Drive device for an elongated instrument and surgical robot

Abstract

The application relates to a driving device of an elongated instrument and a surgical robot, the driving device of the elongated instrument comprising: two clamping assemblies, each clamping assembly comprising a support part and a clamping module, the clamping module being rotationally connected with the support part around an axis in a second direction; a first driving assembly for driving the two support parts to move towards or away from each other along a first direction; a second driving assembly for driving the two clamping modules to synchronously and reversely rotate; a third driving assembly for driving the two clamping modules to synchronously and reversely move along the second direction; the second driving assembly and the clamping module are floatingly connected in the first direction, the third driving assembly and the clamping module are floatingly connected in the first direction, and the clamping module and the corresponding support part are floatingly connected in the second direction. The driving among the first driving assembly, the second driving assembly and the third driving assembly is independent, does not affect each other and does not superimpose, so that the overall structure of the driving device of the elongated instrument is compact and the volume is reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to drive devices for slender instruments and surgical robots. Background Technology

[0002] In interventional vascular surgery, slender instruments such as guidewires and catheters need to be delivered to the target location inside the body. During delivery, a drive device is required to hold the slender instruments and drive them to move along the blood vessel and rotate. In existing technologies, the drive device for slender instruments mostly uses dual friction wheels to hold the instruments and drives the instruments to move back and forth through the rotation of the friction wheels. In order to achieve the rotation of the slender instruments, they also need to be twisted.

[0003] In the prior art, the drive components for clamping, conveying, and twisting of slender instruments are often connected in series. The movement of one drive component will drive the movement of other related motion components, resulting in a complex structure and large size of the entire drive device. Summary of the Invention

[0004] Therefore, it is necessary to address the problem that existing drive devices for slender instruments lack real-time and accurate detection of the clamping force of slender instruments, and to provide a drive device for slender instruments and a surgical robot.

[0005] A driving device for an elongated instrument, the driving device for the elongated instrument comprising:

[0006] Two clamping assemblies are arranged opposite each other along a first direction. Each clamping assembly includes a support portion and a clamping module. The clamping module is rotatably connected to the support portion about an axis in a second direction.

[0007] A first drive assembly is used to drive the two support portions to move closer to or further away from each other along the first direction, so as to drive the two clamping modules to clamp or release the slender instrument.

[0008] The second drive assembly is used to drive the two clamping modules to rotate synchronously in opposite directions, so as to transport the slender instrument in a third direction through frictional transmission between the two clamping modules and the slender instrument.

[0009] The third drive component is used to drive the two clamping modules to move synchronously in opposite directions along the second direction, so that the two clamping modules jointly twist the slender instrument and cause the slender instrument to rotate.

[0010] The second driving component is floatingly connected to the clamping module in the first direction, the third driving component is floatingly connected to the clamping module in the first direction, and the clamping module is floatingly connected to the corresponding support in the second direction.

[0011] In one embodiment, the clamping module includes a main clamping part, a floating part, and a mounting part; the mounting part and the support part are spaced apart along the second direction, and the main clamping part is rotatably disposed on the mounting part about an axis of the second direction; one end of the floating part is coaxially connected to the input end of the main clamping part, and the other end of the floating part is rotatably connected to the support part, and the floating part can move relative to the support part along the second direction; a second driving component is used to drive the two floating parts to rotate synchronously in opposite directions; a third driving component is floatingly connected to the two mounting parts along the first direction and is used to drive the two mounting parts to move synchronously in opposite directions along the second direction.

[0012] In one embodiment, the first drive assembly includes a first motor and a motion conversion mechanism. The motion conversion mechanism includes a rotation input section and two linear output sections, with the two linear output sections connected to the two support sections in a one-to-one correspondence. The rotation input section is used to receive the rotational motion output by the first motor, and the two linear output sections are respectively driven by the rotation input section to convert the rotational motion received by the rotation input section into synchronous reverse linear motion of the two linear output sections along the first direction.

[0013] In one embodiment, the rotary input part is a bidirectional lead screw with a left-hand thread and a right-hand thread; the two linear output parts are a left-hand nut and a right-hand nut, respectively, with the left-hand nut engaging with the left-hand thread and the right-hand nut engaging with the right-hand thread.

[0014] In one embodiment, the clamping assembly includes a transition portion, the floating portion is connected to the transition portion in a manner that allows relative movement along a second direction but prevents relative rotation, and the transition portion is rotatably connected to the support portion about an axis in the second direction; the second driving assembly is used to drive the two transition portions to rotate synchronously in opposite directions.

[0015] In one embodiment, the third drive component has two output ends, which are connected to the two mounting portions one-to-one via a set of sliding components; the sliding components include a slider and a slide rail that slide in a first direction, one of which is connected to the mounting portion and the other is connected to the output end of the third drive component.

[0016] In one embodiment, the third drive assembly includes a third motor and two twisting transmission mechanisms, each twisting transmission mechanism including a rotating part and a moving part; the two moving parts are connected to the two mounting parts in a one-to-one correspondence; the two rotating parts mesh with each other, and the third motor is used to drive the two rotating parts to rotate synchronously in opposite directions; the moving part is driven by the rotating part to convert the synchronous opposite rotation of the two rotating parts into synchronous opposite linear motion of the two moving parts along a second direction.

[0017] In one embodiment, the second drive component has two output terminals, which are connected one-to-one with the input terminals of the two clamping modules via flexible couplings, so that the input terminals can move eccentrically relative to the output terminals in the first direction via the corresponding flexible couplings.

[0018] In one embodiment, the second drive assembly includes a second motor and two meshing output gears. The second motor drives the two output gears to rotate synchronously in opposite directions. The two output gears are connected to the input ends of the two clamping modules in a one-to-one correspondence via flexible couplings.

[0019] In one embodiment, the driving device of the elongated instrument includes a force detection assembly, which includes: a base, a force sensor, a support frame, and a rolling bearing that rotates about an axis in a second direction; the force sensor is mounted on the base with its sensing surface facing the first direction, the support frame is fitted onto the sensing surface of the force sensor, the rolling bearing is mounted on the side of the support frame facing away from the sensing surface and is tangentially fitted to the support frame, and the side of the rolling bearing facing away from the sensing surface is tangentially fitted to the circumferential surface of the clamping module.

[0020] In one embodiment, the clamping module includes a timing belt and a driving wheel and a driven wheel spaced apart along a third direction, the timing belt being wound around the driving wheel and the driven wheel; the second driving component is used to drive the two driving wheels to rotate synchronously in opposite directions; the force detection component is located in the area surrounded by the timing belt on one side close to the slender instrument, and the rolling bearing is in contact with the inner circumferential surface of the timing belt.

