A surgical system

Abstract

This application provides a surgical system including surgical instruments, a drive unit, and an input unit. The drive unit includes a first motor and a second motor for driving the surgical instruments to perform opening and closing movements. The input unit includes a gripper and a force feedback device, wherein the gripper is used to control the opening and closing angle of the clamping part. The force feedback device is coupled to the gripper and provides feedback force to the gripper based on the clamping force of the surgical instruments determined by the operating data of the first and second motors.

Description

Technical Field

[0001] This application relates to the field of medical devices, and in particular to a master-slave remote surgical system. Background Technology

[0002] Minimally invasive surgery refers to a surgical procedure performed inside the human body using modern medical instruments and equipment such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery has advantages such as less trauma, less pain, and faster recovery.

[0003] With advancements in technology, minimally invasive medical robot technology has matured and is widely used. Minimally invasive robotic-assisted surgery systems typically include a main control console and slave operating devices. The surgeon controls the slave operating devices via input devices on the main control console. The slave operating devices respond to control commands from the main control console and perform corresponding surgical procedures. Instruments are connected to the drive mechanisms of the slave operating devices to perform surgical procedures. The distal end of the instruments includes an end effector for performing surgical operations and joint components connected to the end effector that can move with multiple degrees of freedom.

[0004] When doctors remotely operate a surgical robot-assisted surgical system, they cannot directly feel the force applied to human tissue by the surgical instruments, which may lead to unexpected situations, such as excessive clamping force of the surgical instruments damaging the tissue. Summary of the Invention

[0005] Based on this, this application provides a surgical system in a first aspect, which includes surgical instruments, channel devices and input devices, wherein the surgical instruments include a long shaft, which includes a proximal portion and a distal portion; the end effector includes a wrist and a clamping portion, the wrist being rotatably connected to the distal portion, and the clamping portion being rotatably connected to the wrist;

[0006] The driving device includes multiple motors. The first and second motors among the multiple motors are used to drive the clamping part to perform an opening and closing action, and the third motor among the multiple motors is used to drive the wrist to perform a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping part unchanged.

[0007] The input device includes a gripper for controlling the opening and closing angle of the clamping portion; and a force feedback device coupled to the gripper, the force feedback device providing feedback force to the gripper based on the clamping force of the clamping portion, the clamping force of the clamping portion being determined based on the operating data of the first and second motors.

[0008] In one specific embodiment, the force feedback device determines the clamping force of the clamping part based on the operating data of the first and second motors and the force feedback model, and provides feedback force to the gripper based on the clamping force.

[0009] In one specific embodiment, the force feedback model includes a relationship model between the operating data of the first and second motors and the clamping force of the clamping part.

[0010] In one specific embodiment, the force feedback model includes a relationship model between one of the current, voltage, and rotational speed of the first and second motors and the clamping force of the clamping part.

[0011] In one specific embodiment, the feedback device further provides a feedback force to the gripper based on the tangential force of the clamping portion determined by the operating data of the third motor.

[0012] In one specific embodiment, the force feedback model further includes a relationship model between the operating data of the third motor and the tangential force of the clamping part.

[0013] In one specific embodiment, the surgical instrument further includes a plurality of winches and a decoupling mechanism housed in an instrument box. The first and second winches of the plurality of winches are respectively used to receive power input from the first and second motors. The first winch is connected to the clamping part via a first pair of cables, and the second winch is connected to the clamping part via a second pair of cables. The first pair of cables and the second pair of cables are wound around the decoupling mechanism. When the third motor drives the wrist to perform a pitching motion, the decoupling mechanism moves to increase the length of one pair of cables in the instrument box and decrease the length of the other pair of cables in the instrument box, thereby maintaining the opening and closing angle of the clamping part unchanged.

[0014] In one specific embodiment, the force feedback device includes an actuator and a linkage assembly, one end of which is connected to the actuator and the other end of which is connected to the gripper. The actuator provides feedback force to the gripper based on the clamping force and through the linkage mechanism.

[0015] In one specific embodiment, the linkage mechanism assembly comprises a first link and a second link, wherein one end of the first link is rotatably connected to the gripper, the other end is rotatably connected to one end of the second link, and the other end of the second link is connected to the actuator.

[0016] In one specific embodiment, the input device includes a housing, a force feedback motor, and a first pulley coupled to the force feedback motor. The first pulley is rotatably connected to the housing via a first pin. The first pulley is connected to the gripper via a first cable. The force feedback motor provides feedback force to the gripper based on the clamping force and through the first cable.

[0017] In one specific embodiment, the gripping member is rotatably connected to the housing via a second pin, the second pin being parallel to the second pin.

[0018] In one specific embodiment, the input device further includes a first encoder, which is coaxially arranged with the first pulley and is used to detect the opening and closing angle of the grip.

[0019] In one specific embodiment, the input device further includes a second encoder for detecting rotational data of the force feedback motor.

[0020] In one specific embodiment, the input device further includes a tensioning mechanism, the force feedback motor is connected to the first pulley via a second cable, the tensioning mechanism abuts against the second cable, and the tension of the second cable is adjusted by moving the tensioning mechanism.

[0021] In a second aspect, this application provides a surgical system including surgical instruments, a drive device, and an input device, wherein the surgical instruments include a long shaft, including a proximal portion and a distal portion; and an end effector including a wrist and a gripping portion, wherein the wrist is rotatably connected to the distal portion, and the gripping portion is rotatably connected to the wrist.

[0022] The driving device includes multiple motors. The first and second motors of the multiple motors are used to drive the clamping part to perform opening and closing actions. When the third motor of the multiple motors is used to drive the wrist to perform pitching actions, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping part unchanged.

[0023] The input device includes a grip for controlling the opening and closing angle of the clamping portion; and a force feedback device coupled to the grip, the force feedback device providing feedback force to the grip based on the tangential force of the clamping portion, the tangential force of the clamping portion being determined based on the operating data of the third motor. Attached Figure Description

[0024] Figure 1 This is a top view of a remotely operated surgical system for surgical procedures according to an embodiment of this application;

[0025] Figure 2 This is a schematic diagram of a device according to one embodiment of this application;

[0026] Figure 3A A schematic diagram of the main control console of a surgical system according to an embodiment of this application;

[0027] Figure 3B A schematic diagram of the input device of the main console according to an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the operating device of a surgical system according to an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of a robotic arm operating a device according to an embodiment of this application;

[0030] Figures 6A-6D This is a schematic diagram of the end effector of a surgical instrument according to one embodiment of this application;

[0031] Figures 7A-7B for Figures 6A-6D A schematic diagram of the end effector performing a pitch motion in the embodiment shown;

[0032] Figure 8A for Figures 6A-6D A schematic diagram of the internal structure of the surgical instrument box shown.

