Surgical forceps with force feedback function

Abstract

The present disclosure relates to the technical field of medical instruments, in particular to a surgical forceps with force feedback function, which comprises a fixing support assembly, a driving assembly, a working catheter, a forceps assembly and a sensor assembly; the sensor assembly comprises a first force sensor and a second force sensor; the first force sensor is used for measuring the stress condition of the first end of the working catheter; and the second force sensor is used for measuring the stress condition of the first end of the forceps assembly. The technical scheme of the present disclosure can improve the accuracy of force feedback of the surgical forceps, reduce the surgical risk, reduce the error in the operation process of the surgical forceps, and reduce the coupling degree between the surgical forceps and the control end, so as to facilitate the replacement and sterilization of the surgical forceps.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, specifically to a surgical forceps with force feedback function. Background Technology

[0002] Minimally invasive surgery is a common treatment for eye diseases. For example, in cases of macular degeneration, doctors need to remove the epiretinal membrane using minimally invasive surgery. Because the epiretinal membrane is an extremely thin membrane, the surgical procedure may damage macular cells, requiring a high level of experience and skill from the surgeon.

[0003] Therefore, introducing surgical robots into minimally invasive surgery can help improve the precision and safety of the procedure. However, existing technologies have the following drawbacks: First, when rotating the surgical forceps, the control unit or other auxiliary devices (such as a fixation frame, outer sheath, etc.) need to be rotated together, which may cause damage to the eye tissue and increase surgical risks. Second, the surgical forceps and control unit (including the robotic arm and micro-control motors, etc.) have a high degree of coupling, making the replacement and sterilization of the forceps inconvenient. Third, due to unreasonable force sensor settings, the force feedback sensed by the control unit is inconsistent with the actual resistance of the surgical forceps, posing potential surgical risks. Summary of the Invention

[0004] To address the problems in the related technologies, this disclosure provides a surgical forceps with force feedback function.

[0005] In a first aspect, this disclosure provides a surgical forceps with force feedback function, comprising:

[0006] The fixed support assembly, drive assembly, working guide tube, tweezers assembly, and sensor assembly are characterized by:

[0007] The fixing bracket assembly is used to fix the drive assembly and the working conduit;

[0008] The working conduit is fixed to the drive assembly and is used to accommodate the tweezers assembly;

[0009] The forceps assembly passes through the working conduit, a first end of the forceps assembly is connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extends from the second end of the working conduit;

[0010] Driven by the drive assembly, the working guide tube can slide relative to the tweezers assembly to control the opening and closing of the second end of the tweezers assembly, and can rotate together with the tweezers assembly about the axis of the working guide tube;

[0011] The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the tweezers assembly.

[0012] Furthermore, the measurement results of the force conditions at the first end of the working conduit include the force measurement value and torque measurement value at the first end of the working conduit;

[0013] The measurement results of the force on the first end of the tweezers assembly include the force measurement value and torque measurement value of the first end of the tweezers assembly.

[0014] Furthermore, the force and torque measurements at the first end of the working conduit, and the force and torque measurements at the first end of the tweezers assembly, are used to calculate the actual force F and actual torque M experienced by the second end of the tweezers assembly.

[0015] Furthermore, the actual forces F in the X, Y, and Z directions experienced by the second end of the tweezers assembly... x F y F z and torque M x M y M z The solution method is as follows:

[0016]

[0017] Where Z represents the direction of the working catheter axis. The torque in the X-axis direction measured by the first force sensor. The torque in the Y-axis direction measured by the first force sensor. The Z-axis torque measured by the first force sensor The torque in the Z-axis direction is measured by the second force sensor. The force in the X-axis direction measured by the first force sensor. The force in the Y-axis direction measured by the first force sensor. The force in the Z-axis direction measured by the first force sensor. The force along the Z-axis is measured by the second force sensor, and f is a function mapping from the force measured by the first force sensor to the true torque at the second end of the tweezers assembly, with its inverse mapping being f -1 The function mapping f is a mapping between the torque measured from the first force sensor and the actual force at the second end of the tweezers assembly. This mapping is approximately expressed as f(x) = x·L. -1 It is approximately expressed as f(y) = y / L, where L is the length of the working conduit. The function mapping is solved using structural mechanics analysis and finite element analysis.

[0018] Furthermore, the drive assembly includes a working conduit support, a rotating support, and a transmission rod, with the rotating support located at one end of the transmission rod near the working conduit;

[0019] The working catheter support head has a first through hole at its radial center;

[0020] The working conduit support is provided with a boss and a protrusion at the tail end in sequence;

[0021] The rotating bracket is provided with at least one second through hole, and the protruding rod passes through the second through hole and is connected to the transmission rod;

[0022] The working conduit is a hollow conduit that passes through and is fixed at the first through hole at the head of the working conduit support.

[0023] Furthermore, the tweezers assembly includes a tweezers head and a long rod, one end of which is connected to the tweezers head, and the other end extends out of the first end of the working conduit and is connected to the rotating bracket.