[0021] In one embodiment, the force detection component includes at least two sets of bearing groups arranged along a second direction, each set of bearing groups including one rolling bearing or at least two rolling bearings arranged sequentially along a third direction; the rolling bearings in adjacent sets of bearing groups are arranged in a one-to-one correspondence, and the two corresponding rolling bearings in adjacent sets of bearing groups are eccentrically arranged.

[0022] In one embodiment, the support frame includes a main load-bearing portion and an installation portion; one side of the main load-bearing portion is fitted to the sensing surface of the force sensor, and the rolling bearing is tangentially fitted to the side of the main load-bearing portion opposite to the sensing surface of the force sensor; the installation portion is fixedly connected to the side of the main load-bearing portion opposite to the force sensor and protrudes from the main load-bearing portion along a first direction, and the rolling bearing is rotatably connected to the installation portion.

[0023] In one embodiment, the driving device of the slender instrument includes a floating detection mechanism, which includes two floating wheels and a detection device. The two floating wheels are spaced apart on both sides of the slender instrument along a first direction, so as to drive the two floating wheels to rotate synchronously in opposite directions through friction transmission between the slender instrument and the two floating wheels. The detection device is used to detect the rotation parameters of the floating wheels.

[0024] A surgical robot includes a robotic arm and a drive mechanism for an elongated instrument as described in any of the above embodiments, wherein the drive mechanism for the elongated instrument is disposed at the end of the robotic arm.

[0025] In the aforementioned drive device for slender instruments and surgical robot, because the third drive component is floatingly connected to the clamping module in the first direction, the twisting operation of the two clamping modules driven by the third drive component for the slender instruments is independent of the clamping operation of the two clamping modules driven by the first drive component. Because the second drive component is floatingly connected to the clamping module in the first direction, the transport operation of the two clamping modules driven by the second drive component for the slender instruments in the third direction is independent of the clamping operation of the two clamping modules driven by the first drive component. Because the clamping modules are floatingly connected to their corresponding support parts in the second direction, the transport operation of the two clamping modules driven by the second drive component for the slender instruments in the third direction is independent of the twisting operation of the two clamping modules driven by the third drive component. In summary, the drives of the first, second, and third drive components are independent, do not affect each other, and do not overlap, resulting in a compact overall structure and reduced size of the drive device for slender instruments. Attached Figure Description

[0026] Figure 1 This is a schematic diagram illustrating an application scenario of a driving device for a slender instrument according to one embodiment.

[0027] Figure 2 This is a schematic diagram of the structure of a drive device for a slender instrument according to one embodiment.

[0028] Figure 3 for Figure 2 A schematic diagram of the force detection component in the diagram.

[0029] Figure 4 for Figure 2 A schematic diagram of the drive mechanism of a slender instrument from another perspective.

[0030] Figure 5 for Figure 4 A schematic diagram showing the removal of the second motor and the flexible coupling.

[0031] Figure 6 for Figure 4 A sectional view.

[0032] Figure 7 for Figure 2 Another schematic diagram of the drive mechanism of the slender instrument in the image.

[0033] Figure 8 for Figure 3 A first-direction view of the force detection component in the image.

[0034] Figure 9 This is a schematic diagram of the drive device for a slender instrument according to another embodiment.

[0035] Figure 10 for Figure 4 Another sectional view. Detailed Implementation

[0036] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0037] Please refer to Figure 1 One embodiment of this application provides a drive device 10 for a slender instrument, which is mounted at the end of the robotic arm 30 of a surgical robot. The surgical robot uses the drive device 10 to deliver the slender instrument 20 to a target location inside the human body 40, facilitating surgical procedures. In this embodiment, the surgical robot is a vascular interventional surgical robot, and the slender instrument 20 is a guidewire, catheter, balloon stent, etc.

[0038] For ease of description, the following application uses the first direction X, the second direction Y, and the third direction Z to describe the directions, wherein these three directions are perpendicular to each other.

[0039] Combined Figure 2 , Figure 4 , Figure 5The driving device 10 for the elongated instrument includes: two clamping assemblies 100, a first driving assembly 200, a second driving assembly 300, and a third driving assembly 500. The two clamping assemblies 100 are arranged opposite each other along a first direction X. Each clamping assembly 100 includes a support portion 112 and a clamping module (not labeled). Therefore, the two clamping assemblies 100 together include two support portions 112 and two clamping modules. The clamping modules are rotatably connected to their corresponding support portions 112 about an axis in a second direction Y. The first driving assembly 200 drives the two support portions 112 to move closer to or further away from each other along the first direction X, thereby causing the two support portions 112 to respectively drive the two clamping modules to move closer to or further away from each other along the first direction X, so that the two clamping modules clamp or release the elongated instrument 20. The second driving assembly 300 drives the two clamping modules to rotate synchronously in opposite directions (i.e., the two clamping modules rotate about an axis in the second direction Y and rotate in opposite directions), so as to transport the elongated instrument 20 along a third direction Z through frictional transmission between the two clamping modules and the elongated instrument 20. When the two clamping modules clamp the slender instrument 20, the length direction of the slender instrument 20 is along the third direction Z. The third drive assembly 500 is used to drive the two clamping modules to move synchronously in opposite directions along the second direction Y, so that the two clamping modules jointly twist the slender instrument 20 and cause the slender instrument 20 to rotate.

[0040] The second drive component 300 is floatingly connected to the clamping module in the first direction X, the third drive component 500 is floatingly connected to the clamping module in the first direction X, and the clamping module is floatingly connected to the corresponding support part 112 in the second direction Y.

[0041] The driving device for the aforementioned slender instrument 20, since the third driving component 500 is floatingly connected to the clamping module in the first direction X, does not affect the movement of the two clamping modules in the first direction X during the process of the third driving component 500 driving the two clamping modules to move synchronously in opposite directions along the second direction Y to twist the slender instrument 20 (i.e., does not affect the clamping operation of the two clamping modules on the slender instrument). Thus, the twisting operation of the two clamping modules driven by the third driving component 500 on the slender instrument 20 and the clamping operation of the two clamping modules driven by the first driving component 200 on the slender instrument 20 do not affect each other.

