Medical device

Abstract

A medical device is disclosed. The medical device includes a shaft motor, a parallel manipulator, a receiving yoke, a slider, and a transmission yoke. The shaft motor is configured to generate a mechanical force for manipulating a surgical tool. The parallel manipulator includes an end platform for supporting the surgical tool, a base platform for supporting the shaft motor, and a plurality of arms coupled between the end platform and the base platform. The plurality of arms are configured to control movement of the end platform. The receiving yoke is coupled to the surgical tool. The slider is slidingly engaged to the shaft motor and is configured to receive the mechanical force. The transmission yoke is coupled to the slider and the receiving yoke and is configured to transmit the mechanical force to the receiving yoke.

Description

[0001] This application is a divisional application of the invention patent application "Medical Device" filed on March 31, 2022, with application number 202210340599.8. Technical Field

[0002] The present invention relates generally to medical devices, and more specifically, particularly to a medical device having a shaft motor and a parallel manipulator, which can transmit the mechanical force generated by the shaft motor to a receiving yoke coupled to a surgical instrument via a slider and a transmission yoke. Background Technology

[0003] Parallel mechanisms can position and orient the end platform with up to six or more degrees of freedom. The end platform of a parallel mechanism can be used to support medical devices, such as diagnostic devices or surgical instruments. Because the end platform of a parallel mechanism can be made extremely small, the mechanism can be used for both surgical procedures through large surgical openings and endoscopic procedures through small surgical openings or body holes.

[0004] Parallel mechanisms are particularly well-suited for remotely controlled surgical procedures due to the high precision and dexterity of the end-platform. The mechanism allows for adjustment of the end-platform's position, making it suitable for medical applications requiring precise micro-motion. However, the motors controlling the surgical instruments mounted on the end-platform impose additional weight and force on it during operation. This additional weight and force can affect response time and the accuracy of the planned range / path of the procedure. Therefore, to improve the precision of the medical device, it is necessary to minimize the forces affecting the end-platform of the parallel manipulator. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a medical device with a shaft motor and a parallel manipulator, which can transmit the mechanical force generated by the shaft motor to the receiving yoke coupled to the surgical tool through a sliding member and a transmission yoke.

[0006] One technical solution adopted by the present invention is to provide a medical device, including a shaft motor, a parallel manipulator, a receiving yoke, a slider, and a transmission yoke. The shaft motor is configured to generate mechanical force for manipulating a surgical instrument. The parallel manipulator includes an end platform for supporting the surgical instrument, a base platform for supporting the shaft motor, and a plurality of arms connected between the end platform and the base platform. The plurality of arms are configured to control the movement of the end platform. The receiving yoke is coupled to the surgical instrument. The slider is slidably engaged with the shaft motor and configured to receive mechanical force. The transmission yoke is coupled to the slider and the receiving yoke and configured to transmit mechanical force to the receiving yoke. The base platform includes an arm base and a shaft base surrounded by the arm base, and the slider and the shaft motor are slidably engaged in a recessed area of ​​the shaft base.

[0007] Preferably, the mechanical force generated by the shaft motor is transmitted to the slider via a drive shaft, and the slider is configured to slide along the drive shaft.

[0008] Preferably, the receiving yoke is coupled to the surgical tool via a chuck, and the chuck is configured to hold the surgical tool.

[0009] Preferably, the receiving yoke and chuck are rotatably attached to a body, and the body is configured to detachably connect to the end platform.

[0010] Preferably, the end platform has a bearing, and the bearing is configured to rotatably attach the slider and the drive yoke to the end platform.

[0011] Preferably, the transmission yoke has at least one protrusion, and mechanical force is transmitted to the receiving yoke through the at least one protrusion.

[0012] Preferably, the receiving yoke has at least one groove corresponding to at least one protrusion, and receives mechanical force through at least one groove.

[0013] Preferably, the medical device further includes a plurality of actuators coupled to the plurality of arms and configured to control the movement of the plurality of arms.

[0014] Preferably, the arm base also serves to provide structural support between the multiple arms and the multiple actuators, and to receive the yoke and chuck to rotate the surgical instruments according to mechanical force. Attached Figure Description

[0015] Figure 1 A perspective view of a medical device according to some embodiments of the present disclosure is shown.

[0016] Figure 2 A cross-sectional view of a medical device according to some embodiments of the present disclosure is shown.

[0017] Figure 3 An exploded view of a medical device according to some embodiments of the present disclosure is shown.

[0018] Figure 4A A plan view of a drive shaft according to some embodiments of the present disclosure is shown.

[0019] Figure 4B A schematic diagram of a universal joint according to some embodiments of the present disclosure is shown.