[0024] Furthermore, the first force sensor is disposed at the first end of the working conduit, and the second force sensor is disposed at the first end of the tweezers assembly.

[0025] Furthermore, the fixing bracket assembly includes a fixing bracket and a limiting sleeve. The fixing bracket is a hollow column used to accommodate and fix the driving component, working guide tube, tweezers assembly, and sensor assembly.

[0026] The limiting sleeve is disposed inside the fixed bracket, located between the working guide tube and the rotating bracket, and the protruding rod passes through the limiting sleeve.

[0027] Furthermore, the surgical forceps with force feedback function also includes an elastic component; the elastic component includes an elastic component seat and an elastic component, the elastic component seat is disposed at the first end of the fixed bracket, the first end of the elastic component seat is fixedly connected to the elastic component, the second end of the elastic component seat has a second protrusion, the second protrusion is inserted into the first end of the fixed bracket and can cause the elastic component seat to rotate relative to the fixed bracket; the elastic component seat has a second through hole in the center, the second through hole cooperates with the parallel surface provided on the side of the transmission rod, so that the elastic component seat rotates with the transmission rod; the two ends of the elastic component are respectively fixedly connected to the elastic component seat and the transmission rod.

[0028] Furthermore, the first end of the transmission rod is provided with a locking component, the locking component including at least a pair of parallel end faces and a circular groove extending in a direction that is not parallel to the axial direction of the transmission rod.

[0029] Secondly, this disclosure provides a method for calculating the force of surgical forceps with force feedback function. The surgical forceps includes: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly. The fixation bracket assembly is used to fix the drive assembly and the working conduit. The working conduit is fixed to the drive assembly and is used to accommodate the forceps assembly. The forceps assembly passes through the working conduit, and a first end of the forceps assembly is connected to the drive assembly via the first end of the working conduit. A second end of the forceps assembly extends from the second end of the working conduit. Under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the forceps assembly.

[0030] The method includes:

[0031] The force measurement results at the first end of the working conduit are obtained from the first force sensor;

[0032] The force measurement results of the first end of the tweezers assembly are obtained from the second force sensor;

[0033] Based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly, the actual force F and actual torque M of the second end of the tweezers assembly are calculated.

[0034] Thirdly, this disclosure provides a force calculation device for surgical forceps with force feedback function. The surgical forceps includes: a fixing bracket assembly, a driving assembly, a working conduit, a forceps assembly, and a sensor assembly. The fixing bracket assembly is used to fix the driving assembly and the working conduit. The working conduit is fixed to the driving assembly and is used to accommodate the forceps assembly. The forceps assembly passes through the working conduit, and a first end of the forceps assembly is connected to the driving assembly via the first end of the working conduit. A second end of the forceps assembly extends from the second end of the working conduit. Under the drive of the driving assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the forceps assembly.

[0035] The device includes:

[0036] The first acquisition module is configured to acquire the force measurement result of the first end of the working conduit from the first force sensor;

[0037] The second acquisition module is configured to acquire the force measurement result of the first end of the tweezers assembly from the second force sensor;

[0038] The calculation module is configured to calculate the actual force F and actual torque M at the second end of the tweezers assembly based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly.

[0039] Fourthly, this disclosure provides an electronic device, characterized in that it includes a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the above-described method steps.

[0040] Fifthly, this disclosure provides a computer-readable storage medium storing computer instructions, characterized in that the computer instructions, when executed by a processor, implement the above-described method steps. According to the technical solution provided in this disclosure, a surgical forceps with force feedback function is provided, comprising: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly; the fixation bracket assembly is used to fix the drive assembly and the working conduit; a first end of the working conduit is connected to the drive assembly; the forceps assembly passes through the working conduit, the first end of the forceps assembly is connected to the drive assembly, and a second end of the forceps assembly extends from the second end of the working conduit; under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit; the sensor assembly includes a first force sensor and a second force sensor, the first force sensor being used to measure the force on the first end of the working conduit, and the second force sensor being used to measure the force on the first end of the forceps assembly. The technical solution disclosed herein can improve the accuracy of force feedback of surgical forceps, reduce surgical risks, reduce errors in the operation of surgical forceps, and reduce the coupling between surgical forceps and control end, making it easier to replace and sterilize surgical forceps.

[0041] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0042] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0043] Figure 1 A cross-sectional structural diagram of a surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0044] Figure 2 A structural diagram of the sensor assembly and drive assembly of a surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0045] Figure 3 A structural diagram of a working catheter support for surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0046] Figure 4 A structural diagram of a forceps assembly with force feedback function for surgical forceps according to an embodiment of the present disclosure is shown.

[0047] Figure 5 A schematic diagram showing the position of the limiting sleeve of a surgical forceps with force feedback function according to an embodiment of the present disclosure is provided.