[0042] Since the second drive assembly 300 is floatingly connected to the clamping module in the first direction X, during the process of the second drive assembly 300 driving the two clamping modules to rotate synchronously in opposite directions to transport the slender instrument 20 along the third direction Z, the two clamping modules can still move along the first direction X. Therefore, the transport operation of the slender instrument 20 by the second drive assembly 300 driving the two clamping modules along the third direction Z does not affect the clamping operation of the slender instrument 20 by the first drive assembly 200 driving the two clamping modules.

[0043] Since the clamping module and the corresponding support 112 are floatingly connected in the second direction Y, during the process of the second drive assembly 300 driving the two clamping modules to rotate synchronously in opposite directions to transport the slender instrument 20 along the third direction Z, the two clamping modules can still move synchronously in opposite directions along the second direction Y to twist the slender instrument 20. Thus, the transport operation of the two clamping modules driven by the second drive assembly 300 to transport the slender instrument 20 along the third direction Z does not affect the twisting operation of the two clamping modules driven by the third drive assembly 500.

[0044] In summary, the driving of the first driving component 200, the second driving component 300, and the third driving component 500 is independent, does not affect each other, and does not overlap with each other, making the overall structure of the driving device 10 of the slender instrument compact and its volume reduced.

[0045] Please refer to Figure 4 In one embodiment, the driving device 10 of the elongated instrument includes a mounting base 600, on which a first driving component 200, a second driving component 300, and a third driving component 500 are all mounted. Since the driving of the first driving component 200, the second driving component 300, and the third driving component 500 is independent, does not affect each other, and does not overlap, all three can be mounted on the mounting base 600.

[0046] Please refer to Figure 4 , Figure 5 In one embodiment, the clamping module includes a main clamping part 121, a floating part 122, and a mounting part 111. The mounting part 111 and the corresponding support part 112 are spaced apart along the second direction Y. The main clamping part 121 is rotatably disposed on the mounting part 111 about the axis of the second direction Y. One end of the floating part 122 is coaxially connected to the input end of the main clamping part 121, and the other end of the floating part 122 is rotatably connected to the support part 112. The floating part 122 can move relative to the support part 112 along the second direction Y, so that both the main clamping part 121 and the mounting part 111 connected to the floating part 112 can move synchronously relative to the support part 112 along the second direction Y, thus realizing the floating connection between the clamping module and the corresponding support part 112 in the second direction Y.

[0047] The first drive assembly 200 is used to drive the two support parts 112 to move closer to or further away from each other along the first direction X, so that the floating part 122, the mounting part 111 and the main clamping part 121 can move synchronously with the support parts 112, and then the two main clamping parts 121 move closer to or further away from each other along the first direction X to clamp or release the slender instrument 20.

[0048] The second drive assembly 300 is used to drive the two floating parts 122 to rotate synchronously in opposite directions, so that the two main clamping parts 121 rotate synchronously in opposite directions (that is, the two main clamping parts 121 rotate about the axis of the second direction Y respectively, and their rotation directions are opposite), so that the two main clamping parts 121 can transport the slender instrument 20 along the third direction Z through friction transmission with the slender instrument 20.

[0049] The third drive assembly 500 is floatingly connected to the two mounting parts 111 along the first direction X (i.e., the third drive assembly and the clamping module are floatingly connected in the first direction X), and is used to drive the two mounting parts 111 to move synchronously in opposite directions along the second direction Y, so that the two main clamping parts 121 move synchronously in opposite directions along the second direction Y with the two mounting parts 111, so that the two main clamping parts 121 jointly twist the slender instrument 20 and make the slender instrument 20 rotate.

[0050] Since the third drive assembly 500 is floatingly connected to the two mounting parts 111 along the first direction X, the movement of the two mounting parts 111 (and the main clamping part 121 provided on the mounting parts 111) along the first direction X is not affected when the third drive assembly 500 drives the two mounting parts 111 to move synchronously in opposite directions along the second direction Y to twist the slender instrument 20. The mounting parts 111 and the main clamping part 121 can still move along the first direction X with the support part 112. Thus, the twisting operation of the two clamping modules driven by the third drive assembly 500 on the slender instrument 20 and the clamping operation of the two clamping modules driven by the first drive assembly 200 on the slender instrument 20 do not affect each other.

[0051] Meanwhile, since the floating part 122 can move relative to the support part 112 along the second direction Y, the movement of the floating part 122 (and the main clamping part 121 connected to the floating part 122 and the mounting part 111 connected to the main clamping part 121) along the second direction Y is not affected during the process of the first drive assembly 200 driving the two support parts 112 to move closer or further away from each other along the first direction X (to clamp or release the slender instrument 20). This allows the third drive assembly 500 to still drive the two mounting parts 111 to move synchronously in opposite directions along the second direction Y to twist the slender instrument 20. Thus, the clamping operation of the two clamping modules driven by the first drive assembly 200 on the slender instrument 20 and the twisting operation of the two clamping modules driven by the third drive assembly 500 on the slender instrument 20 do not affect each other.

[0052] Please refer to Figure 5In one embodiment, the first drive assembly 200 includes a first motor 210 and a motion conversion mechanism. The motion conversion mechanism includes a rotation input section 220 and two linear output sections 230, with each linear output section 230 connected to one of the two support sections 112. The rotation input section 220 receives the rotational motion output by the first motor 210. The two linear output sections 230 are respectively driven by the rotation input section 220 to convert the rotational motion received by the rotation input section 220 into synchronous reverse linear motion of the two linear output sections 230 along a first direction X. Thus, the two linear output sections 230 can respectively drive the two support sections 112 to move closer or further apart along the first direction X. By using one rotation input section 220 to drive the two linear output sections 230 to move synchronously in opposite directions along the first direction X, only one motor is needed to simultaneously drive the two support sections 112 to move closer or further apart.

[0053] In other embodiments, the first drive assembly may also include two motors, each driving one of the two support portions.

[0054] Please refer to Figure 5 In one embodiment, the rotation input section 220 is a bidirectional lead screw with left-hand and right-hand threads. The two linear output sections 230 are a left-hand nut and a right-hand nut, respectively, with the left-hand nut engaging with a left-hand thread and the right-hand nut engaging with a right-hand thread. The first motor 210 drives the bidirectional lead screw to rotate, thereby enabling the bidirectional lead screw to drive the left-hand nut and the right-hand nut to rotate synchronously in opposite directions.

[0055] In other embodiments, the rotary input section and the linear output section can also be other combined transmission structures. For example, the rotary input section is a gear, and the two linear output sections are two racks meshing on both sides of the gear.