[0020] Figure 5 An exploded view of a drive shaft according to some embodiments of the present disclosure is shown.

[0021] Figure 6 An exploded state diagram of an adapter according to some embodiments of the present disclosure is shown.

[0022] Figure 7 A perspective view of a machine module according to some embodiments of the present disclosure is shown.

[0023] Figure 8 An exploded view of a drive shaft, parallel manipulator, and machine module according to some embodiments of the present disclosure is shown.

[0024] Figure 9 Cross-sectional views of a drive shaft and a slider according to some embodiments of the present disclosure are shown.

[0025] Figure 10 A perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure is shown.

[0026] Figure 11 A cross-sectional view of a force sensor according to some embodiments of the present disclosure is shown.

[0027] Figure 12 An exploded view of a force sensor according to some embodiments of the present disclosure is shown. Detailed Implementation

[0028] The present disclosure will now be described more fully below with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are illustrated. However, the present disclosure may be implemented in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided precisely to make the disclosure thorough and complete, and to fully convey the scope of the disclosure to those skilled in the art. The same reference numerals always refer to the same elements.

[0029] The terminology used herein is for the purpose of describing particular implementation examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” used herein are intended to include the plural forms as well. It will be further understood that when the terms “comprise / comprising,” “include / including,” or “has / having” are used herein, they specify the presence of the stated features, regions, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, and / or combinations thereof.

[0030] Unless otherwise defined, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. It will be further understood that terms such as those defined in common dictionaries shall be interpreted as having a meaning consistent with their meaning in the relevant field and in the context of this disclosure, and shall not be interpreted in an idealized or overly formal sense unless expressly defined herein.

[0031] Figure 1 A perspective view of a medical device according to some embodiments of the present disclosure is shown. Figure 2 A cross-sectional view of a medical device according to some embodiments of the present disclosure is shown. Figure 3 An exploded view of a medical device according to some embodiments of the present disclosure is shown. In some embodiments, the medical device 1 includes a parallel manipulator, a drive shaft 12, and an adapter 13. The parallel manipulator includes an end platform 11-1, a base platform 11-2, and a plurality of arms 11-3 operably connected between the end platform 11-1 and the base platform 11-2. The drive shaft 12 is disposed between the end platform 11-1 and the base platform 11-2. Furthermore, the drive shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, the adapter 13 is configured to hold a surgical tool T1, such as a drill bit, a cannula, or a saw blade. In some embodiments, the medical device 1 also includes a sensor system 14 disposed between the adapter 13 and the end platform 11-1. The sensor system 14 is configured to monitor forces applied and received by the adapter 13.

[0032] In some embodiments, the medical device 1 further includes a housing 15, a handle 16, and a control module 17. A base platform 11-2 is mechanically attached to the housing 15 and houses a machine module 80 configured to manipulate the movement of a plurality of arms 11-3, which in turn controls the movement of the end platform 11-1. The machine module 80 includes a plurality of actuators for correspondingly manipulating the plurality of arms 11-3 and a shaft motor for manipulating the drive shaft 12. The handle 16 allows a user to hold and manipulate the medical device 1 during operation. The control module 17 allows a user to trigger, stop, or adjust the movement of the surgical instrument T1 or perform other functions of the medical device 1.

[0033] Parallel manipulators can be classified based on degrees of freedom, number of arms, joint sequence in each arm, and actuator type. In some embodiments, a parallel manipulator may be a six-degree-of-freedom (6-DOF) parallel manipulator. In some embodiments, the plurality of arms 11-3 comprises six arms. In some embodiments, each arm 11-3 has a first joint connected to an actuator under a base platform 11-2, a second joint connected to an end platform 11-1, and a third joint between the first and second joints. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In some embodiments, the first joint is a prismatic joint (or linear joint). In some embodiments, the second joint is a ball joint. In some embodiments, the third joint is a universal joint. The universal joint is formed using two rotary joints.

[0034] In some embodiments, the medical device 1 further includes a first positioning unit 18-1 and a second positioning unit 18-2. The first positioning unit 18-1 and the second positioning unit 18-2 respectively include a plurality of markers for emitting electromagnetic signals, sound waves, heat, or other perceptible signals, and an adapter for mounting the markers relative to the device body at a specific orientation / angle. In some embodiments, the markers and adapters cooperate with a spatial sensor to achieve target tracking during operation. The second positioning unit 18-2 may be disposed in the region between the adapter 13 and the end platform 11-1. In some embodiments, the second positioning unit 18-2 is disposed on the end platform 11-1. In other embodiments, the second positioning unit 18-2 is disposed on the adapter 13. In other embodiments, the second positioning unit 18-2 is disposed on the tool T1.