[0048] Figure 6 A schematic diagram of the transmission rod structure of surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0049] Figure 7 A flowchart illustrating a method for calculating the force of surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0050] Figure 8 A structural block diagram of a force calculation device for surgical forceps with force feedback function according to an embodiment of the present disclosure is shown.

[0051] Figure 9 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0052] Figure 10 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown. Detailed Implementation

[0053] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0054] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0055] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0056] In this disclosure, any operation involving the acquisition of user information or user data, or the display of user information or user data to others, is an operation authorized or confirmed by the user, or actively selected by the user.

[0057] Minimally invasive surgery is a common treatment for eye diseases. For example, in cases of macular degeneration, doctors need to remove the epiretinal membrane using minimally invasive surgery. Because the epiretinal membrane is an extremely thin membrane, the surgical procedure may damage macular cells, requiring a high level of experience and skill from the surgeon.

[0058] Therefore, introducing surgical robots into minimally invasive surgery can help improve the precision and safety of the procedure. However, existing technologies have the following drawbacks: First, when rotating the surgical forceps, the control unit or other auxiliary devices (such as a fixation frame, outer sheath, etc.) need to be rotated together, which may cause damage to the eye tissue and increase surgical risks. Second, the surgical forceps and control unit (including the robotic arm and micro-control motors, etc.) have a high degree of coupling, making the replacement and sterilization of the forceps inconvenient. Third, due to unreasonable force sensor settings, the force feedback sensed by the control unit is inconsistent with the actual resistance of the surgical forceps, posing potential surgical risks.

[0059] To address the aforementioned technical problems, this invention discloses a surgical forceps with force feedback function, comprising: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly. The fixation bracket assembly is used to fix the drive assembly and the working conduit. The working conduit is fixed to the drive assembly and is used to accommodate the forceps assembly. The forceps assembly passes through the working conduit, with a first end of the forceps assembly connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extending from the second end of the working conduit. Under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly around the axis of the working conduit. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the forceps assembly. The technical solution disclosed herein can improve the accuracy of force feedback in surgical forceps, reduce surgical risks, reduce errors during the operation of surgical forceps, and reduce the coupling between the surgical forceps and the control end, facilitating the replacement and sterilization of the surgical forceps.

[0060] Figure 1 A cross-sectional structural diagram of a surgical forceps with force feedback function according to an embodiment of the present disclosure is shown. Figure 1 As shown, the surgical forceps with force feedback function includes a fixation bracket assembly, a drive assembly, a working catheter 300, a forceps assembly 400, and a sensor assembly.

[0061] The fixing bracket assembly is used to fix the drive assembly and the working conduit 300;

[0062] The working conduit 300 is fixed to the drive assembly and is used to accommodate the tweezers assembly;

[0063] The forceps assembly 400 passes through the working conduit 300, a first end of the forceps assembly 400 is connected to the drive assembly via the first end of the working conduit 300, and a second end of the forceps assembly 400 extends out from the second end of the working conduit 300.

[0064] Driven by the drive assembly, the working guide tube 300 can slide relative to the tweezers assembly 400 to control the opening and closing of the second end of the tweezers assembly, and can rotate together with the tweezers assembly 400 about the axis of the working guide tube 300.

[0065] The sensor assembly includes a first force sensor and a second force sensor. The first force sensor measures the force on the first end of the working conduit, and the second force sensor measures the force on the first end of the tweezers assembly. The force on the second end of the tweezers assembly is calculated through structural mechanics analysis or finite element analysis.

[0066] According to an embodiment of this disclosure, the measurement results of the force condition at the first end of the working conduit 300 include the force measurement value and torque measurement value at the first end of the working conduit 300.

[0067] The measurement results of the force on the first end of the tweezers assembly include the force measurement value and torque measurement value of the first end of the tweezers assembly.

[0068] According to embodiments of this disclosure, the force and torque measurements at the first end of the working conduit, and the force and torque measurements at the first end of the tweezers assembly, are used to calculate the true force F and true torque M experienced by the second end of the tweezers assembly.

[0069] According to the embodiments of this disclosure, since the forceps assembly is disposed inside the working catheter, friction exists between it and the working catheter when relative displacement occurs. If the force sensor only measures the force on the first end of the forceps assembly, it cannot detect the friction between the forceps assembly and the working catheter. This results in an error between the feedback force felt by the surgeon and the force acting on the patient, posing a risk to surgical safety. Therefore, it is necessary to simultaneously measure the forces acting on both the working catheter and the forceps assembly to calculate and eliminate the friction.