[0033] Figures 8B-8C for Figure 8A The diagram shows the decoupling process of the instrument box.

[0034] Figures 9A-9B This is a schematic diagram of the end effector of a surgical instrument according to another embodiment of this application;

[0035] Figure 10A for Figures 9A-9B A schematic diagram of the internal structure of the surgical instrument box shown.

[0036] Figure 10B-10C for Figure 10A The diagram shows the decoupling process of the instrument box.

[0037] Figure 11A This is a schematic diagram of the handle of an input device according to an embodiment of this application;

[0038] Figure 11B for Figure 11A A cross-sectional view of the handle shown from one perspective;

[0039] Figure 11C for Figure 11A A cross-sectional view of the handle shown from another perspective;

[0040] Figure 12 This is a schematic diagram illustrating the force applied by the end effector clamping member according to an embodiment of this application;

[0041] Figure 13A This is a schematic diagram of the handle of an input device according to an embodiment of this application;

[0042] Figure 13B for Figure 13A The illustrated embodiment shows a perspective view of the handle. Detailed Implementation

[0043] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application and are not intended to limit the scope of this application.

[0044] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element present, or it can refer to the two elements being interconnected via signals. When an element is considered to be "coupled" to another element, it can be directly coupled to the other element or there may be an intermediate element present, or it can refer to the two elements interacting via signals. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or operation, in addition to those depicted in the figures. For example, if the device is flipped in the figures, an element or feature described as "below" or "under" other elements or features would be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0045] The terms “distal” and “proximal” used in this article are directional terms commonly used in the field of interventional medical devices. “Distal” refers to the end that is farthest from the surgeon during the operation, while “proximal” refers to the end that is closest to the surgeon during the operation.

[0046] The term "tool" is used herein to describe a medical device for insertion into a patient's body and for performing surgical or diagnostic procedures. This tool includes an end effector, which can be a surgical instrument used to perform surgical procedures, such as an electrocautery device, clamp, stapler, scissor, imaging device (e.g., an endoscope or ultrasound probe), and the like. Some tools used in embodiments of this application further include an articulated component (e.g., a joint assembly) for the end effector, allowing the position and orientation of the end effector to be manipulated with one or more mechanical degrees of freedom relative to an instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The tool may also include stored information that can be updated by a surgical system, whereby the storage system can provide one-way or two-way communication between the tool and one or more system components.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms “and / or” and “and / or” as used herein include any and all combinations of one or more of the associated listed items.

[0048] One embodiment of this application describes a remotely operated surgical system, such as... Figure 1 As shown, the remotely operated surgical system includes a master console 10 and slave operating devices 20. The master console 10 is remotely communicatively connected to the slave operating devices 20. The slave operating devices 20 include multiple robotic arms 21, with multiple instruments and / or imaging devices detachably mounted on different robotic arms 21. The surgeon S can remotely operate and control the instruments and / or imaging devices from the master console 10. The master console 10 is configured to send control signals to the slave operating devices 20 and display images acquired by the slave operating devices 20 based on the surgeon S's operations. The surgeon S can observe three-dimensional images of the patient's body provided by the imaging system through the master console 10. By observing these three-dimensional images, the surgeon S can immerse themselves in the experience and control the slave operating devices 10 to perform related operations (e.g., performing surgery or acquiring images of the patient's body). The master console 10 and the slave operating devices 20 can be placed in the same room for remote operation, or in different rooms, or even in different cities.

[0049] The main control console 10 is also remotely connected to the electronic device cart C, and the electronic device cart C is remotely connected to the main control console 10 and the slave operating device 20. The electronic device cart 30 may include electronic devices such as energy generating devices and image signal processing devices. In this embodiment, the main control console 10 communicates remotely with the slave operating device 20 and the electronic device cart C via wired Ethernet communication. However, remote communication is not limited to wired Ethernet communication; it can also be other wired methods, such as, but not limited to, serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as, but not limited to, WiFi, NB, Zigbee, Bluetooth, RFID, etc.

[0050] Remotely operated surgical systems typically also include an imaging system that allows the operator to view the surgical site from outside the patient's body. This imaging system generally includes an imaging device (e.g., an endoscope) with video image acquisition capabilities and one or more video display devices for displaying the acquired images. Generally, the imaging device includes optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that acquire images of the patient's interior. These one or more imaging sensors can be placed at a distal end of the imaging device, and the signals generated by these sensors can be transmitted via cable or wirelessly for processing and display on the video display devices.

[0051] One or more cannulas are attached to the distal end of robotic arm 21 and inserted into the body of patient P lying on operating table T. Assistant A, depending on the surgical situation, attaches tool 30 to or replaces / reloads tool 30 from robotic arm 21. After tool 30 is attached to robotic arm 21, it is inserted into patient P's body through the cannulas. The basic surgical team consists of surgeon S, assistant A, and anesthesiologist B.

[0052] Tool 30 can be a surgical instrument such as an electrocautery device, forceps, stapler, or ultrasonic scalpel used to perform surgical procedures, or it can be an imaging device (e.g., an endoscope) or other surgical tool for acquiring images. In some embodiments, such as Figure 2 As shown, the tool 30 includes a transmission box 31, a long shaft 32, and an end effector 33. The transmission box is used to receive power input from the robotic arm 21 and transmit it to the end effector 33. The end effector 33 can be a device for performing surgery, such as a clamp or an ultrasonic scalpel; or it can be an imaging device, such as an image sensor.

[0053] One embodiment of this application's main console is as follows: Figure 3AAs shown, the main control console 100 includes a display device 101, armrests, first and second input devices 102 and 103, an observation device 104, and multiple pedals 105. The two input devices 102 and 103 are used to control different instruments or imaging devices. The display device 101 is used to display images acquired by the imaging system; for example, the display device 101 is a three-dimensional imaging display device. The surgeon S observes the images displayed on the display device 101 through the observation device 104. The armrest 11 is used to support the surgeon's arm and / or hand. In some embodiments, the armrest or the observation device 104 may be omitted depending on actual needs, in which case direct observation is possible.

[0054] The surgeon S controls the movement of tools on the slave operating device 20 by operating the first and second input devices 102 and 103. The control signal processing system of the master console 10 processes the input signals from the input devices 102 and sends control signals to the slave operating device 20. The slave operating device 20 responds to the control signals from the master console 100 and performs corresponding operations, i.e., master-slave control. In some embodiments, the control signal processing system may also be located in the slave operating device 20, for example, in the base of the slave operating device 20.