[0035] Figure 4A A plan view of a drive shaft according to some embodiments of the present disclosure is shown. Figure 4B A schematic diagram of a universal joint according to some embodiments of the present disclosure is shown. In some embodiments, a drive shaft 40 is rotatably supported by an end platform and slidably engaged to a base platform. In some embodiments, the drive shaft 40 includes components configured to transmit mechanical forces to surgical instruments (i.e., Figure 1 The surgical tool T1 includes a drive yoke 41, a first rod 44 connected to the drive yoke 41, a second rod 45 connected to the first rod 44, a universal joint 46 connecting the first rod 44 and the second rod 45, and a slider 43 connected to the second rod 45. In some embodiments, the universal joint 46 (including the connecting shaft within the joint) is made of solid metal with good structural strength, resulting in a better service life compared to flexible rods made of metal Bourdon tubes. The universal joint 46 is structurally adapted to applied forces and returns to its original structure when the force is removed. The universal joint 46 is sufficiently rigid to withstand and transmit mechanical forces from the shaft motor. In one exemplary embodiment, the universal joint 46 includes a first connector 46-1 connected to the first rod 44, a second connector 46-2 connected to the first connector 46-1, and a third connector 46-3 connecting the second connector 46-2 and the second rod 45. Figure 4BAs shown, the first connecting member 46-1 is pivotally connected to the second connecting member 46-2 via a first connecting shaft S1 and a second connecting shaft S2, and the first connecting member 46-1 is oscillating relative to the second connecting member 46-2 in the first direction D1 and the second direction D2, respectively. Furthermore, the second connecting member 46-2 is pivotally connected to the third connecting member 46-3 via a third connecting shaft S3 and a fourth connecting shaft S4, and the second connecting member 46-2 is oscillating relative to the third connecting member 46-3 in the first direction D1 and the second connecting member 46-2 in the second direction D2, respectively. Specifically, the first connecting member 46-1 rotates relative to the second connecting member 46-2 in the first direction D1 with respect to the first connecting shaft S1, and rotates relative to the second connecting member 46-2 in the second direction D2 with respect to the second connecting shaft S2. Similarly, the second connecting member 46-2 rotates relative to the third connecting member 46-3 in the first direction D1 with respect to the third connecting shaft S3, and rotates relative to the third connecting member 46-3 in the second direction D2 with respect to the fourth connecting shaft S4. Since the drive shaft 40 is rotatable, neither the first direction D1 nor the second direction D2 is a fixed direction, as long as the planes corresponding to the first direction D1 and the second direction D2 are perpendicular.

[0036] In some embodiments, the universal joint 46 may further include a fourth connector 46-4 connected between the first connector 46-1 and the second connector 46-2, and a fifth connector 46-5 connected between the second connector 46-2 and the third connector 46-3. For example... Figure 4BAs shown, the first connector 46-1 is pivotally connected to the fourth connector 46-4 about the first connecting shaft S1, and the second connector 46-2 is pivotally connected to the fourth connector 46-4 about the second connecting shaft S2. Additionally, the second connector 46-2 is pivotally connected to the fifth connector 46-5 about the third connecting shaft S3, and the third connector 46-3 is pivotally connected to the fifth connector 46-5 about the fourth connecting shaft S4. In some embodiments, the fourth connector 46-4 may have a first through hole and a second through hole. The first connector 46-1 has a pair of first pivot ears 46-11 near one end of the fourth connector 46-4. The first connecting shaft S1 passes through the pair of first pivot ears 46-11 and the first through hole, so that the first connector 46-1 is pivotally connected to the fourth connector 46-4 about the first connecting shaft S1. Additionally, the second connector 46-2 has a pair of second pivot ears 46-21 near one end of the fourth connector 46-4. The second connecting shaft S2 passes through the pair of second pivot ears 46-21 and the second through hole, allowing the second connector 46-2 to be pivotally connected to the fourth connector 46-4 with the second connecting shaft S2 as the center. Conversely, the fifth connector 46-5 may have a third through hole and a fourth through hole. The second connector 46-2 has a pair of third pivot ears 46-22 near one end of the fifth connector 46-5. The third connecting shaft S3 passes through the pair of third pivot ears 46-22 and the third through hole, allowing the second connector 46-2 to be pivotally connected to the fifth connector 46-5 with the third connecting shaft S3 as the center. Additionally, a pair of fourth pivot ears 46-31 are provided at one end of the third connector 46-3 adjacent to the fifth connector 46-5. The fourth connecting shaft S4 passes through the pair of fourth pivot ears 46-31 and the fourth through hole, allowing the third connector 46-3 to be pivotally connected to the fifth connector 46-5 with the fourth connecting shaft S4 as the center. In some embodiments, the fixing points at both ends of the universal joint 46 are fixed to the milled pin plane of the solid metal shaft by the attachment screw, so that the milled pin plane will not suffer from insufficient fastening force due to structural deformation during long-term use. In some embodiments, the maximum distance between the end platform and the base platform is greater than the sum of the lengths of the first rod 44, the universal joint 46, and the second rod 45, and the minimum distance between the end platform and the base platform is substantially the same as the sum of the lengths of the first rod 44, the universal joint 46, and the second rod 45. Thus, the universal joint is not subjected to pressure when the medical device is not in use.