[0070] According to embodiments of this disclosure, the actual forces F acting on the tweezers assembly in the X, Y, and Z directions are... x F y F z and torque M x M y M z The solution method is as follows:

[0071]

[0072] Wherein, Z represents the direction of the working catheter axis (the direction pointing to its second end is the positive direction). The torque in the X-axis direction measured by the first force sensor. The torque in the Y-axis direction measured by the first force sensor. The Z-axis torque measured by the first force sensor The torque in the Z-axis direction is measured by the second force sensor. The force in the X-axis direction measured by the first force sensor. The force in the Y-axis direction measured by the first force sensor. The force in the Z-axis direction measured by the first force sensor. The force along the Z-axis is measured by the second force sensor, and f is a function mapping from the force measured by the first force sensor to the true torque at the second end of the tweezers assembly, with its inverse mapping being f -1 To represent the functional mapping between the torque measured from the first force sensor and the actual force at the second end of the tweezers assembly, f is approximately expressed as f(x) = x·L. -1 The approximate expression is f(y) = y / L, where L is the length of the working conduit. This function mapping is solved using structural mechanics analysis and finite element analysis. By employing structural mechanics analysis and finite element analysis, the true force F can be improved. x F y F z and torque M x M y M z The accuracy of the solution.

[0073] The above calculation method needs to be applied according to different motion states of the surgical forceps. Specifically, when the surgical forceps are in translational motion as a whole, the forceps assembly 400 and the working guide tube 300 are considered as a whole. The second end of the forceps assembly 400 will be subjected to a force along the X-axis or Y-axis, and a torque will be generated at the first force sensor. At this time, the actual force F along the X-axis at the second end of the forceps assembly 400 is calculated. x Or the actual force F in the Y-axis direction y When the surgical forceps rotate as a whole, considering the forceps assembly 400 and the working catheter 300 as a single unit, a force along the X-axis or Y-axis will be applied at the first force sensor, while a torque will be generated at the second end of the forceps assembly 400. The actual torque M along the X-axis at the second end of the forceps assembly 400 should then be calculated. x Or the actual torque M in the Y-axis direction y When the surgical forceps open and close, the forceps assembly 400 and the working guide tube 300 are subjected to a force along the Z-axis. The solution is to calculate the actual force F along the Z-axis at the second end of the forceps assembly 400. z When the surgical forceps rotates along the Z-axis, the forceps assembly 400 and the working guide tube 300 will generate torque along the Z-axis. The solution is to calculate the actual torque M at the second end of the forceps assembly 400 along the Z-axis. z .

[0074] The actual forces and torques in the X, Y, and Z directions at the second end of the forceps assembly obtained by the above calculation method can reduce the influence of the friction between the working catheter and the forceps assembly on the force feedback at the control end, reduce the error of the force feedback, avoid the impact on the wound during surgery due to the error of the force feedback, and improve the safety of the surgery.

[0075] Figure 2 A structural diagram of the sensor assembly and drive assembly of a surgical forceps with force feedback function according to an embodiment of the present disclosure is shown. Figure 3 A structural diagram of a working catheter support for surgical forceps with force feedback function according to an embodiment of the present disclosure is shown. Figures 1-3 As shown, the drive assembly includes a working conduit support 310, a transmission rod 210, and a rotating support 220, with the rotating support 220 located at one end of the transmission rod 210 near the working conduit 300;

[0076] The working conduit support 310 has a first through hole 311 at the radial center of its head;

[0077] The working guide support 310 is provided with a boss 312 and a protrusion 313 at its tail end;

[0078] The rotating bracket 220 is provided with at least one second through hole 221, and the protruding rod 313 passes through the second through hole 221 and is connected to the transmission rod.

[0079] The working conduit support 310 has a conical head, with a central through-hole 311 for the working conduit 300 to pass through and be fixed. A boss 312 and a protruding rod 313 are located inside the fixed support 110 and can reciprocate and rotate axially. The protruding rod 313 is connected to the transmission rod 210, which drives the working conduit 300 to reciprocate and rotate. The rotating support 220 is a cylindrical structure with multiple second through-holes 221 on its radial cross-section, and its center is fixedly connected to the tweezers assembly 400 to drive the tweezers assembly to rotate. The protruding rod 313 of the working conduit support passes through the second through-hole 221 and connects to the transmission rod 210. When the transmission rod 210 rotates, the working conduit 300 and the tweezers assembly 400 can rotate synchronously. When the transmission rod 210 reciprocates axially, it drives the working conduit 300 through the protruding rod 313, causing it to move relative to the tweezers assembly, thus opening and closing the tweezers. This structure enables the simultaneous rotation and opening / closing of the tweezers assembly via a single drive rod, simplifying the system's structure, weight, and size.

[0080] According to an embodiment of this disclosure, the working guide tube 300 is a hollow guide tube that passes through and is fixed at the first through hole 311 at the head of the working guide tube support 310. The working guide tube 300 is used to fix the tweezers assembly 400 and allows the tweezers assembly 400 to rotate within the working guide tube. The reciprocating motion of the working guide tube 300 controls the opening and closing of the tweezers assembly, preventing the tweezers assembly from swinging radially and causing positional errors in the tweezers.