[0056] Please refer to Figure 5 In one embodiment, the first motor 210 is located on one side of the motion conversion mechanism along the second direction Y. The first drive assembly 200 includes at least two clamping transmission gears 240 that mesh sequentially along the second direction Y. Of the at least two clamping transmission gears 240, one clamping transmission gear 240 located at one end of the second direction Y is coaxially connected to the output shaft of the first motor 210, and the other clamping transmission gear 240 located at the other end of the second direction Y is coaxially connected to the bidirectional lead screw. In this way, the axial direction of the first motor 210 can be arranged along the first direction X and the first motor 210 can be parallel to the bidirectional lead screw, and the two can be arranged along the second direction Y, making the overall structure of the drive device 10 of the slender instrument compact. At the same time, when the first motor 210 drives the clamping transmission gear 240 connected to it to rotate, the bidirectional lead screw can still be driven to rotate through the transmission of other clamping transmission gears 240.

[0057] exist Figure 5In the illustrated embodiment, the number of clamping transmission gears 240 is two. In other embodiments, the number of clamping transmission gears 240 may be three or more.

[0058] Please refer to Figure 2 In one embodiment, the first drive assembly 200 includes a first guide rod 250 extending along a first direction X. The first guide rod 250 is fixed relative to the mounting base 600. Two linear output sections 230 are respectively provided with first guide bearings 231 that move in conjunction with the first guide rod 250. Through the moving engagement of the first guide rod 250 and the first guide bearings 231, the linear output section 250 can be guided to move stably along the first direction X.

[0059] Please refer to Figure 5 In one embodiment, the first drive assembly 200 includes a first motor mount 211, which is fixed to the mounting base 600. A first motor 210 is mounted on the first motor mount 211. One end of a bidirectional lead screw is rotatably mounted on the first motor mount 211. One end of a first guide rod 250 is fixed to the first motor mount 211. A clamping transmission gear 240 is rotatably mounted on the first motor mount 211.

[0060] The first drive assembly 200 includes a bearing housing 221, and one end of the bidirectional lead screw facing away from the first motor housing 221 is rotatably mounted on the bearing housing 221 via a bearing. One end of the first guide rod 250 facing away from the first motor housing 221 is fixed to the bearing housing 221.

[0061] Please refer to Figure 4 In one embodiment, the clamping assembly includes a transition portion 123, and a floating portion 122 is connected to the transition portion 123 in a manner that allows relative movement along a second direction Y but prevents relative rotation. The transition portion 123 is rotatably connected to the support portion 112 about the axis of the second direction Y. The second driving assembly 300 is used to drive the two transition portions 123 to rotate synchronously in opposite directions, thereby causing the two transition portions 123 to drive the two floating portions 122 to rotate synchronously in opposite directions, and then causing the two main clamping portions 121 to rotate synchronously in opposite directions so as to transport the elongated instrument 20 along a third direction Z.

[0062] Since the floating part 122 can move relative to the connecting part 123 along the second direction Y, that is, the floating part 122 can move relative to the supporting part 112 along the second direction Y, the movement of the floating part 122 (and the main clamping part 121 connected to the floating part 122 and the mounting part 111 connected to the main clamping part 121) along the second direction Y is not affected during the process of the first drive assembly 200 driving the two supporting parts 112 to move closer or further away from each other along the first direction X (to clamp or release the slender instrument 20). Thus, the third drive assembly 500 can still drive the two mounting parts 111 to move synchronously in opposite directions along the second direction Y to twist the slender instrument 20.

[0063] Meanwhile, during the movement of the third drive assembly 500 driving the mounting part 111 along the second direction Y, the floating connection between the floating part 122 and the adapter part 123 can play a guiding role, making the movement of the floating part 122 along the second direction Y accurate and stable. This makes the main clamping part 121 connected to the floating part 122 and the mounting part 111 connected to the main clamping part 121 accurate and stable along the second direction Y, thereby making the twisting operation of the main clamping part 121 on the slender instrument 20 stable.

[0064] exist Figure 4 In the illustrated embodiment, the floating part 122 is an external spline, and the transition part 123 is an internal spline. In other embodiments, the floating part may be an internal spline, and the transition part may be an external spline.

[0065] Please refer to Figure 6 The adapter 123 and the support 112 are rotatably connected via the first bearing 1231, which can minimize mechanical losses during the rotation of the adapter 123. The floating part 122 and the mounting part 111 are rotatably connected via the second bearing 1221, which can minimize mechanical losses during the rotation of the floating part 122.

[0066] Please refer to Figure 6 and Figure 7 In one embodiment, the third drive assembly 500 has two output ends, which are connected one-to-one to two mounting portions 111 via a set of sliding components. The sliding components include a slider 511 and a slide rail 512 that slide along a first direction X. In this embodiment, the slide rail 512 is connected to the mounting portion 111, and the slider 511 is connected to the output end of the third drive assembly 500.

[0067] The two output ends of the third drive assembly 500 can move synchronously in opposite directions along the second direction Y, thereby driving the two mounting parts 111 to move synchronously in opposite directions along the second direction Y via the slider assembly. Specifically, when the output ends of the third drive assembly 500 move along the second direction Y, the slider 511 drives the slide rail 512, and the slide rail 512 drives the mounting parts 111 to move along the second direction Y, thereby realizing the synchronous reverse movement of the two mounting parts 111 along the second direction Y.

[0068] Since the slider 511 and the slide rail 512 can move relative to each other along the first direction X, during the process of the third drive assembly 500 driving the two mounting parts 111 to move synchronously in opposite directions along the second direction Y to twist the slender instrument 20, the mounting parts 111 can still move along the first direction X through the relative movement of the slider 511 and the slide rail 512. Thus, the mounting parts 111 and the main clamping parts 121 can still move along the first direction X with the support parts 112. Therefore, the twisting operation of the two clamping modules driven by the third drive assembly 500 on the slender instrument 20 does not affect the clamping operation of the two clamping modules driven by the first drive assembly 200 on the slender instrument 20.

[0069] In other embodiments, the slide rail may be connected to the output end of the third drive component, and the slider may be connected to the mounting part.

[0070] Please refer to Figure 7 In one embodiment, the third drive assembly 500 includes a third motor 520 and two twisting transmission mechanisms, each including a rotating part 531 and a moving part 532. The two moving parts 532 are connected to the two mounting parts 111 in a one-to-one correspondence. The third motor 520 drives the two rotating parts 531 to rotate synchronously in opposite directions. The moving parts 532 engage with the rotating parts 531 to convert the synchronous counter-rotation of the two rotating parts 531 into synchronous counter-rotation of the two moving parts 532 along the second direction Y. Since the two rotating parts 531 mesh, only one motor is needed to drive one rotating part 531 via the third motor 520, thereby causing the two rotating parts 531 to rotate synchronously in opposite directions, and consequently, to cause the two moving parts 532 to move synchronously in opposite directions along the second direction Y. The two moving parts 532 of the two twisting transmission mechanisms are the two output ends of the third drive assembly 500.