[0037] In some embodiments, during operation of the medical device, when the end platform and base platform are at their minimum distance, only the first link 44, the universal joint 46, and the second link 45 are exposed between the end platform and base platform. In other embodiments, during operation of the medical device, when the end platform and base platform are at their minimum distance, a portion of the first link 44, the universal joint 46, the second link 45, and the slider are exposed between the end platform and base platform. In other words, when the end platform and base platform are at their minimum distance, the slider is substantially flat relative to the base platform.

[0038] On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the distance between the end platform and the base platform is at its maximum, the overlap between the slider and the drive shaft is not less than 5 mm. However, in some other embodiments, when the distance between the end platform and the base platform is at its maximum, the overlap between the slider and the drive shaft may be less than 5 mm. In other words, the minimum overlap between the slider and the drive shaft does not exceed 5 mm. During operation, a force may be applied to the universal joint 46, causing the first connector 46-1 and the second connector 46-2 to swing, and upon removal of the applied force, the first connector 46-1 and the second connector 46-2 to return to their original, non-swinging shape.

[0039] In some embodiments, when the end platform and base platform are at their minimum distance, the slider is substantially flat relative to the base platform. Furthermore, the sum of the lengths of the first link 44, the universal joint 46, and the second link 45 is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, when the end platform and base platform are at their minimum distance, the slider extends from the base platform. Furthermore, the sum of the lengths of the first link 44, the universal joint 46, and the second link 45 is less than the minimum distance between the end platform and the base platform. In other embodiments, when the end platform and base platform are at their minimum distance, the slider is recessed from the base platform. Furthermore, the sum of the lengths of the first link 44, the universal joint 46, and the second link 45 is greater than the minimum distance between the end platform and the base platform. However, during the period when the end platform and base platform are at their minimum distance, the universal joint 46 is in its normal state. In some embodiments, the normal state of the universal joint 46 is that the universal joint 46 is in a relatively unstressed state. Therefore, the universal joint 46 maintains its original shape under normal conditions (i.e., the first connector 46-1 and the second connector 46-2 do not wobble).

[0040] In one exemplary embodiment, the length L40 of the drive shaft 40 is substantially 11.5 cm (i.e., 11.495 cm). In one exemplary embodiment, the combined length L42 of the first member 44, the universal joint 46, and the second member 45 is substantially 5.5 cm (i.e., 5.475 cm). In one exemplary embodiment, the diameter D42 of both the first member 44 and the second member 45 is substantially 0.38 cm. In one exemplary embodiment, the diameter D43 of the slider 43 is substantially 1 cm. In one exemplary embodiment, the length L43 of the slider 43 is substantially 3 cm (i.e., 2.995 cm). In one exemplary embodiment, the diameter D41 of the widened portion of the drive yoke 41 is substantially 1.3 cm. However, the above dimensions are merely examples and should not be used to limit the scope of this disclosure.

[0041] Figure 5 An exploded view of a drive shaft according to some embodiments of the present disclosure is shown. In some embodiments, the first member 44, the universal joint 46, and the second member 45 may be collectively referred to as the universal joint drive shaft 42, and for the convenience of the following description, Figure 5 The universal joint drive shaft 42 is simplified as a rod. The drive yoke 41 and the slider 43 respectively have through holes into which the universal joint drive shaft 42 is inserted. To physically attach the universal joint drive shaft 42 to the drive yoke 41 and the slider 43, pins 41-21, 41-22, 43-21, and 43-22 are used accordingly. Pins 41-21 and 41-22 are used to press or press one end of the universal joint drive shaft 42 against the inner surface of the through hole of the drive yoke 41. In some embodiments, pins 41-21 and 41-22 are arranged orthogonally to each other. Pins 43-21 and 43-22 are used to press or press the other end of the universal joint drive shaft 42 against the inner surface of the through hole of the slider 43. In some embodiments, pins 43-21 and 43-22 are arranged orthogonally to each other. Therefore, the orthogonal positioning of pins 41-21, 41-22, 43-21 and 43-22 ensures that the universal joint drive shaft 42 is firmly fixed to the drive yoke 41 and the sliding member 43 during operation.