[0081] Figure 4A structural diagram of a forceps assembly with force feedback function according to an embodiment of the present disclosure is shown. Figure 4 As shown, the forceps assembly includes a forceps head 410 and a long rod 420. One end of the long rod 420 is connected to the forceps head 410, and the other end passes through the working conduit 300 and is connected to the rotating support 220. The forceps head 410 consists of at least two forceps blades made of metal or polymer material, which can grasp ocular tissue by opening and closing under the push of the working conduit. The forceps head is fixed to one end of the long rod 420, which is disposed in the working conduit 300 and can rotate or reciprocate within the working conduit 300. The other end of the long rod 420 is exposed outside the working conduit 300 and is fixedly connected to the center of the rotating support 220.

[0082] According to embodiments of this disclosure, such as Figure 2 As shown, a first force sensor 610 is disposed at the first end of the working conduit 300, and a second force sensor 620 is disposed at the first end of the tweezers assembly. The first force sensor includes a body and at least three optical fibers, used to detect the force and torque acting on the first end of the working conduit; the body of the second force sensor 620 and the at least three optical fibers are respectively connected to the long rod 420 and the rotating bracket 220, used to measure the force and torque acting on the first end of the tweezers assembly.

[0083] Figure 5 A schematic diagram showing the position of the limiting sleeve of a surgical forceps with force feedback function according to an embodiment of the present disclosure is provided. Figure 1 and Figure 5 As shown, the fixed support assembly includes a fixed support 110 and a limiting sleeve 120. The fixed support is a hollow column used to accommodate and fix the drive assembly, the working guide tube 300, the tweezers assembly 400, and the sensor assembly.

[0084] The limiting sleeve 120 is disposed inside the fixed bracket 110, located between the working guide tube 300 and the rotating bracket 220, and the protruding rod 313 passes through the limiting sleeve 120.

[0085] When the transmission rod 210 drives the working catheter 300 to move axially, due to the friction between the rotating support 220 and the protruding rod 313, the rotating support 220 and the forceps assembly 400 may move axially along with the protruding rod 313. Therefore, it is necessary to limit the rotation support and the forceps assembly. The limiting sleeve 120 is disposed inside the fixed support 110 and can be rotated axially or fixedly connected to the inner side of the fixed support 110, contacting the side of the rotating support close to the working catheter. When the rotating support tends to move towards the working catheter, the limiting sleeve 120 fixes the position of the rotating support 220, preventing the rotating support and the forceps assembly from displacing axially, thereby ensuring the stability of the forceps assembly during operation and preventing injury to the patient. Furthermore, two or more limiting sleeves can be provided, respectively disposed on both sides of the rotating support, to limit the axial displacement of the rotating support and the forceps assembly from two directions.

[0086] According to embodiments of this disclosure, such as Figure 1 As shown, the surgical forceps with force feedback function also includes an elastic component 500; the elastic component 500 includes an elastic component seat 510 and an elastic component 520. The elastic component seat is disposed at the first end of the fixed support 110, and the first end of the elastic component seat 510 is fixedly connected to the elastic component 520. The second end of the elastic component seat has a second protrusion, which is inserted into the first end of the fixed support 110 and allows the elastic component seat 510 to rotate relative to the fixed support. The elastic component seat 510 has a second through hole in its center, which cooperates with the parallel surface provided on the side of the transmission rod 210, so that the elastic component seat 510 rotates with the transmission rod 210. The two ends of the elastic component 520 are fixedly connected to the elastic component seat 510 and the transmission rod 210, respectively. When the surgical forceps need to be opened, the elastic component 500 can use the elastic force of the elastic component 520 to drive the transmission rod 210 to move away from the forceps assembly, without the need for a motor or other means to provide power to the transmission rod. Furthermore, the elastic component can be selected from parts that can provide elastic force, such as springs or elastic steel plates, and this disclosure does not limit it.

[0087] Figure 6 A schematic diagram of the transmission rod structure of surgical forceps with force feedback function according to an embodiment of the present disclosure is shown. Figure 6As shown, the transmission rod 210 includes a first sub-transmission rod 211, a sleeve 212, and a second sub-transmission rod 213. The first sub-transmission rod 211 has a parallel end face at its first end and is fixedly connected to the second end of the second sub-transmission rod 213 through the sleeve 212. The second end of the first sub-transmission rod 211 contacts the rotating bracket 220, and one end of the sleeve 212 contacts the elastic component. Setting the transmission rod as a first sub-transmission rod 211 and a second sub-transmission rod 213 helps reduce the assembly difficulty during the manufacture of surgical forceps. Specifically, the first sub-transmission rod 211 passes through the fixed bracket and is then fixedly connected to the second transmission rod 213. Furthermore, the diameter of the sleeve 212 is larger than that of the first sub-transmission rod 211 and the second sub-transmission rod 213, allowing it to contact the elastic component and cooperate with it to drive the transmission rod.

