to claim 2, characterized in that, The elastic element is a spring, and the axis of the spring is arranged along the first direction; The contact body and the base have receiving cavities arranged along the first direction, the spring is housed in the receiving cavity, and the two ends of the spring along the axial direction are respectively connected to the contact body and the base.

4. The pressure measurement module according to claim 3, characterized in that, The accommodating cavity includes a first section formed in the contact body and a second section formed in the base. The displacement sensor includes a magnet and a Hall element. The magnet is disposed at the end of the first section away from the base, and the Hall element is disposed at the end of the second section away from the contact body.

5. The pressure measurement module according to claim 1, characterized in that, The pressure measurement module further includes a seal, which is disposed in the first gap and connected to the base to seal the second sensor together with the base; the pressure of the contact body is transmitted to the second sensor through the seal.

6. The pressure measurement module according to claim 5, characterized in that, The seal has a through hole extending along a first direction, the through hole being used for the buffer connection portion to pass through.

7. The pressure measurement module according to claim 5, characterized in that, The pressure measurement module also includes a circuit module, which is disposed on the base, and the sealing element is also used to seal the circuit module together with the base.

8. The pressure measurement module according to claim 1, characterized in that, The buffer connection includes a hydraulic device or a pneumatic device, the deformation characteristic parameter is the pressure of the hydraulic device or the pneumatic device, and the first sensor is a pressure sensor.

9. The pressure measurement module according to claim 1, characterized in that, The pressure measurement module further includes a limiting component, which includes a first limiting part and a second limiting part. The first limiting part is disposed on the contact body, and the second limiting part is disposed on the base. The first limiting part and the second limiting part abut against each other to limit the axial travel of the contact body relative to the base along the first direction.

10. The pressure measurement module according to claim 9, characterized in that, The first limiting part and the second limiting part have a second gap in a second direction perpendicular to the first direction.

11. The pressure measurement module according to claim 9, characterized in that, One of the first limiting part and the second limiting part includes a screw or male thread, and the other includes a matching stepped hole or female thread.

12. A pressure measurement method, using the pressure measurement module as described in any one of claims 1 to 11, for detecting pressure data between a first object and a second object, characterized in that, include: The first sensor acquires the change in deformation characteristic parameters of the buffer connection due to deformation, wherein the buffer connection has deformation characteristic parameters that change linearly with force. The stress on the buffer connection is obtained based on the change in the deformation characteristic parameters; The pressure from the contact body is obtained through a second sensor; The pressure data between the first object and the second object includes the sum of the stress on the buffer connection and the pressure acquired by the second sensor.

13. The pressure measurement method according to claim 12, characterized in that, The buffer connection includes an elastic element, and the deformation characteristic parameter is the length of the elastic element. Therefore, the stress on the buffer connection is... ,in The change in the length of the elastic element. The stiffness coefficient of the elastic element; or The buffer connection includes a hydraulic device or a pneumatic device, and the deformation characteristic parameter is the pressure of the hydraulic device or the pneumatic device, then the stress on the buffer connection is... ,in This refers to the change in pressure of the hydraulic or pneumatic device. The contact area between the hydraulic or pneumatic device and the contact body.

14. A surgical robot system, characterized in that, Includes the pressure measurement module according to any one of claims 1 to 11.

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