[0042] When using a flexible rod made of metal spring tubes connected between the drive yoke 41 and the slider 43, the flexible rod can be composed of multiple bundles of thin metal wires wound around a spring wire due to the low fatigue life of the spring. Furthermore, since the flexible rod needs to maintain a bent state during use, its rigidity cannot be too high. However, the diameter of the spring wire in the flexible rod affects its rigidity; therefore, when the flexible rod needs to be flexible and elastic, a smaller diameter spring wire must be used, but a smaller diameter spring wire has a shorter service life. Additionally, the drive shaft 12 transmits the rotational torque output from the motor to the surgical tool T1, but during rotation, the flexible rod generates metal dust due to the friction between the metal surfaces of the spring wires, increasing the risk of damage to the platform's internal structure. One beneficial effect of this invention is that the medical device 1 provided by this invention can be connected between the drive yoke 41 and the slider 43 using a universal joint 46. The universal joint 46 can cooperate with the end platform to perform multi-directional movement, achieving six degrees of freedom of motion, and also solving the problem of the short service life of flexible rods made of metal spring tubes. In addition, the universal joint 46 is less prone to dust generation during rotation, thus reducing the risk of damage to the platform's internal structure.

[0043] In some embodiments, the transmission yoke 41 includes a protrusion 41-1 configured to transmit mechanical force to the adapter (i.e., Figure 1 The receiving shaft of the adapter 13. The protrusion 41-1 is configured to minimize contact with the receiving shaft of the adapter during operation to prevent noise from being generated on the adapter (that is, to avoid unwanted force and torque input on the adapter).

[0044] like Figure 5 As shown, the end platform 50 includes a first bearing 51 and a second bearing 52. In some embodiments, the end platform 50 further includes a washer 53 and a retaining ring 54. In some embodiments, the first bearing 51 and the second bearing 52 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to aid in the mounting and positioning of the bearing. In some embodiments, the flange of the first bearing 51 is positioned on the surface of the end platform 50 opposite to the base platform (i.e., positioned on...). Figure 3 Between the end platform 11-1 and the adapter 13). In some embodiments, the flange of the second bearing 52 is positioned on the surface of the end platform 50 facing the base platform (i.e., positioned on...). Figure 3 Between the end platform 11-1 and the base platform 11-2.

[0045] In some embodiments, a retaining ring 54 is radially mounted on a groove 41-4 of the drive yoke 41. The retaining ring 54 may be a C-ring. In some embodiments, a washer 53 is disposed between the retaining ring 54 and the second bearing 52 to prevent wear on the second bearing 52. Furthermore, the washer 53 fills the gap between the flange 41-3 of the drive yoke 41 and the retaining ring 54. In some embodiments, the gap between the flange 41-3, the end platform 50, the washer 53, the first bearing 51, and the second bearing 52 is substantially eliminated by using the retaining ring 54. Bearings 51 and 52 may be clamped between the flange 41-3 of the drive yoke 41 and the retaining ring 54. Therefore, the flange 41-3 of the drive yoke 41 and the retaining ring 54 assist in the installation and positioning of the drive yoke 41.

[0046] Figure 6 An exploded view of an adapter according to some embodiments of the present disclosure is shown. In some embodiments, the adapter includes a body and a receiving shaft 66 disposed within the body and rotatably supported by the body. The body includes a base 61 and a cover 62 mechanically attached to the base 61. The receiving shaft 66 is disposed between the base 61 and the cover 62. In some embodiments, the receiving shaft 66 includes a receiving yoke 66-1 and a chuck 66-2 opposite to the receiving yoke 66-1. The chuck 66-2 is configured to hold a surgical tool (i.e., Figure 1 The surgical instrument T1 is inserted into the cover 62 through-hole of the chuck 66-2. The receiving yoke 66-1 is exposed to the outside of the adapter. Thus, the receiving yoke 66-1 can receive mechanical force from the drive shaft. The contact between the receiving yoke 66-1 and the drive shaft is designed to be as minimal as possible to prevent noise. In some embodiments, a groove (not shown) is formed on the receiving yoke 66-1, which interacts with the protrusion of the drive shaft (i.e.,...). Figure 5 The protrusions 41-1 in the middle are complementary to receive mechanical force.

[0047] In some embodiments, the adapter further includes a first bearing 63 and a second bearing 64. In some embodiments, the first bearing 63 and the second bearing 64 are flange bearings, wherein an extension or lip on the outer ring of the bearing is designed to aid in the mounting and positioning of the bearing. In some embodiments, the flange of the first bearing 63 is positioned on the surface of the base 61 facing the cover 62. In some embodiments, the flange of the second bearing 64 is positioned on the surface of the base 61 opposite to the cover 62.