[0055] In some embodiments, such as Figure 3B As shown, the first input device 102 includes a handle 1021, a wrist joint assembly 1030, and an elbow joint assembly 1040. The handle 1021 is for a surgeon to hold, and movement of the wrist joint assembly 1030 is used to change the posture of the first input device 102, such as the posture of the handle 1021. The elbow joint assembly 1040 is used to change the position of the first input device 102, such as the position of the handle 1021.

[0056] The wrist joint assembly 1030 includes multiple wrist joints 1301, 1032, 1033, and 1034, which are rotatably connected to each other via L-shaped linkages. Wrist joint 1031 rotates about axis X1, wrist joint 1032 rotates about axis X2, wrist joint 1033 rotates about axis X3, and wrist joint 1034 rotates about axis X4. The rotation of each wrist joint 1301, 1032, 1033, and 1034 around its respective axis changes the orientation of the input device 102. In some embodiments, the orientation of the input device 102 includes the orientation of the intersection of axes X1, X2, X3, and X4.

[0057] The elbow joint assembly 1040 includes multiple elbow joints 1041, 1042, and 1043. Elbow joint 1041 rotates about its axis X5, elbow joint 1042 rotates about its axis X6, and elbow joint 1043 rotates about its axis X7. Each elbow joint 1041, 1042, and 1043 rotates about its respective axis to change the position of the input device 102.

[0058] The wrist joint assembly 1030 and the elbow joint assembly 1040 include a plurality of motors for driving movement of the wrist joint assembly 1030 and the elbow joint assembly 1040. In some embodiments, the controller 250 controls the movement of the wrist joint assembly 1030 by controlling the movement of one or more motors of the wrist joint assembly 1030, thereby causing the posture of the first input device 102 and / or the second input device 103 to follow the posture of the instrument end; or, aligning the posture of the first input device 102 and / or the second input device 103 with the posture of the instrument end.

[0059] In some embodiments, such as Figure 4 As shown, the operating device 200 includes multiple robotic arms 210, 220, 230, 240 and a controller 2500. The multiple robotic arms 210, 220, 230, 240 can have the same configuration or different configurations. Multiple tools 310, 320, 330, 340 are mounted on the multiple robotic arms 210, 220, 230, 240. Specifically, the first instrument 310 of the multiple tools is detachably mounted on the first robotic arm 210, the second instrument 320 is detachably mounted on the third robotic arm 230, the third instrument 330 is detachably mounted on the fourth robotic arm 240, and the imaging device 340 of the multiple tools is detachably mounted on the second robotic arm 220. In some other embodiments, the instruments and imaging devices can interchange the mounted robotic arms. For example, the third instrument 330 and the imaging device 320 can interchange the mounted robotic arms. After the interchange, the imaging device 340 is mounted on the third robotic arm 230, and the second instrument 320 is mounted on the second robotic arm 220.

[0060] The controller 2500 is configured to control the joint movements of the drive arms 210, 220, 230, and 240, as well as the movements of the instruments 310, 320, and 330 and the imaging device 340, in response to control signals from the main control console 100 or the slave operating device 20. The controller 2500 may be housed in the base of the slave operating device 200. In some embodiments, the controller 2500 may also be housed on each of the individual robotic arms. It is understood that the controller 2500 may also be housed in the main control console 100. In some embodiments, the controller 2500 and the aforementioned control signal processing system are the same control device, or the controller 2500 and the aforementioned control signal processing system are different control devices respectively housed in the slave operating device 20 and the main control console 10.

[0061] like Figure 5 As shown, taking the first robotic arm 210 among multiple robotic arms as an example, the robotic arm 210 includes a parallelogram mechanism 211 and a holding arm 212. The drive device 213 is slidably disposed on the holding arm 212. The drive device 213 is used to drive the end effector 313 of the surgical instrument 310 to move. The parallelogram mechanism 211 is used to make the surgical instrument 310 rotate around a remote motion center. The drive unit 213 includes multiple motors 213a, 213b, 213c, and 213d. After the instrument box 311 is mounted on the drive unit 213, the multiple motors 213a, 213b, 213c, and 213d are connected to the transmission device in the instrument box 311. The multiple motors 213a, 213b, 213c, and 213d drive the long shaft 312 and the end effector 313 to move through the drive transmission device. Specifically, the first motor 213a and the second motor 213b are used to drive the end effector 313 to perform opening and closing actions, the third motor 213c is used to drive the end effector 313 to perform pitching actions, and the fourth motor 213d is used to drive the long shaft 312 to rotate. In some embodiments, the drive unit 213 and the instrument box 311 can also be connected via a sterile adapter.

[0062] Existing surgical instruments have end effectors with motion coupling. When the drive device drives the end effector to move, two or more motors are required to drive one degree of freedom of the end effector. For example, the motor that drives the opening and closing of the clamping part of the end effector 313 not only needs to drive the opening and closing of the clamping part, but may also need to cooperate in decoupling motion when the end effector 313 performs pitch motion. One embodiment of the present invention provides a mechanically decoupled surgical instrument. Through mechanical decoupling, the motor that drives the opening and closing motion of the clamping part only drives the opening and closing motion of the clamping part.

[0063] Motion decoupling of the end effector of surgical instruments

[0064] In one embodiment, such as Figure 6AAs shown, the end effector 150 includes a first support 210 and a wrist 220. The distal end of the first support 210 includes a first pillar 314 and a second pillar 315. The proximal end of the first support 210 includes a base frame 316. One end of the base frame 316 is connected to a long shaft. The first pillar 314 and the second pillar 315 extend from the other end of the base frame 316 toward the distal end of the end effector 150. The first pillar 314, the second pillar 315 and the base frame 316 form a generally U-shaped clamp structure.

[0065] A first pin 311 and a second pin 312 are provided between the first pillar 314 and the second pillar 315. The first pin 311 and the second pin 312 are fixedly connected side by side to the first pillar 314 and the second pillar 315, wherein the first pin 311 is closer to the base frame 316 of the first bracket 210 than the second pin 312.