[0071] In other embodiments, the third drive assembly may also include two motors, each driving one of the two rotating parts.

[0072] Please refer to Figure 7 In one embodiment, two rotating parts 531 are arranged along a first direction X. The outer periphery of each of the two rotating parts 531 has a gear-shaped structure that surrounds the periphery. The gear-shaped structures of the two rotating parts 531 mesh with each other, thereby enabling the two rotating parts 531 to rotate synchronously in opposite directions.

[0073] In one embodiment, the rotating part 531 and the moving part 532 are threadedly engaged, so that the rotation of the rotating part 531 can cause the moving part 532 to move linearly along the second direction Y through threaded transmission. In this embodiment, the moving part 532 has an external thread, and the rotating part 531 has an internal thread.

[0074] In other embodiments, the rotating part and the moving part can also be other combined transmission structures, such as the rotating part being the crank in a crank-slider mechanism and the moving part being the slider in a crank-slider mechanism.

[0075] Please refer to Figure 7 In one embodiment, the third motor 520 is located on one side of the twisting drive mechanism along the first direction X. The third drive assembly 500 includes at least two twisting drive gears 533 that mesh sequentially along the first direction X. Of the at least two twisting drive gears 533, one twisting drive gear 533 located at one end of the first direction X is coaxially connected to the output shaft of the third motor 520, and the other twisting drive gear 533 located at the other end of the first direction X meshes with a rotating part 531.

[0076] In this way, the axial direction of the third motor 520 can be set along the second direction Y and the third motor 520 can be parallel to the moving direction of the moving part 532. The two twisting transmission mechanisms and the third motor 520 are arranged sequentially along the first direction X, making the overall structure of the drive device 10 of the slender instrument compact. At the same time, when the third motor 520 drives the twisting transmission gear 533 connected to it to rotate, it can drive the rotating part 531 to rotate through the transmission of other twisting transmission gears 533.

[0077] exist Figure 7 In the illustrated embodiment, the number of twisting drive gears 533 is three. In other embodiments, the number of twisting drive gears 533 may be two, four, or other numbers.

[0078] Please refer to Figure 7 In one embodiment, the third drive assembly 500 includes two second guide rods 540 extending along the second direction Y, and the two second guide rods 540 are fixedly connected to the two mounting portions 111 in a one-to-one correspondence. The two support portions 112 are each provided with a second guide bearing (not labeled) that moves in a one-to-one correspondence with the two second guide rods 540. Through the moving engagement of the second guide rods 540 and the second guide bearings, the mounting portions 111 can be guided to move stably along the second direction Y.

[0079] Please refer to Figure 7 In one embodiment, the third drive assembly 500 includes a third motor mount 521, which is fixed to the mounting base 600. The third motor 520 is mounted on the third motor mount 521.

[0080] Please refer to Figure 4In one embodiment, the second drive assembly 300 has two output ends, which are connected one-to-one with the input ends of two clamping modules through flexible couplings 310, so that the input ends of the clamping modules can move eccentrically relative to the output ends of the second drive assembly 300 in the first direction X through the corresponding flexible couplings 310.

[0081] Since the output end of the second drive assembly 300 is connected to the input end of the clamping module through the flexible coupling 310, when the output end of the second drive assembly 300 rotates, it drives the flexible coupling 310 to rotate, thereby the flexible coupling 310 drives the input end of the clamping module to rotate, and thus the two flexible couplings 310 drive the two clamping modules to rotate synchronously in opposite directions.

[0082] Since the input end of the clamping module can be eccentrically positioned relative to the output end of the second drive assembly 300 in the first direction X via the corresponding flexible coupling 310, during the process of the second drive assembly 300 driving the two clamping modules to rotate synchronously in opposite directions via the two flexible couplings 310 to transport the slender instrument 20 in the third direction Z, the two clamping modules (and the support parts connected to the clamping modules) can still move in the first direction X. In other words, the transport operation of the slender instrument 20 by the second drive assembly 300 driving the two clamping modules in the third direction Z does not affect the clamping operation of the slender instrument 20 by the first drive assembly 200 driving the two clamping modules.

[0083] In some embodiments, the input end of the clamping module is the adapter 123.

[0084] Furthermore, during the process where the second drive assembly 300 drives the two clamping modules to rotate synchronously in opposite directions via two flexible couplings 310 to transport the elongated instrument 20 along the third direction Z, that is, during the process where the second drive assembly 300 drives the two floating parts 122 to rotate synchronously in opposite directions, the floating parts 122 can still move relative to the support part 112 along the second direction Y. That is, it does not affect the movement of the floating parts 122 (and the main clamping part 121 connected to the floating parts 122, and the mounting part 111 connected to the main clamping part 121) along the second direction Y. The third drive assembly 500 can still drive the two mounting parts 111 to move synchronously in opposite directions along the second direction Y to twist the elongated instrument 20. Therefore, the transport operation of the elongated instrument 20 by the two clamping modules driven by the second drive assembly 300 along the third direction Z does not affect the twisting operation of the elongated instrument 20 by the two clamping modules driven by the third drive assembly 500.

[0085] like Figure 4As shown, in one embodiment, the second drive assembly 300 includes a second motor 320 and two meshing output gears 330. The second motor 320 drives the two output gears 330 to rotate synchronously in opposite directions. The two output gears 330 are connected to the input ends of two clamping modules in a one-to-one correspondence via flexible couplings 310. The two output gears 330 are the two output ends of the second drive assembly 300.

[0086] like Figure 4 As shown, in one embodiment, the second drive assembly 300 includes a conveying transmission gear 340. The conveying transmission gear 340 meshes sequentially with two output gears 330 along a first direction X. The output shaft of the second motor 320 is coaxially connected to the conveying transmission gear 340, thereby enabling the two output gears 330 to rotate synchronously in opposite directions via the conveying transmission gear 340. Furthermore, the axial direction of the second motor 320 can be arranged along a second direction Y and positioned on one side of the two clamping assemblies 100 along the first direction X, making the overall structure of the drive device 10 for the slender instrument compact.