[0048] In some embodiments, the adapter further includes a retaining ring 65. In some embodiments, the retaining ring 65 is radially mounted on a groove 66-3 of the receiving shaft 66. The retaining ring 65 may be a C-ring. In some embodiments, the diameter of the receiving yoke 66-1 is larger than the diameter of the chuck 66-2. Thus, the diameter of the receiving yoke 66-1 is wider than the inner rings of the first bearing 63 and the second bearing 64. The first bearing 63 and the second bearing 64 may be clamped between the receiving yoke 66-1 and the retaining ring 65. Therefore, the receiving yoke 66-1 and the retaining ring 65 assist in the installation and positioning of the receiving shaft 66.

[0049] Figure 7 A perspective view of a machine module according to some embodiments of the present disclosure is shown. In some embodiments, the machine module 80 is mechanically attached to a base platform 70 of a parallel manipulator. In some embodiments, the machine module 80 includes a plurality of actuators 81 configured to control a plurality of arms of the parallel manipulator (i.e., Figure 1 The movement of the arm 11-3; and the shaft motor 82, which is configured to generate movement for manipulating surgical instruments (i.e., Figure 1 The mechanical force of the surgical tool T1 in the middle.

[0050] In some embodiments, such as Figure 7 As shown, the base platform 70 includes an arm base 71 and a shaft base 72 surrounded by the arm base 71. The arm base 71 provides structural support between the plurality of arms of the parallel manipulator and the actuator 81 of the machine module 80. The shaft base 72 provides structural support for a shaft motor 82. In some embodiments, a drive shaft 40 is disposed within a recessed region of the shaft base 72. A portion of the shaft motor 82 may be exposed within the recessed region of the shaft base 72. The drive shaft 40 and the shaft motor 82 may be slidably engaged within the recessed region of the shaft base 72.

[0051] Figure 8 An exploded view of a drive shaft, parallel actuator, and machine module according to some embodiments of the present disclosure is shown. A shaft motor 92 of the machine module is coupled to a shaft base 91 of the parallel actuator. In some embodiments, a rotor 92-1 of the shaft motor 92 is inserted into a recessed region of the shaft base 91. A drive shaft 94 is attached to the rotor 92-1 and configured to move in the same direction as the rotor 92-1. A slider 93 of the drive shaft is slidably engaged with the shaft motor 92. In some embodiments, the slider 93 is slidably engaged with the drive shaft 94, wherein mechanical forces generated by the shaft motor are transmitted to the slider 93 via the drive shaft 94. The slider 93 has a socket, and the cross-sectional profile of the drive shaft 94 is structurally complementary to the cross-sectional profile of the socket. The socket is configured to slide along the drive shaft 94. Further illustration and related description of the relationship between the drive shaft and the slider should be provided in [the following text is missing from the original extract]. Figure 9 It is publicly available in China.

[0052] In some embodiments, a cylinder 95 is placed in a recessed area of ​​the shaft base 91. When assembling the medical device, the cylinder 95 surrounds a slider 93, which in turn surrounds a drive shaft 94. The cylinder 95, slider 93, and drive shaft 94 are sequentially fitted into each other.

[0053] In some embodiments, to reduce friction between the slider 93 and the drive shaft 94, the materials of the slider 93 and the drive shaft 94 are different. The Young's modulus of the drive shaft 94 is different from that of the slider 93. In some embodiments, the slider 93 is made of steel, while the drive shaft 94 is made of copper. In some embodiments, the materials of the slider 93 and the drive shaft 94 are anti-friction metal polymers.

[0054] In some embodiments, a lubricant is applied to the outer surface of the drive shaft 94 to reduce friction between the slider 93 and the drive shaft 94. In some embodiments, a lubricant is applied to the inner surface of the slider 93. The lubricant may include at least one of toner, lubricating oil, etc.

[0055] In some embodiments, to reduce friction between the slider 93 and the cylinder 95, the materials of the slider 93 and the cylinder 95 are different. The Young's modulus of the slider 93 is different from that of the cylinder 95. In some embodiments, the slider 93 is made of steel, while the cylinder 95 is made of copper. In some embodiments, the materials of the slider 93 and the cylinder 95 are anti-friction metal polymers.

[0056] In some embodiments, a lubricant is applied to the outer surface of the slider 93 to reduce friction between the slider 93 and the cylinder 95. In some embodiments, a lubricant is applied to the inner surface of the cylinder 95. The lubricant may include at least one of carbon powder, lubricating oil, etc.