[0066] To better demonstrate the proximal structure of the end effector 150, in Figure 6B and Figure 6C The first bracket 210 is not shown in the image. Figure 6B and Figure 6C As shown, a first pulley group is provided on the first pin 311. The first pulley group includes a first pulley 211, a second pulley 212, a third pulley 213, and a fourth pulley 214 arranged sequentially on the first pin 311. A second pulley group is provided on the second pin 312. The second pulley group includes a fifth pulley 215, a sixth pulley 216, a seventh pulley 217, and an eighth pulley 218 arranged sequentially on the second pin 312. The first pulley 211 to the eighth pulley 218 are all used to guide the drive cable. Since the pulleys used to guide the drive cable are all set on the first bracket 210, and there are no pulleys on the wrist 220, the size of the wrist 220 can be made smaller, making the end effector 150 smaller, and there is no risk of the pulleys falling off.

[0067] The wrist 220 is provided with a third support 317, a fourth support 318 and a pitch wheel 319. The third support 317 and the fourth support 318 extend from the pitch wheel 319 along the distal end of the end effector 150. The third support 317, the fourth support 318 and the pitch wheel 319 form a roughly U-shaped frame. The pitch wheel 319 is mounted on the second pin 312. The wrist 220 can rotate around the axis AA' of the second pin 312 to realize the pitch movement of the end effector 150.

[0068] A third pin 313 is provided between the third pillar 317 and the fourth pillar 318, and the third pin 313 is perpendicular to the first pin 311 and the second pin 312. The clamping part 260 of the end effector 150 includes a first clamping member 261 and a second clamping member 262. The first clamping member 261 and the second clamping member 262 are rotatably mounted on the wrist part 220 via the third pin 313. The first clamping member 261 and the second clamping member 262 can rotate around the axis BB' of the third pin 313 to realize the opening and closing and yaw movement of the clamping part 260. The first clamping member 261 and the second clamping member 262 can be clamps for clamping tissue, or staplers for suturing, or cauterizers for electrocautery, etc.

[0069] The drive cables installed on the end effector 150 include a first pair of cables 151 and a second pair of cables 152 for manipulating the opening, closing, and yaw movements of the end effector 150, and a third pair of cables 153 for manipulating the pitch movements of the end effector 150. The first pair of cables 151 includes a first drive cable 151A and a second drive cable 151B. The second pair of cables 152 includes a third drive cable 152A and a fourth drive cable 152B. The third pair of cables 153 includes a fifth drive cable 153A and a sixth drive cable 153B.

[0070] like Figure 6C , 6DAs shown, on one side of the end effector 150, the winding pattern of the first pair of cables 151 on the first and second pulley groups is opposite to that of the second pair of cables 152 on the first and second pulley groups. The winding pattern of the first drive cable 151A of the first pair of cables 151 on the first and second pulley groups is the same as that of the second drive cable 151B on the first and second pulley groups. The winding pattern of the third drive cable 152A of the second pair of cables 152 on the first and second pulley groups is the same as that of the fourth drive cable 152B on the first and second pulley groups. Specifically, the proximal end of the first drive cable 151A is connected to the transmission device inside the instrument box 170. The distal end of the first drive cable 151A extends towards the distal end of the end effector 150 after being guided by the front of the first pulley 211, and continues to extend along the distal end of the end effector 150 after being guided by the rear of the fifth pulley 215, and is finally fixed to the first clamping member 261. The second drive cable 151B extends towards the distal end of the end effector 150 after being guided by the front of the fourth pulley 214, and continues to extend towards the distal end of the end effector 150 after being guided by the rear of the eighth pulley 218, and is finally fixed to the first clamping member 261. The distal end of the third drive cable 152A extends toward the distal end of the end effector 150 after being guided by the rear of the second pulley 212, and continues to extend toward the distal end of the end device 150 after being guided by the front of the sixth pulley 216 and is fixed on the second clamping member 262. The distal end of the fourth drive cable 152B extends toward the distal end of the end effector 150 after being guided by the rear of the third pulley 213, and continues to extend toward the distal end of the end device 150 after being guided by the front of the seventh pulley 217 and transitions onto the second clamping member 262.

[0071] The proximal ends of the fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables 153 are connected to the instrument box 170, and the distal ends of both are accommodated in the annular groove 319A of the pitch wheel 319. The ends of both are fixed in the wrist 220. The fifth drive cable 153A and the sixth drive cable 153B together drive the wrist 220 to rotate along the axis AA', and then the wrist 220 drives the first clamping part 230 and the second clamping part 240 to perform pitching motion along the axis AA'.

[0072] The following details the coupling relationship between the third pair of cables 153 and the first and second pairs of cables 151 and 152 of the end effector 150. When the end effector 150 is to perform a pitch motion, the instrument housing 170 needs to pull the fifth drive cable 153A or the sixth drive cable 153B of the third pair of cables 153, causing the wrist 220 to drive the first clamping part 230 and the second clamping part 240 to pitch together around the first axis AA'. Figure 7A and 7BAs shown, the winch 171 inside the instrument box 170 pulls the sixth drive cable 153B, causing the wrist 220 and the first clamping part 230 and the second clamping part 240 to pitch around the first axis AA'. If the end effector 150 only performs pitch movement, it is necessary to keep the length of the cable portion between the first pair of cables 151 and the second pair of cables 152 unchanged; otherwise, it will cause the end effector 150 to yaw or open / close.

[0073] At the end effector 150 from Figures 6A-6D Rotate the straight state shown to Figures 7A-7B During the pitch state shown, when the instrument box 170 pulls the sixth drive cable 153B, if the target pitch angle that the end effector 150 needs to rotate through is α, then plane a needs to move from... Figure 6D The position in the middle is also rotated by an angle α. Figure 7A If the radius of the pulleys in the first and second pulley groups is r1, in order for the end effector 150 to successfully rotate the target's pitch angle α, the wrap angle lengths of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218 must be increased by length L, where L = α * r1. Meanwhile, the wrap angle lengths of the third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217 must be decreased by length L.

[0074] For the end effector 150 to perform pitch motion, the lengths of the first drive cable 151A and the second drive cable 151B on the end effector 150 must increase or decrease simultaneously, and the lengths of the third drive cable 152A and the fourth drive cable 152B on the end effector must decrease or increase simultaneously. Therefore, the movement of the third pair of cables 153 is restricted by the first pair of cables 151 and the second pair of cables 152.

[0075] This relationship, where the change of one component is influenced / limited by another, is called a coupling relationship; that is, there is a coupling relationship between one component and another. For the first pair of cables 151, the second pair of cables 152, and the third pair of cables 153, this coupling relationship means that movement of any cable between the second pair of cables 152 and the third pair of cables 153 will trigger undesirable movements in the other cables, thus causing undesirable movements in the end effector. This coupling relationship causes the pitch motion of the end effector to influence its opening and / or tilting motions, making these movements interdependent and preventing the end effector 150 from correctly performing surgical procedures. Therefore, it is necessary to decouple the third pair of cables 153 from the first pair of cables 151 and / or the second pair of cables 152, so that the movement of the third pair of cables 153 is no longer restricted by the first pair of cables 151 and / or the second pair of cables 152, and the movement of the two can be independent of each other without interference or influence. This decoupling of the third pair of cables 153 from the first pair of cables 151 and / or the second pair of cables 152 is called decoupling.