[0087] like Figure 4 As shown, in one embodiment, the second drive assembly 300 includes a second motor mount 321, which is fixed to the mounting base 600. The second motor 320 is mounted on the second motor mount 321.

[0088] Please combine Figure 5 and Figure 6 In one embodiment, the clamping module includes a timing belt 1211 and a driving wheel 1212 and a driven wheel 1213 spaced apart along a third direction Z. The timing belt 1211 is wound around the driving wheel 1212 and the driven wheel 1213. When the timing belt 1211 of the two clamping modules moves closer or further apart along the first direction X, it is used to clamp or release the slender instrument 20. Compared with the traditional friction wheel clamping method, the embodiment of this application uses a timing belt 1211 to clamp the slender instrument 20, which can increase the clamping surface, thereby facilitating stable clamping and reducing slippage. At the same time, using the timing belt 1211 for surface clamping makes the clamping force along the length direction of the slender instrument 20 more evenly distributed, thereby reducing stress concentration on the slender instrument 20 and preventing bending.

[0089] The second drive assembly 300 is used to drive two drive wheels 1212 to rotate synchronously in opposite directions around the axis of the second direction Y. Each drive wheel 1212 drives the corresponding driven wheel 1213 and the synchronous belt 1211 to rotate, so that the synchronous belts 1211 of the two clamping modules rotate synchronously in opposite directions. Then, the two synchronous belts 1211 drive the slender instrument 20 to move along the third direction Z through friction transmission with the slender instrument 20.

[0090] Please refer to Figure 2In one embodiment, the force detection assembly 400 includes: a base 410, a force sensor 420, a support frame 430, and a rolling bearing 440 that rotates about an axis in a second direction Y. The force sensor 420 is mounted on the base 410 with its sensing surface facing the first direction X. The support frame 430 is fitted onto the sensing surface of the force sensor 420. The rolling bearing 440 is mounted on the side of the support frame 430 facing away from the sensing surface and is tangentially fitted to the support frame 430. The side of the rolling bearing 440 facing away from the sensing surface is tangentially fitted to the peripheral surface of the clamping module.

[0091] Since the clamping force of the clamping module on the slender instrument 20 is along the first direction X, the sensing surface of the force sensor 420 faces the first direction X, the rolling bearing 440 is installed on the side of the support frame 430 away from the sensing surface and is tangentially attached to the support frame 430, and the side of the rolling bearing 440 away from the sensing surface is tangentially attached to the peripheral surface of the clamping module, the reaction force from the slender instrument 20 on the clamping module can be transmitted along the first direction X through the rolling bearing 440 and the support frame 430 to the sensing surface of the force sensor 420. Thus, the magnitude of the force detected by the force sensor 420 is equal to the clamping force of the clamping module on the slender instrument 20, thereby enabling real-time detection of the magnitude of the clamping force on the slender instrument 20, facilitating timely adjustment of the clamping force to ensure stable clamping of the slender instrument 20.

[0092] Since the rolling bearing 440, which rotates around the second Y-axis, is tangentially fitted to the circumferential surface of the clamping module, which also rotates around the second Y-axis, the friction between the clamping module and the rolling bearing 440 during rotation is rolling friction, resulting in very small (negligible) mechanical losses. This can be considered as not affecting the transport and clamping of the slender instrument 20, as well as the detection of the clamping force. Similarly, the rolling bearing 440 and the side of the support frame 430 facing away from the sensing surface experience rolling friction, resulting in very small (negligible) mechanical losses. This can also be considered as not affecting the transport and clamping of the slender instrument 20, as well as the detection of the clamping force.

[0093] Furthermore, the first drive component 200 can be connected to a host computer for communication. Since the first drive component 200 drives the two clamping modules to move relatively closer or further apart along the first direction X, there is a certain correspondence between the motion parameters of the first drive component and the relative movement distance of the two clamping modules. The host computer can calculate the relative movement distance of the two clamping modules based on the motion parameters of the first drive component (e.g., the number of rotations of the motor shaft). Assuming the two clamping modules are in the initial state before clamping the slender instrument 20, the clamping gap between the two clamping modules is S. The first drive component 200 drives the two clamping modules to move closer to each other along the first direction X to clamp the slender instrument 20. During the process from the clamping gap between the two clamping modules being S until the two clamping modules clamp the slender instrument 20, the relative movement distance of the two clamping modules is T (as mentioned above, T can be calculated by the host computer based on the motion parameters of the first drive component). Therefore, the clamping distance d = ST between the two clamping modules at this time can be calculated. The diameter D of the slender instrument 20 should be slightly larger than the clamping distance d. The host computer can determine the specifications of the slender instrument 20 being clamped based on the clamping distance d, and then provide feedback for deeper motion control.

[0094] When the two clamping modules are in their initial state before clamping the slender instrument 20, tangential contact between the force detection component 400 (specifically, the rolling bearing 440) and the clamping modules ensures that the force detection component 400 can continuously and stably detect. However, tangential contact between the force detection component 400 and the clamping modules may result in a non-zero force between them. Therefore, the force sensor's detection value can be initialized to zero to eliminate initial errors.

[0095] In some embodiments, the base 410 of the force detection component 400 is mounted on the mounting portion 111. Since both the main clamping portion 121 and the force detection component 400 are mounted on the mounting portion 111, the force detection component 400 and the main clamping portion 121 move together with the mounting portion 111. Therefore, regardless of whether the mounting portion 111 moves or how it moves, the force detection component 400 can detect the clamping force of the main clamping portion 121 on the slender instrument 20 in real time. Moreover, the reaction force from the slender instrument 20 on the main clamping portion 121 can be transmitted to the sensing surface of the force sensor 420 in sequence through the rolling bearing 440 and the support frame 430. There are few intermediate components for force transmission between the main clamping portion 121 and the force sensor 420, and the force transmission between the main clamping portion 121 and the force sensor 420 is almost equivalent to direct contact. Therefore, the force detection accuracy is high, and the structure of the force detection component 400 is simple.

[0096] Please combine Figure 2 , Figure 3 as well as Figure 5In one embodiment, the force detection component 400 is located on the side of the elongated instrument 20 near the area surrounded by the synchronous belt 1211, and the rolling bearing 440 is in contact with the inner circumferential surface of the synchronous belt 1211. Thus, the reaction force from the elongated instrument 20 on the synchronous belt 1211 is transmitted sequentially through the rolling bearing 440 and the support frame 430 to the sensing surface of the force sensor 420, thereby detecting the magnitude of the clamping force. Simultaneously, the rolling bearing 440 provides tension to the synchronous belt 1211. Furthermore, the force sensor 420 and the synchronous belt 1211 are separated only by the rolling bearing 440 and the support frame 430, minimizing intermediate components for force transmission; moreover, the friction between the rolling bearing 440, the support frame 430, and the synchronous belt 1211 is rolling friction, resulting in minimal mechanical loss. The force transmission between the synchronous belt 1211 and the force sensor 420 is almost equivalent to direct contact, leading to high accuracy in force detection and a simple structure for the force detection component 400.