[0088] According to an embodiment of this disclosure, the first end of the transmission rod is provided with a locking component. The locking component includes at least one pair of parallel end faces 230 and a circular groove 240 extending in a direction non-parallel to the axial direction of the transmission rod. The locking component is used to fix the surgical forceps to the self-locking device of the surgical robot, and then to the control end of the surgical robot, preventing the surgical forceps transmission rod from disengaging from the surgical robot during surgery, thus preventing the surgical forceps from becoming uncontrollable and improving the control accuracy of the surgical forceps. The at least one pair of parallel end faces 230 in the locking component is used to prevent relative displacement between the surgical forceps and the self-locking device when the surgical forceps rotate, which would cause the actual rotation speed of the surgical forceps to be inconsistent with the desired speed of the control end. The width of each pair of parallel end faces 230 may be inconsistent and may match the shape of the surgical forceps transmission rod insertion position in the self-locking device. The circular groove 240 in the locking component cooperates with the retaining spring of the surgical forceps transmission rod insertion position in the self-locking device to fix the surgical forceps and prevent the surgical forceps from disengaging from the control end when the control end drives the transmission rod to perform the opening and closing action of the surgical forceps, thus preventing the surgical forceps from becoming uncontrollable. The groove of the locking component may also be straight, serrated, or other shapes.

[0089] According to embodiments of this disclosure, the cross-sectional shape of the second through hole 221 of the rotating bracket is the same as the cross-sectional shape of the protruding rod 313. Since the tweezers assembly rotates by a transmission rod driving the protruding rod 313, which in turn drives the rotating bracket, thus rotating the tweezers assembly, the cross-sectional shapes of the protruding rod 313 and the second through hole 221 of the rotating bracket must be identical to minimize the error in the rotation angle between the transmission rod and the tweezers assembly. Furthermore, the second through hole 221 of the rotating bracket can be a circular through hole, a square through hole, etc., and the cross-sectional shape of the protruding rod 313 remains the same as that of the second through hole.

[0090] According to embodiments of this disclosure, the surgical forceps with force feedback function further includes an outer tube, which is a cylindrical hollow tube disposed on the outside of the fixation bracket assembly. The outer tube is used to connect with the fixation device of the control end to stably fix the surgical forceps onto the surgical robot. The outer side of the outer tube may be provided with a corresponding interface or shape to cooperate with the fixation device of the control end, so as to improve the stability of the fixation device.

[0091] Figure 7 A flowchart illustrating a force calculation method for surgical forceps with force feedback function according to an embodiment of the present disclosure is provided. The surgical forceps includes: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly. The fixation bracket assembly is used to fix the drive assembly and the working conduit. The working conduit is fixed to the drive assembly and is used to accommodate the forceps assembly. The forceps assembly passes through the working conduit, with a first end of the forceps assembly connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extending from the second end of the working conduit. Under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the forceps assembly. Figure 7 As shown, the method includes the following steps S101-S103:

[0092] In step S101, the force measurement result of the first end of the working conduit is obtained from the first force sensor;

[0093] In step S102, the force measurement result of the first end of the tweezers assembly is obtained from the second force sensor;

[0094] In step S103, based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly, the actual force F and the actual torque M of the second end of the tweezers assembly are calculated.

[0095] Figure 8This diagram illustrates a structural block diagram of a force calculation device for surgical forceps with force feedback function according to an embodiment of the present disclosure. The surgical forceps includes: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly. The fixation bracket assembly is used to fix the drive assembly and the working conduit. The working conduit is fixed to the drive assembly and is used to accommodate the forceps assembly. The forceps assembly passes through the working conduit, with a first end of the forceps assembly connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extending from the second end of the working conduit. Under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the forceps assembly. Figure 8 As shown, the force calculation device 700 for surgical forceps with force feedback function includes:

[0096] The first acquisition module 710 is configured to acquire the force measurement result of the first end of the working conduit from the first force sensor;

[0097] The second acquisition module 720 is configured to acquire the force measurement result of the first end of the tweezers assembly from the second force sensor;

[0098] The calculation module 730 is configured to calculate the actual force F and actual torque M of the second end of the tweezers assembly based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly.

[0099] This disclosure also discloses an electronic device. Figure 9 A structural block diagram of an electronic device according to an embodiment of the present disclosure is shown.

[0100] like Figure 9 As shown, the electronic device includes a memory and a processor, wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the method according to embodiments of the present disclosure.

[0101] A method for calculating the force of surgical forceps with force feedback function, the surgical forceps comprising: a fixation bracket assembly, a drive assembly, a working conduit, a forceps assembly, and a sensor assembly, wherein the fixation bracket assembly is used to fix the drive assembly and the working conduit; the working conduit is fixed to the drive assembly and is used to accommodate the forceps assembly; the forceps assembly passes through the working conduit, a first end of the forceps assembly is connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extends from the second end of the working conduit; under the drive of the drive assembly, the working conduit can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working conduit; the sensor assembly includes a first force sensor and a second force sensor, the first force sensor being used to measure the force on the first end of the working conduit, and the second force sensor being used to measure the force on the first end of the forceps assembly.