[0076] Regarding how to decouple the above-mentioned coupling relationship, an existing decoupling method is to use software algorithms for decoupling. However, the existing software decoupling method cannot decouple the end effector of this type of invention. This invention proposes a mechanical decoupling scheme, which sets a mechanical decoupling mechanism in the instrument box 170 of the surgical instrument 120, thereby decoupling the coupling relationship between the first pair of cables 151, the second pair of cables 152, and the third pair of cables 153.

[0077] like Figure 8A The diagram shown is of an instrument box 170 according to an embodiment of the present invention. The instrument box 170 is adapted to receive power input and drive... Figure 6A The end effector is shown. The instrument box 170 includes a first winch 171 and a second winch 172 for driving the end effector 150 to perform opening, closing, and / or yaw movements; a third winch 173 for driving the end effector 150 to perform pitch movements; and a fourth winch 174 for driving the long shaft 160 to rotate. The first drive cable 151A and the second drive cable 151B of the first pair of cables 151 are wound on the first winch 171 in opposite winding arrangements; the third drive cable 152A and the fourth drive cable 152B of the second pair of cables 152 are wound on the second winch 172 in opposite winding arrangements; the fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables 153 are wound on the third winch 173 in opposite winding arrangements; and the seventh drive cable 154A and the eighth drive cable 154B are wound on the fourth winch 174 in opposite winding arrangements.

[0078] When the first motor 213a in the drive device 132 drives the first winch 171 to rotate, the first winch 171 winds or unwinds the first drive cable 151A or the second drive cable 151B to cause the first clamping member 261 to rotate around its third pin 313. When the second motor 213b in the drive device 132 drives the second winch 172 to rotate, the second winch 172 winds or unwinds the second drive cable 152A and the third drive cable 152B to cause the second clamping member 262 to rotate around the third pin 313. When the third motor 213c in the drive device 132 drives the third winch 173 to rotate, when the third winch 173 winds or unwinds the fifth drive cable 153A and the sixth drive cable 153B, the wrist 220 rotates around the axis AA' of the second pin 312, so that the end effector 150 performs a pitching motion. When the fourth motor in the drive device 132 drives the fourth winch 174 to rotate with its shaft 174A, the fourth winch 174 winds or unwinds the seventh drive cable 154A or the eighth drive cable 154B to achieve the self-rotation motion of the drive long shaft 160.

[0079] The instrument box 170 further includes a decoupling mechanism for releasing the coupling relationship between the third pair of cables 153 and the first pair of cables 151 and the second pair of cables 152 on the side of the end effector 150. The decoupling mechanism includes a decoupling wheel 1761 and a carriage 176. The carriage 176 includes a support frame 1762 and a first guide portion 1763 and a second guide portion 1764 connected to both ends of the support frame 1762. The first and second drive cables 151A and 151B are wound around the first guide portion 1763, and the third and fourth drive cables 152A and 152B are wound around the second guide portion 1764. The decoupling wheel 1761 is connected to the support frame 1762 through a first decoupling cable 1767 and a second decoupling cable 1768. The decoupling wheel 1761 manipulates the movement of the carriage 176 by driving the first decoupling cable 1767 and the second decoupling cable 1768.

[0080] The decoupling wheel 1761 and the third winch 173 can be arranged on the same shaft 173A, and the decoupling wheel 1761 and the third winch 173 rotate coaxially. The decoupling wheel 1761 and the third winch 173 have different radii. The radius of the decoupling wheel 1761 is r2, and the radius of the third winch 173 is R2, where r2 < R2. The decoupling wheel 1761 makes the carriage 176 move by winding or unwinding the first decoupling cable 1767 or the second decoupling cable 1768.

[0081] The decoupling process is as Figure 8B shown. When the third winch 173 rotates counterclockwise (the first direction), the third winch 173 winds the sixth drive cable 153B and simultaneously releases the fifth drive cable 153A, so that the wrist 220 of the end effector 150 is as Figure 7A and 7BRotating around the axis AA' of the second pin 312, the entire end effector 150 performs a pitch motion. Since the decoupling wheel 1761 rotates coaxially with the third winch 173, the decoupling wheel 1761 pulls the second decoupling cable 1768 and simultaneously releases the first decoupling cable 1767. If the arc length rotated by the decoupling wheel 1761 is L / 2, then the carriage 176 moves a distance L / 2 along direction A under the pull of the second decoupling cable 1768. At this time, due to the movement of the carriage 176, the lengths of the first drive cable 151A and the second drive cable 151B in the instrument box 170 will decrease by L simultaneously. Correspondingly, the lengths of the third drive cable 152A and the fourth drive cable 152B in the instrument box 170 will increase by L simultaneously.

[0082] Therefore, the reduction in length of the first drive cable 151A and the second drive cable 151B within the instrument box 170 is equal to the required increase in the wrap angle length of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218, respectively. Similarly, the increase in length of the third drive cable 152A and the fourth drive cable 152B within the instrument box 170 is equal to the required reduction in the wrap angle length of the third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217. Conversely, as... Figure 8C As shown, when the third winch 173 and the decoupling wheel 1761 rotate clockwise (in the second direction), the increase in length of the first drive cable 151A and the second drive cable 151B within the instrument box 170 is equal to the required decrease in the wrap angle length of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218, respectively. The decrease in length of the third drive cable 152A and the fourth drive cable 152B within the instrument box 170 is equal to the required increase in the wrap angle length of the third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217. Thus, the length changes of the first pair of cables and the second pair of cables on the end effector side caused by the pitch motion of the end effector are entirely provided by the length changes of the first pair of cables and the second pair of cables within the instrument box 170. Therefore, the movement of the third pair of cables will no longer be restricted by the first pair of cables and the second pair of cables. The decoupling mechanism realizes the decoupling relationship between the third pair of cables and the first pair of cables and the second pair of cables.

[0083] In order to ensure that the coupling relationship between the third pair of cables 153 and the first pair of cables 151 and the second pair of cables 152 can be precisely and controllably decoupled in the decoupling mechanism, the decoupling wheel 1761 of the decoupling mechanism drives the slide 176 to always move in a straight line, and ensures that the length changes of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth cable 152B caused by the movement of the decoupling member 176 are always linear.