[0097] Please combine Figure 2 , Figure 3 as well as Figure 5 In one embodiment, there are multiple rolling bearings 440. By having more rolling bearings 440 fit against the clamping module to detect the clamping force, the fit between the force detection component 400 and the clamping module can be better, and the contact area between the force detection component 400 and the clamping module can be increased, thereby improving the detection accuracy.

[0098] Please combine Figure 2 , Figure 3 , Figure 5 as well as Figure 8 In one embodiment, the force detection component 400 includes at least two sets of bearing groups arranged along the second direction Y. Each bearing group includes one rolling bearing 440 or at least two rolling bearings 440 arranged sequentially along the third direction Z. The rolling bearings 440 in adjacent bearing groups along the second direction Y are arranged in a one-to-one correspondence, and the two corresponding rolling bearings 440 in adjacent bearing groups are eccentrically arranged.

[0099] Understandably, when the synchronous belt 1211 transmits force to the force sensor 420 via the rolling bearing 440 and the support frame 430, the contact positions (i.e., force transmission positions) between the synchronous belt 1211 and the rolling bearing 440, and between the support frame 420 and the rolling bearing 440, correspond to the axial positions of the rolling bearing 440 along the first direction X. By eccentrically arranging the two corresponding rolling bearings 440 of adjacent bearing sets, the force transmission positions between the synchronous belt 1211 and the rolling bearing 440 can be distributed across multiple positions along their contact surfaces, and the force transmission positions between the support frame 420 and the rolling bearing 440 can also be distributed across multiple positions along their contact surfaces, thereby improving detection accuracy. Simultaneously, the force received by the synchronous belt 1211 from the rolling bearing 440 can be distributed across multiple positions, preventing force concentration on the synchronous belt 1211, thus minimizing the risk of jamming and ensuring smooth operation of the synchronous belt 1211.

[0100] exist Figure 8 In the embodiment shown, there are two bearing groups, each bearing group having two rolling bearings 440.

[0101] In other embodiments, each bearing group may also have one, three, or other numbers of rolling bearings.

[0102] Please combine Figure 3 and Figure 8 In one embodiment, the support frame 430 includes a main load-bearing portion 431 and a mounting portion 432. One side of the main load-bearing portion 431 is fitted against the sensing surface of the force sensor 420, and the rolling bearing 440 is tangentially fitted against the side of the main load-bearing portion 431 opposite to the sensing surface of the force sensor 420. The mounting portion 432 is fixedly connected to the side of the main load-bearing portion 431 opposite to the force sensor 420 and protrudes from the main load-bearing portion 431 along a first direction X. Thus, the rolling bearing 440 can be rotatably connected to the mounting portion 432, thereby being mounted on the support frame 430 and tangentially fitted against the support frame 430.

[0103] Please combine Figure 3 and Figure 8 Rolling bearings 440 are respectively provided on both sides of the mounting part 432 along the second direction Y. Two sets of bearings are respectively provided on both sides of the mounting part 432 along the second direction Y.

[0104] Please refer to Figure 9In another embodiment, the base 410 of the force detection assembly 400 can be disposed on the support portion 112. The side of the rolling bearing 440 facing away from the force sensor 420 is tangentially attached to the floating portion 122. Since the floating portion 122 is coaxially connected to the input end of the main clamping portion 121, the reaction force from the elongated instrument 20 received by the main clamping portion 121 can be transmitted to the rolling bearing 440 via the floating portion 122, and then transmitted to the force sensor 420 via the support frame 430, thereby also detecting the clamping force on the elongated instrument 20.

[0105] Please refer to Figure 10 In one embodiment, the driving device 10 of the elongated instrument includes a floating detection mechanism 700, which comprises two floating wheels 710 and a detection device. The two floating wheels 710 are spaced apart on both sides of the elongated instrument 20 along a first direction X, so that the elongated instrument 20 drives the two floating wheels 710 to rotate synchronously in opposite directions through frictional transmission. By detecting the rotational parameters (e.g., angular velocity, linear velocity, etc.) of the floating wheels 710 and comparing these parameters with those of the clamping module, it can be determined whether the movement state of the elongated instrument 20 is normal, thus facilitating guidance for the doctor on subsequent operations.

[0106] For example, when the rotation parameters of the floating wheel 710 match those of the driving wheel 1212, it indicates that the conveying of the slender instrument 20 is normal. When the rotation parameters of the floating wheel 710 do not match those of the driving wheel 1212, it indicates that the conveying of the slender instrument 20 is abnormal (such as slippage or obstruction). The rotation parameters of the driving wheel 1212 correspond to the rotation parameters of the second motor 320, and therefore can be obtained through the detection data of the encoder inside the second motor 320.

[0107] In one embodiment, two floating wheels 710 are rotatably connected to the mounting portion 111 about the axis of the second direction Y.

[0108] Please refer to Figure 10 The floating wheel 710 is coaxially connected to the rotating shaft 711. The rotating shaft 711 is rotatably connected to the support unit via a support bearing 712. The detection device includes a magnetic shaft 721, a mounting bracket 722, and a magnetic encoder disk 723. One end of the magnetic shaft 721 is fixedly connected to the rotating shaft 711. The mounting bracket 722 is fixed to the support unit, and the magnetic encoder disk 723 is mounted on the mounting bracket 722 and is spaced apart from the magnetic shaft 721 along the axial direction of the magnetic shaft 721. Thus, the rotation parameters of the floating wheel 710 can be detected by the cooperation between the magnetic encoder disk 723 and the magnetic shaft 721.

[0109] In other embodiments, other detection devices in the prior art can also be used to detect the rotation parameters of the floating wheel.

[0110] One embodiment of this application provides a surgical robot, including a robotic arm and a drive device for a slender instrument as described in any of the above embodiments, wherein the drive device for the slender instrument is disposed at the end of the robotic arm.