[0102] The method includes:

[0103] The force measurement results at the first end of the working conduit are obtained from the first force sensor;

[0104] The force measurement results of the first end of the tweezers assembly are obtained from the second force sensor;

[0105] Based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly, the actual force F and actual torque M of the second end of the tweezers assembly are calculated.

[0106] Figure 10 A schematic diagram of the structure of a computer system suitable for implementing the method according to embodiments of the present disclosure is shown.

[0107] like Figure 10 As shown, the computer system includes a processing unit that can execute various methods described above based on a program stored in a read-only memory (ROM) or a program loaded from a storage portion into a random access memory (RAM). The RAM also stores various programs and data required for the operation of the computer system. The processing unit, ROM, and RAM are interconnected via a bus. Input / output (I / O) interfaces are also connected to the bus.

[0108] The following components are connected to the I / O interface: input sections including keyboards, mice, etc.; output sections including cathode ray tubes (CRTs), liquid crystal displays (LCDs), and speakers; storage sections including hard disks, etc.; and communication sections including network interface cards such as LAN cards and modems. The communication section performs communication processes via a network such as the Internet. Drives are also connected to the I / O interface as needed. Removable media, such as disks, optical disks, magneto-optical disks, semiconductor memories, etc., are installed on the drive as needed so that computer programs read from them can be installed into the storage section as needed. The processing unit can be implemented as a CPU, GPU, TPU, FPGA, NPU, etc.

[0109] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0111] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0112] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0113] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A surgical forceps with force feedback function, comprising: The fixed support assembly, drive assembly, working guide tube, tweezers assembly, and sensor assembly are characterized by: The fixing bracket assembly is used to fix the drive assembly and the working conduit; The working conduit is fixed to the drive assembly and is used to accommodate the tweezers assembly; The forceps assembly passes through the working conduit, a first end of the forceps assembly is connected to the drive assembly via the first end of the working conduit, and a second end of the forceps assembly extends from the second end of the working conduit; Driven by the drive assembly, the working guide tube can slide relative to the tweezers assembly to control the opening and closing of the second end of the tweezers assembly, and can rotate together with the tweezers assembly about the axis of the working guide tube; The sensor assembly includes a first force sensor and a second force sensor. The first force sensor is used to measure the force on the first end of the working conduit, and the second force sensor is used to measure the force on the first end of the tweezers assembly. The actual forces F in the X, Y, and Z directions experienced by the second end of the tweezers assembly. x、 F y、 F z and the actual torque M x、 M y、 M z The solution method is as follows: （1）； Wherein, Z represents the direction of the working conduit axis. The torque in the X-axis direction measured by the first force sensor. The torque in the Y-axis direction measured by the first force sensor. The Z-axis torque measured by the first force sensor The torque in the Z-axis direction is measured by the second force sensor. The force in the X-axis direction measured by the first force sensor. The force in the Y-axis direction measured by the first force sensor. The force in the Z-axis direction measured by the first force sensor. The force in the Z-axis direction is measured by the second force sensor. The inverse mapping is a function mapping from the force measured by the first force sensor to the actual torque at the second end of the tweezers assembly. This is a functional mapping between the torque measured from the first force sensor and the actual force at the second end of the tweezers assembly. Represented as , Represented as , where L is the length of the working conduit, and the function mapping is solved using structural mechanics analysis and finite element analysis.

2. The surgical forceps with force feedback function according to claim 1, characterized in that: The drive assembly includes a working conduit support, a rotating support, and a transmission rod, with the rotating support located at one end of the transmission rod near the working conduit. The working catheter support head has a first through hole at its radial center; The working conduit support is provided with a boss and a protrusion at the tail end in sequence; The rotating bracket is provided with at least one second through hole, and the protruding rod passes through the second through hole and is connected to the transmission rod; The working conduit is a hollow conduit that passes through and is fixed at the first through hole at the head of the working conduit support.

3. The surgical forceps with force feedback function according to claim 2, characterized in that: The tweezers assembly includes a tweezers head and a long rod, one end of which is connected to the tweezers head, and the other end extends out of the first end of the working guide tube and is connected to the rotating bracket.

4. The surgical forceps with force feedback function according to claim 3, characterized in that: The first force sensor is disposed at the first end of the working conduit, and the second force sensor is disposed at the first end of the tweezers assembly.

5. The surgical forceps with force feedback function according to claim 2, characterized in that: The fixed support assembly includes a fixed support and a limiting sleeve. The fixed support is a hollow column used to accommodate and fix the drive assembly, working guide tube, tweezers assembly and sensor assembly. The limiting sleeve is disposed inside the fixed bracket, located between the working guide tube and the rotating bracket, and the protruding rod passes through the limiting sleeve.