[0057] Figure 9Cross-sectional views of a drive shaft and a slider according to some embodiments of the present disclosure are shown. Representative illustrations of the slider 21 and drive shaft 22 are provided to aid in describing their sliding engagement. The slider 21 has a socket 21-1. The cross-sectional shape profile of the surface 22-1 of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket 21-1. The socket 21-1 is configured to slide along the drive shaft 22 when needed during operation of the medical device. In other embodiments, an overlap is required between the drive shaft 22 and the slider 21 during operation to ensure the transmission of mechanical forces between them. The overlap between the drive shaft 22 and the slider 21 during operation is not less than 5 mm to ensure the transmission of mechanical forces between them. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 is not greater than 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 0 mm to 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 5 mm to 100 mm. In some embodiments, the depth L1 of the socket 21-1 is greater than the height L2 of the drive shaft 22. In other embodiments, the depth L1 of the socket 21-1 is substantially the same as the height L2 of the drive shaft 22.

[0058] In some embodiments, the cross-sectional shape profile of the socket 21-1 and the surface 22-1 of the drive shaft 22 is a polygonal shape profile. The drive shaft 22 has a plurality of intersecting facets to form angled intersections. In some embodiments, the intersection between two facets is rounded or curved to prevent damage during insertion. The socket 21-1 is a closed opening that clamps the surface of the drive shaft 22. The angle between the facets of the drive shaft 22 provides clamping to drive the slider 21.

[0059] In other embodiments, the drive shaft and the slider have different structures for transmitting mechanical forces. The drive shaft has a protrusion. The slider has a groove corresponding to the protrusion. In the assembled medical device, the protrusion of the drive shaft is inserted into the groove of the slider. The height of the groove is sufficient such that the protrusion remains in the groove when the slider slides away from the drive shaft during operation. The protrusion is configured to slide along the corresponding groove. Furthermore, the drive shaft is configured to transmit mechanical forces to the slider during movement through the sidewall of the protrusion of the drive shaft, which is tangential to the inner sidewall of the groove of the slider.

[0060] In some embodiments, the drive shaft has two protrusions extending in opposite directions. The slider has two grooves complementary to the two protrusions of the drive shaft. In some embodiments, the drive shaft has a dogbone drive joint, and the slider is a drive cup.

[0061] Figure 10A perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure is shown. In some embodiments, the drive yoke 102 of the drive shaft has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the drive yoke 102. In some embodiments, the protrusion 102-1 is cylindrical. The receiving shaft 101 has a receiving yoke 101-1. The receiving yoke 101-1 has a groove 101-2 that is structurally complementary to the at least one protrusion 102-1 of the drive yoke 102. When assembling the medical device, the top of the body 102-2 is inserted into the recessed area of ​​the receiving yoke 101-1. During operation, the drive yoke 102 is configured to transmit mechanical forces to the receiving yoke 101-1 through the sidewall of the protrusion 102-1, which is tangential to the inner sidewall of the groove 101-2. Thus, the contact between the receiving yoke 101-1 and the drive yoke 102 is minimized during operation to prevent the drive yoke 102 from generating unnecessary noise.

[0062] In some embodiments, the drive yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the sidewalls of the drive yoke 102 in opposite directions. The two protrusions 102-1 are spaced 180° apart. The receiving yoke 101-1 has two recesses 101-2 complementary to the two protrusions 102-1. The two recesses 101-2 are arranged opposite each other in the same manner as the two protrusions 102-1. In some embodiments, the drive yoke 102 is a dog-bone drive joint, and the receiving yoke 101-1 is a drive cup.

[0063] During operation, noise from the drive shaft is minimized as much as possible to avoid causing problems when monitoring the movement of surgical instruments. In some embodiments, a sensor system may be used to monitor the surgical instruments. Figure 11 A cross-sectional view of a force sensor according to some embodiments of the present disclosure is shown. Figure 12 An exploded view of a force sensor according to some embodiments of the present disclosure is shown. In some embodiments, a sensor system 110 is disposed between an end platform 130 and an adapter 120. The sensor system 110 is configured to measure the force of the adapter 120. The sensor system 110 has a through-hole in which a receiving shaft 121 rotatably supported by a bearing 122 and a drive shaft 140 rotatably supported by a bearing 131 meet.

[0064] In some embodiments, the sensor system 110 includes a force repeater 111 and a force sensor 112 mechanically coupled to the force repeater 111. The force repeater 111 is detachably coupled to an adapter 120. In some embodiments, the force repeater 111 has recesses and protrusions that interlock with recesses and protrusions of the adapter 120.