[0084] like Figure 9A The diagram shows a schematic of the structure of an end effector 250 according to an embodiment of the present invention. The end effector 250 includes a generally U-shaped wrist 410, a first support 510, a clamping part 610, and drive cables. The distal ends of the first pair of cables 251 are mounted on the first clamping member 611 of the clamping part 610, and their proximal ends are connected to the first winch inside the instrument box 270. The distal ends of the second pair of cables 252 are mounted on the second clamping member 612 of the clamping part 610, and their proximal ends are connected to the winch inside the instrument box 270. The first pair of cables 251 and the second pair of cables 252 cooperate to manipulate the first clamping member 611 and the second clamping member 612 to rotate around the axis BB' of the first pin 512, thereby realizing the opening, closing, and yaw motion of the end effector 250. The distal ends of the third pair of cables 253 are mounted on the wrist 410, and their proximal ends are connected to the third winch inside the instrument box 270.

[0085] The first pair of cables 251 includes a first drive cable 251A and a second drive cable 251B, and the second pair of cables includes a third drive cable 252A and a fourth drive cable 252B. A first pulley assembly 320 is fixed to the wrist 410, and a second pulley assembly 330 is mounted on the first bracket 510. The first pulley assembly 320 includes first, second, third, and fourth pulleys 321, 322, 323, and 324, and the second pulley assembly 330 includes fifth, sixth, seventh, and eighth pulleys 325, 326, 327, and 328.

[0086] The first pair of cables 251 and the second pair of cables 252 are wound in the same way on the first pulley group 320 and the second pulley group 330, but the first drive cable 251A and the second drive cable 251B of the first pair of cables 251 are wound in opposite ways on the first pulley group 320 and the second pulley group 330, and the third drive cable 252A and the fourth drive cable 252B of the second pair of cables 252 are wound in opposite ways on the first pulley group 320 and the second pulley group 330. Specifically, the first drive cable 251A is guided by the front of the first pulley 321, then by the rear of the fifth pulley 325, and then passes through the first bracket 510 to extend into the long shaft 160; the second drive cable 251B is guided by the rear of the third pulley 323, then by the front of the seventh pulley 327, and then passes through the first bracket 510 to extend into the long shaft 160. The third drive cable 252A is guided by the front of the second pulley 322 and then by the rear of the sixth pulley 326 before passing through the wrist 210 and extending into the long shaft 160. The fourth drive cable 352B is guided by the rear of the fourth pulley 324 and then by the front of the eighth pulley 228 before passing through the wrist 410 and extending into the end long shaft 160.

[0087] In this embodiment, the third pair of cables 253 is also coupled to the first pair of cables 251 and the second pair of cables 252. Specifically, as shown... Figure 9B As shown, when the instrument box 270 of the surgical instrument releases the fifth drive cable 253A of the third pair of cables 253 and pulls the sixth drive cable 253B of the third pair of cables 253, the desired pitch motion of the end effector 250 is that the wrist 410 and the clamping part 610 of the end effector 250 rotate together clockwise around the axis AA' of the second pin 511, and the clamping part 610 does not move around the first pin 412 during the rotation.

[0088] However, after the drive cable passes through the above winding method, during the counterclockwise rotation of the wrist 410 and the clamping part 610 around the axis AA' of the second pin 412, the wrap angle lengths of the first drive cable 251A of the first pair of cables 351 and the third drive cable 252B of the second pair of cables 252 on the fifth pulley 325 and the sixth pulley 326 will increase, while the wrap angle lengths of the second drive cable 252B and the fourth drive cable 252B on the seventh pulley 227 and the eighth pulley 228 will decrease. This causes the clamping part 610 to rotate counterclockwise around the axis BB' of the first pin 412, from the dotted line position to the solid line position in the figure, which is undesirable. There is also a coupling relationship between the third pair of cables 253 and the first pair of cables 251 and the second pair of cables 252.

[0089] Therefore, the present invention also provides an instrument box that can decouple the surgical instruments 250 described above, such as... Figure 10A As shown, the instrument box 270 includes a first winch 271 and a second winch 272 for driving the end effector 250 to perform opening, closing, and yaw; a third winch 273 for driving the end effector 250 to perform pitch motion; and a fourth winch 274 for driving the long shaft 160 to rotate. The proximal ends of the first drive cable 251A and the second drive cable 251B of the first pair of cables 251 are wound around the first winch 271 in opposite winding arrangements. The proximal ends of the third drive cable 252A and the fourth drive cable 252B of the second pair of cables 252 are wound around the second winch 272 in opposite winding arrangements. The fifth drive cable 253A and the sixth drive cable 253B of the third pair of cables 253 are wound around the third winch 273 in opposite winding arrangements. The sixth drive cable 254A and the seventh drive cable 254B of the fourth pair of cables are wound around the fourth winch 274 in opposite winding arrangements.

[0090] The instrument box 270 also includes a decoupling mechanism for breaking the coupling between the third pair of cables 253 and the first pair of cables 251 and the second pair of cables 252 on the end effector 250 side. The decoupling mechanism includes a decoupling wheel 275 and a carriage 276. The decoupling wheel 275 is coaxially arranged with the third winch 273. The carriage 276 includes a support frame 2761 and guide wheels 2763 and 2764 arranged at both ends of the support frame 2761. The first drive cable 251A and the third drive cable 252A are guided by the first guide part 2763 and then enter the long shaft 160. The second drive cable 251B and the fourth drive cable 152B are guided by the second guide part 2764 and then enter the long shaft. The decoupling wheel 275 is used to drive the carriage 276 to move to change the length of the first pair of cables 251 and the second pair of cables 252 in the instrument box, thereby decoupling the third pair of cables from the first pair of cables and the second pair of cables.

[0091] like Figure 10B As shown, when the third winch 273 rotates in the first direction (counterclockwise), the third winch 273 pulls the fifth drive cable 253B and simultaneously releases the fourth drive cable 253A, thereby causing the wrist 220 of the end effector 250 to rotate along the axis AA' of the second pin 511. Since the decoupling wheel 275 is coaxially arranged with the third winch 273, when the decoupling wheel 275 rotates in the first direction, it releases the first decoupling cable 2765 and simultaneously pulls the second decoupling cable 2766, thereby pulling the support frame 2761 of the carriage 276 to move in the instrument box 270 along the A direction. This causes the lengths of the first drive cable 251A and the third drive cable 252A in the drive device to decrease simultaneously, while the lengths of the second drive cable 251B and the fourth drive cable 252B in the drive device to increase simultaneously.