6. The surgical forceps with force feedback function according to claim 2, characterized in that: The surgical forceps with force feedback function also includes an elastic component; The elastic component includes an elastic component seat and an elastic component. The elastic component seat is disposed at the first end of the fixed bracket and the first end of the elastic component seat is fixedly connected to the elastic component. The second end of the elastic component seat has a second protrusion. The second protrusion is inserted into the first end of the fixed bracket and can make the elastic component seat rotate relative to the fixed bracket. The elastic component seat has a second through hole in the center, and the second through hole cooperates with the parallel surface provided on the side of the transmission rod, so that the elastic component seat rotates with the transmission rod; Both ends of the elastic component are fixedly connected to the elastic component seat and the transmission rod, respectively.

7. The surgical forceps with force feedback function according to claim 2, characterized in that: The first end of the transmission rod is provided with a locking component, which includes at least a pair of parallel end faces and a circular groove extending in a direction that is not parallel to the axial direction of the transmission rod.

8. A method for calculating the force of surgical forceps with force feedback function, the surgical forceps comprising: The system comprises a fixed support assembly, a drive assembly, a working guide tube, a forceps assembly, and a sensor assembly. The fixed support assembly secures the drive assembly and the working guide tube. The working guide tube is fixed to the drive assembly and accommodates the forceps assembly. The forceps assembly passes through the working guide tube, with a first end connected to the drive assembly via the first end of the working guide tube, and a second end extending from the second end of the working guide tube. Driven by the drive assembly, the working guide tube can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working guide tube. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor measures the force on the first end of the working guide tube, and the second force sensor measures the force on the first end of the forceps assembly. The method includes: The force measurement results at the first end of the working conduit are obtained from the first force sensor; The force measurement results of the first end of the tweezers assembly are obtained from the second force sensor; Based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly, calculate the actual force F and actual torque M experienced by the second end of the tweezers assembly; The actual forces F in the X, Y, and Z directions experienced by the second end of the tweezers assembly. x、 F y、 F z and the actual torque M x、 M y、 M z The solution method is as follows: （1）； Wherein, Z represents the direction of the working conduit axis. The torque in the X-axis direction measured by the first force sensor. The torque in the Y-axis direction measured by the first force sensor. The Z-axis torque measured by the first force sensor The torque in the Z-axis direction is measured by the second force sensor. The force in the X-axis direction measured by the first force sensor. The force in the Y-axis direction measured by the first force sensor. The force in the Z-axis direction measured by the first force sensor. The force in the Z-axis direction is measured by the second force sensor. The inverse mapping is a function mapping from the force measured by the first force sensor to the actual torque at the second end of the tweezers assembly. This is a functional mapping between the torque measured from the first force sensor and the actual force at the second end of the tweezers assembly. Represented as , Represented as , where L is the length of the working conduit, and the function mapping is solved using structural mechanics analysis and finite element analysis.

9. A force calculation device for surgical forceps with force feedback function, the surgical forceps comprising: The system comprises a fixed support assembly, a drive assembly, a working guide tube, a forceps assembly, and a sensor assembly. The fixed support assembly secures the drive assembly and the working guide tube. The working guide tube is fixed to the drive assembly and accommodates the forceps assembly. The forceps assembly passes through the working guide tube, with a first end connected to the drive assembly via the first end of the working guide tube, and a second end extending from the second end of the working guide tube. Driven by the drive assembly, the working guide tube can slide relative to the forceps assembly to control the opening and closing of the second end of the forceps assembly, and can rotate together with the forceps assembly about the axis of the working guide tube. The sensor assembly includes a first force sensor and a second force sensor. The first force sensor measures the force on the first end of the working guide tube, and the second force sensor measures the force on the first end of the forceps assembly. The device includes: The first acquisition module is configured to acquire the force measurement result of the first end of the working conduit from the first force sensor; The second acquisition module is configured to acquire the force measurement result of the first end of the tweezers assembly from the second force sensor; The calculation module is configured to calculate the actual force F and actual torque M at the second end of the tweezers assembly based on the force measurement results of the first end of the working conduit and the force measurement results of the first end of the tweezers assembly. The actual forces F in the X, Y, and Z directions experienced by the second end of the tweezers assembly. x、 F y、 F z and the actual torque M x、 M y、 M z The solution method is as follows: （1）； Wherein, Z represents the direction of the working conduit axis. The torque in the X-axis direction measured by the first force sensor. The torque in the Y-axis direction measured by the first force sensor. The Z-axis torque measured by the first force sensor The torque in the Z-axis direction is measured by the second force sensor. The force in the X-axis direction measured by the first force sensor. The force in the Y-axis direction measured by the first force sensor. The force in the Z-axis direction measured by the first force sensor. The force in the Z-axis direction is measured by the second force sensor. The inverse mapping is a function mapping from the force measured by the first force sensor to the actual torque at the second end of the tweezers assembly. This is a functional mapping between the torque measured from the first force sensor and the actual force at the second end of the tweezers assembly. Represented as , Represented as , where L is the length of the working conduit, and the function mapping is solved using structural mechanics analysis and finite element analysis.

10. An electronic device, characterized in that, It includes a memory and a processor; wherein the memory is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor to implement the steps of the method of claim 8.

11. A computer-readable storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, they implement the steps of the method described in claim 8.

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