[0065] In some embodiments, force sensor 112 is mechanically attached to force repeater 111 and end platform 130 and configured to convert force applied to adapter 120 into an electrical signal. In some embodiments, force sensor 112 is mechanically attached to force repeater 111 and end platform 130 using fasteners 113 embedded around the periphery of a through-hole of force sensor 112. In some embodiments, a plurality of holes are formed on the front and rear surfaces of force sensor 112 to respectively receive the fasteners 113 for force repeater 111 and end platform 130. In some embodiments, the fasteners 113 of force repeater 111 are interleaved with the fasteners 113 of end platform 130. In some embodiments, the fasteners 113 for force repeater 111 are not aligned with the fasteners 113 for end platform 130 and do not overlap with them in projection.

[0066] In some embodiments, the force sensor 112 is a ring-shaped load cell (also referred to as a load washer or through-hole load cell). The force sensor 112 converts forces such as tension, compression, pressure, or torque into electrical signals. In some embodiments, the force applied to the force sensor 112 is proportional to the change in the electrical signal.

[0067] In some embodiments, in addition to the predetermined force and predetermined torque, the forces applied to the adapter 120 also include force deviations and torque deviations measured during operation. The force deviation represents the effect in the receiving axis direction during operation when a surgical instrument mounted on the receiving axis 121 contacts and applies force to a target object such as bone. The torque deviation represents the effect on the motion of the receiving axis during operation when a surgical instrument mounted on the receiving axis 121 contacts and applies force to a target object such as bone.

[0068] In some embodiments, the sensor system 110 is used to control the position and orientation / angle of a surgical tool during operation. In some embodiments, the sensor system is signal-connected to a controller. During operation, the controller receives an operation plan having a predetermined range, a predetermined path, or a combination thereof. The sensor system measures force deviation, torque deviation, or a combination thereof. Force deviation and torque deviation are deviations from the predetermined range of the operation plan (i.e., predetermined force and predetermined torque). The orientation / angle and position of the surgical tool are adjusted based on the force deviation and torque deviation. The orientation / angle and position of the surgical tool are adjusted by controlling an actuator that moves a parallel manipulator. The movement of the surgical tool is adjusted by controlling the mechanical force from a shaft motor. In some embodiments, the drive shaft may introduce noise into the sensor system. Therefore, in some embodiments, a low-pass filter is further electrically connected to the sensor system to remove noise.

[0069] Therefore, one aspect of this disclosure provides a medical device comprising: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; an adapter having a body detachably coupled to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a drive shaft rotatably supported by the end platform having a drive yoke configured to transmit mechanical force to the receiving yoke, a first link connected to the drive yoke, a second link connected to the first link, a universal joint connecting the first link and the second link and having a slider connected to the second link; and a shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably engaged with the slider.

[0070] Those skilled in the art will readily recognize that many modifications and variations can be made to the apparatus and methods while maintaining the teachings of this invention. Therefore, the above disclosure should be interpreted as being limited only by the scope of the appended claims.

Claims

1. A medical device, characterized in that, The medical device includes: A single-axis motor, configured to generate a mechanical force for manipulating a surgical instrument; A parallel manipulator includes: One end platform is used to support the surgical instrument; A base platform for supporting the shaft motor; and Multiple arms are connected between the end platform and the base platform and configured to control the movement of the end platform; A receiving yoke is coupled to the surgical instrument; A slider, slidably engaged with the shaft motor and configured to receive the mechanical force; and A drive yoke, coupled to the slider and the receiving yoke, and configured to transmit the mechanical force to the receiving yoke. The base platform includes an arm base and a shaft base surrounded by the arm base, and the slider and the shaft motor are slidably engaged in a recessed area of ​​the shaft base.

2. The medical device according to claim 1, characterized in that, The mechanical force generated by the shaft motor is transmitted to the slider via a drive shaft, and the slider is configured to slide along the drive shaft.

3. The medical device according to claim 1, characterized in that, The receiving yoke is coupled to the surgical tool via a chuck, and the chuck is configured to hold the surgical tool.

4. The medical device according to claim 3, characterized in that, The receiving yoke and the chuck are rotatably attached to a body, and the body is configured to detachably connect to the end platform.

5. The medical device according to claim 1, characterized in that, The end platform has a bearing, and the bearing is configured to rotatably attach the slider and the drive yoke to the end platform.

6. The medical device according to claim 1, characterized in that, The transmission yoke has at least one protrusion, and the mechanical force is transmitted to the receiving yoke through the at least one protrusion.

7. The medical device according to claim 6, characterized in that, The receiving yoke has at least one groove corresponding to the at least one protrusion, and receives the mechanical force through the at least one groove.

8. The medical device according to claim 3, characterized in that, The medical device also includes: Multiple actuators are coupled to multiple said arms and configured to control the movement of multiple said arms.

9. The medical device according to claim 8, characterized in that, The arm base also provides structural support between the plurality of arms and the plurality of actuators, and the receiving yoke and the chuck rotate the surgical tool according to the mechanical force.

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