[0092] like Figure 10C As shown, when the third winch 273 and the decoupling wheel 275 rotate together in a second direction opposite to the first direction, the entire decoupling process is the opposite of the process described above where the third winch 273 and the decoupling wheel 275 rotate in the first direction. Therefore, the resulting changes in the drive cable and the decoupling cable are also opposite to the movement in the first direction described above.

[0093] Therefore, the changes in the wrap angle lengths of the first drive cable 151A and the third drive cable 152A of the first pair of cables 251 on the fifth pulley 225 and the sixth pulley 226, respectively, and the changes in the wrap angle lengths of the second drive cable 151B and the fourth drive cable 152B on the seventh pulley 227 and the eighth pulley 228, respectively, required for the pitch movement of the end effector 250, are all provided by the changes in the lengths of the first drive cable 151A and the third drive cable 152A within the drive device caused by the movement of the decoupling member 176 of the decoupling mechanism, as well as the changes in the lengths of the second drive cable 152B and the fourth drive cable 152B within the drive device. This allows the movement of the third pair of cables to be no longer restricted by the first pair of cables and the second pair of cables, achieving precise decoupling between the third pair of cables and the first and second pairs of cables.

[0094] After the aforementioned mechanical decoupling, the drive motor that drives the clamping part only drives the clamping part and does not need to participate in the decoupling motion. In other words, when the third motor 213c drives the wrist of the surgical instrument to pitch, the first and second motors 213a and 213b can remain stationary, thus keeping the opening and closing angle of the clamping part of the end effector unchanged. At this time, any change in the operating data of the first and second motors 213a and 213b that drive the clamping part (e.g., a sudden change in current) can only be due to clamping human tissue. Therefore, the clamping force applied to the human tissue by the clamping part can be determined through this operating data, and force feedback can be provided to the input device based on this clamping force.

[0095] An embodiment of the present invention also provides an input device with force feedback, such as... Figure 11A As shown, the handle 1130 of the input device is rotatably connected to the wrist joint 1031. The handle 1130 includes a housing 1131 and a grip 1133. The grip 1133 is rotatably mounted on the housing 1131. The housing 1131 also includes a handle 1132. When the operator uses the handle 1130, he holds the handle 1132 like holding a gun and his fingers hold the grip 1133.

[0096] like Figure 11B , 11CAs shown, the handle 1130 also includes a force feedback device, which includes a force feedback motor 1201, a transmission cable 1203, and a first pulley 1204. The force feedback motor 1201 is connected to the first pulley 1204 via the transmission cable 1203. The bracket 1134 of the grip 1133 is connected to the first pulley 1204 via a second pulley 1205. The second pulley 1205 and the first pulley 1204 are mounted on the same pin 1135. The encoder 1207 is fixed below the first pulley 1204 and is coaxially mounted with the first and second pulleys 1204 and 1205, and is used to detect the rotation angle of the first and second pulleys 1204 and 1205. In some embodiments, the first rope pulley 1204 and the second rope pulley 1205 may not be disposed on the same pin shaft. For example, the first rope pulley 1204 and the second rope pulley 1205 may be disposed on different pin shafts, and the first rope pulley 1204 and the second rope pulley 1205 may be directly connected by a cable or gear.

[0097] The bracket 1134 is connected to the second pulley 1205 via a first actuation cable 1206a and a second actuation cable 1206b. The first and second actuation cables 1206a and 1206b extend along opposite sides of the bracket 1134. One end of the first actuation cable 1206a and one end of the second actuation cable 1206b are respectively fixed to the two sides of the bracket 1134. The first and second actuation cables 1206a and 1206b are wound around the second pulley 1205 in opposite directions, and the other end of the first actuation cable 1206a and the other end of the second actuation cable 1206b are fixed to the second pulley 1205. In some embodiments, the first actuation cable 1206a and the second actuation cable 1206b extend in grooves in the side walls of the bracket 1134.

[0098] In one embodiment, the grip 1133 is rotatably connected to the housing 1131 via a second pin 1136. The second pin 1136 is parallel to the first pin 1135, which makes it difficult for the first drive cable 1206a and the second drive cable 1206b to slip out of the groove in the side wall of the bracket 1133 when the grip 1133 rotates.

[0099] When the operator presses the gripper 1133, the support 1133 of the gripper 1133 rotates clockwise (CW) as shown in the figure. Under the pull of the first actuation cable 1206a, the second pulley 1205 rotates counterclockwise. When the operator pulls the gripper 1133, the gripper 1133 rotates counterclockwise (CCW) around the second pin 1133. The second actuation cable 1206b pulls the first pulley 1135 clockwise. The encoder 1207 can detect the rotation angle of the second pulley 1205, thereby obtaining the rotation angle of the gripper 1133. The controller of the surgical system controls the opening and closing angle of the clamping part of the end effector of the surgical instrument based on the rotation angle of the gripper 1133.

[0100] In some embodiments, a compressed spring (not shown) is provided between the support 1134 and the housing 1131 of the grip 1133. After the operator releases the grip 1133, the spring returns to its original position, causing the grip 1133 to rotate in a counterclockwise CCW direction.

[0101] After the clamping part 260 of the surgical instrument clamps the human tissue R, the force applied to the tissue R by the clamping action of the clamping part 260 is as follows: Figure 12 As shown, during the manipulation of human tissue by surgical instruments, the interaction force between the instruments and the tissue is generally considered as the clamping force, which can be decomposed into a three-dimensional axial force F along the end-tool coordinate system. g F s F t , of which F g F represents the clamping force of the tooth surface of a surgical instrument on human tissue. s F represents radial tangential force. t This represents the axial tensile force. Since the first clamping member 261 and the second clamping member 262 in the clamping part 260 are individually controlled by the cable, and both generate interaction forces during contact with human tissue, the three-dimensional axial force F can be expressed as... g F s F t The force is further decomposed onto the tooth surface of the first clamping component 261 and is a three-dimensional axial force F. g ′、F s ′、F t ′ and the third clamping component 262 tooth surface and the three-dimensional axial force F g "、F s "、F t The force decomposition relationship can be expressed by the following formula.