[0111] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0112] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A driving device for a slender instrument, characterized in that, The driving mechanism of the elongated instrument includes: Two clamping assemblies are arranged opposite each other along a first direction. Each clamping assembly includes a support portion and a clamping module. The clamping module is rotatably connected to the support portion about an axis in a second direction. A first drive assembly is used to drive the two support portions to move closer to or further away from each other along the first direction, so as to drive the two clamping modules to clamp or release the slender instrument. The second drive assembly is used to drive the two clamping modules to rotate synchronously in opposite directions, so as to transport the slender instrument in a third direction through frictional transmission between the two clamping modules and the slender instrument. The third drive component is used to drive the two clamping modules to move synchronously in opposite directions along the second direction, so that the two clamping modules jointly twist the slender instrument and cause the slender instrument to rotate. The second drive component is floatingly connected to the clamping module in the first direction via a flexible coupling, the third drive component is floatingly connected to the clamping module in the first direction via a sliding component, and the clamping module is floatingly connected to the corresponding support portion in the second direction. The clamping module includes a main clamping part, a floating part, a mounting part, and a connecting part; the mounting part and the support part are spaced apart along the second direction, the main clamping part is rotatably mounted on the mounting part about an axis in the second direction, and the floating part and the connecting part are connected in a manner that allows them to move relative to each other along the second direction but not to rotate relative to each other; one end of the floating part is coaxially connected to the input end of the main clamping part, and the other end of the floating part is rotatably connected to the support part through the connecting part, and the floating part can move relative to the support part along the second direction through the connecting part; the second driving component is used to drive the two floating parts to rotate synchronously in opposite directions; the third driving component is floatingly connected to the two mounting parts along the first direction and is used to drive the two mounting parts to move synchronously in opposite directions along the second direction; The clamping module also includes a timing belt and a driving wheel and a driven wheel spaced apart along a third direction, the timing belt being wound around the driving wheel and the driven wheel; the second drive component is used to drive the two driving wheels to rotate synchronously in opposite directions.

2. The driving device for the slender instrument according to claim 1, characterized in that, The first drive assembly includes a first motor and a motion conversion mechanism. The motion conversion mechanism includes a rotation input section and two linear output sections, with the two linear output sections connected to the two support sections in a one-to-one correspondence. The rotation input section is used to receive the rotational motion output by the first motor, and the two linear output sections are respectively driven by the rotation input section to convert the rotational motion received by the rotation input section into synchronous reverse linear motion of the two linear output sections along the first direction.

3. The driving device for the slender instrument according to claim 2, characterized in that, The rotary input part is a bidirectional lead screw with a left-hand thread and a right-hand thread; the two linear output parts are a left-hand nut and a right-hand nut, respectively, with the left-hand nut engaging with the left-hand thread and the right-hand nut engaging with the right-hand thread.

4. The driving device for the slender instrument according to claim 1, characterized in that, The adapter and the support are rotatably connected about an axis in a second direction; the second drive assembly is used to drive the two adapters to rotate synchronously in opposite directions.

5. The driving device for the slender instrument according to claim 1, characterized in that, The third drive component has two output ends, and the two output ends are connected to the two mounting parts one-to-one through a set of sliding components; the sliding component includes a slider and a slide rail that slide in a first direction, one of the slider and the slide rail being connected to the mounting part, and the other being connected to the output end of the third drive component.

6. The driving device for the slender instrument according to claim 1, characterized in that, The third drive assembly includes a third motor and two twisting transmission mechanisms. Each twisting transmission mechanism includes a rotating part and a moving part. The two moving parts are connected to the two mounting parts in a one-to-one correspondence. The two rotating parts mesh with each other. The third motor is used to drive the two rotating parts to rotate synchronously in opposite directions. The moving part is in transmission cooperation with the rotating part so that the synchronous opposite rotation of the two rotating parts is converted into the synchronous opposite linear motion of the two moving parts along a second direction.

7. The driving device for the slender instrument according to claim 1, characterized in that, The second drive component has two output ends, which are connected to the input ends of the two clamping modules in a one-to-one correspondence via flexible couplings, so that the input ends can move eccentrically relative to the output ends in the first direction via the corresponding flexible couplings.

8. The driving device for the slender instrument according to claim 1, characterized in that, The second drive assembly includes a second motor and two meshing output gears. The second motor drives the two output gears to rotate synchronously in opposite directions. The two output gears are connected to the input ends of the two clamping modules one-to-one via flexible couplings.

9. The driving device for the slender instrument according to claim 1, characterized in that, The system includes a force detection assembly comprising: a base, a force sensor, a support frame, and a rolling bearing that rotates about an axis in a second direction; the force sensor is mounted on the base with its sensing surface facing the first direction; the support frame is fitted onto the sensing surface of the force sensor; the rolling bearing is mounted on the side of the support frame facing away from the sensing surface and is tangentially fitted to the support frame; the side of the rolling bearing facing away from the sensing surface is tangentially fitted to the circumferential surface of the clamping module.

10. The driving device for the slender instrument according to claim 9, characterized in that, The force detection component is located on the side of the elongated instrument near the area surrounded by the timing belt, and the rolling bearing is in contact with the inner circumferential surface of the timing belt.

11. The driving device for the slender instrument according to claim 10, characterized in that, The force detection component includes at least two sets of bearing groups arranged along the second direction. Each set of bearing groups includes one rolling bearing or at least two rolling bearings arranged sequentially along the third direction. The rolling bearings in adjacent sets of bearing groups are arranged in a one-to-one correspondence, and the two corresponding rolling bearings in adjacent sets of bearing groups are eccentrically arranged.

12. The driving device for the slender instrument according to claim 9, characterized in that, The support frame includes a main load-bearing part and an installation part; one side of the main load-bearing part is fitted with the sensing surface of the force sensor, and the rolling bearing is tangentially fitted with the side of the main load-bearing part opposite to the sensing surface of the force sensor; the installation part is fixedly connected to the side of the main load-bearing part opposite to the force sensor and protrudes from the main load-bearing part along a first direction, and the rolling bearing is rotatably connected to the installation part.

13. The driving device for the slender instrument according to claim 1, characterized in that, The device includes a floating detection mechanism, which comprises two floating wheels and a detection device. The two floating wheels are spaced apart on both sides of the elongated instrument along a first direction, so as to drive the two floating wheels to rotate synchronously in opposite directions through friction transmission between the elongated instrument and the two floating wheels. The detection device is used to detect the rotation parameters of the floating wheels.

14. A surgical robot, characterized in that, The invention includes a robotic arm and a drive mechanism for the elongated instrument as described in any one of claims 1 to 13, wherein the drive mechanism for the elongated instrument is disposed at the end of the robotic arm.

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