[0102]

[0103] in, Represents force F t The vector form, similarly to the force vector. and Represents vector force The scalar value of force is analogous to the scalar value of force. and

[0104] After the clamping parts 260 and 610 of the surgical instruments 150 and 250 clamp onto human tissue, the drive cables that drive the clamping parts to move will undergo tensile deformation, which in turn causes a sudden and large change in the current of the first motor 213a and the second motor 213b that drive the clamping parts to rotate. After the above-mentioned mechanical decoupling, the first motor 213a and the second motor 213b no longer participate in the decoupling motion. The two motors drive the first clamping member and the second clamping member of the clamping part independently. The sudden change in the current of the two motors indicates that the clamping part has clamped onto human tissue. By inputting this change in current into the pre-stored force feedback model of "operating force of clamping part - change in current", where the operating force includes the clamping force of the clamping part, the magnitude of the clamping force of the clamping part when clamped onto the tissue can be obtained.

[0105] In one embodiment, the force feedback model of "operating force-current change of the clamping part" also includes the tangential force F of the two clamping members of the clamping part. s The relationship between the current change of the third motor 213c and the clamping parts 260 and 610 of the surgical instruments 150 and 250 clamping the human tissue can also cause the two clamping parts 261 and 610 to be subjected to the tooth surface tangential force. The tooth surface tangential force is perpendicular to the above clamping force. The existence of the tooth surface tangential force will cause the current of the third motor 213c to change suddenly. By inputting the current change of the third motor 213c into the force feedback model, the magnitude of the tooth surface tangential force of the clamping part can be obtained.

[0106] In some embodiments, the mathematical relationship between the current changes of the first motor 213a, the second motor 213b, and the third motor 213c and the clamping force of the clamping part measured by the pressure sensor is calibrated using a calibration device, and a force feedback model of "operating force of the clamping part - current change" is finally obtained based on the mathematical relationship.

[0107] The force feedback motor 1201 provides feedback force to the gripper 1133 based on the clamping force detected by the current passing through the first motor 213a and the second motor 213b. For example, the controller of the force feedback device converts the detected clamping force of the clamping parts 240 and 610 into an input current for the force feedback motor 1201. The force feedback motor 1201 outputs a corresponding resistance based on this input current. This resistance can be equal to or proportional to the clamping force of the clamping parts 260 and 610. Since the first pulley 1204 and the second pulley 1205 are mounted on the same pivot, the resistance output by the feedback motor 1201 is transmitted to the gripper 1133 through the transmission cable 1203, the first pulley 1204, and the second pulley 1205. This allows the operator to feel the resistance provided by the feedback motor 1201 when operating the handle. In this way, the operator can intuitively feel the resistance when the end effector of the instrument clamps the tissue, making the surgery safer.

[0108] In one embodiment, such as Figure 13A , 13B The handle 2130 shown includes a housing 2131 and two grips 2133a and 2133b. The two grips 2133a and 2133b are rotatably connected to the housing 2131 via two first pins 2134a and 2134b, respectively. By squeezing the two grips 2133a, the opening and closing angle of the clamping part of the end effector of the surgical instrument can be controlled.

[0109] The handle 2130 also includes a force feedback device, which includes a linkage assembly and a force feedback actuator 2201. The linkage assembly includes two first linkages 2201a and 2201b. One end of the two first linkages 2201a and 2201b is rotatably connected to two grips 2133a and 2133b via two second pins 2135a and 2135b, respectively. The other end of the two first linkages 2201a and 2201b is rotatably connected to one end of a second linkage 2202 via a third pin 2136. The other end of the second linkage 2202 is connected to the force feedback actuator 2201.

[0110] Similar to the cable-driven embodiment described above, the controller of the force feedback device detects the clamping force of the clamping part by transmitting the current from the first motor 213a and the second motor 213b. The controller of the force feedback device converts the detected clamping force of the clamping part into the input current of the force feedback brake 2201. The force feedback actuator then transmits resistance to the gripping clamps 2133a and 2133b through the linkage assembly based on the input current, thereby providing force feedback to the operator.

[0111] In one embodiment, the force feedback actuator 2201 is connected to the second link 2202 via the third link 2203. The second link 2202 moves in a straight line, and its direction of movement is perpendicular to the first pins 2134a, 2134b, the second pins 2135a, 2135b and the third pin 2136. The linear movement of the second link 2202 drives the third link 2203 to move, thereby transmitting the movement of the second link 2202 to the force feedback actuator 2201. In this way, the force feedback actuator 2201 can detect the amount of movement of the second link 2202, thereby detecting the opening and closing angle of the grip 2133a and the grip 2133b.

[0112] In one embodiment, a spring 2205 is also provided between the two grips 2133a, 2133b. After the operator releases the grips 2133a, 2133b, the spring 2205 provides an elastic restoring force, causing the two grips 2133a, 2133b to move away from each other.

[0113] In one embodiment, the controller of the force feedback device detects the magnitude of the tangential force of the clamping part through the current of the third motor. The controller of the force feedback device converts the detected clamping force of the clamping part into the input current of the force feedback motor 1201 or the force feedback brake 2201. The force feedback actuator inputs resistance to the gripper 1133 or gripper 2133a, 2133b through the linkage assembly according to the input current, so as to provide the operator with force feedback including the tangential force of the clamping part.

[0114] It is understood that in some embodiments, other operating data of the first motor 213a and the second motor 213b can also be used to establish a mathematical model of the clamping force and operating data of the clamping part. For example, mathematical models such as "clamping force of the clamping part - change in rotational speed", "clamping force of the clamping part - change in torque", and "clamping force of the clamping part - change in voltage" can be established.

[0115] In one embodiment, the force feedback device provides force feedback to the grip 1133 based on a force feedback model related to the opening and closing angle of the grip 1133. Specifically, the force feedback device activates the force feedback model based on whether the end effector of the surgical instrument is gripping human tissue. For example, the surgical system pre-stores threshold currents associated with the first motor 213a and the second motor 213b. When the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, it activates the force feedback model. This force feedback model is related to the opening and closing angle of the grip 1133, 2133 of the handle. When the controller of the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, it obtains the first rotation angle of the grip 1133, 2133 at this time, and obtains the second rotation angle of the grip 1133, 2133 after moving from the first rotation angle in real time. The second rotation angle is less than the first rotation angle. The rotation angle refers to the angle between the center line of the grip and the handle. Figure 11C For example, the rotation angle refers to the angle γ between the center line X1 of the grip 1133 and the handle 1130. The feedback motor 1201 or force feedback actuator 2201 of the force feedback device provides a feedback force to the grip based on a first rotation angle and a second rotation angle. Specifically, the feedback force is obtained by inputting the first and second rotation angles into the force feedback model. The force feedback model is as follows:

[0116] F mg =k1(θ mg -θ grip )+k2(θ mg -θ grip ) 2 +…+k n (θ mg -θ grip ) n

[0117] In the above force feedback model, F mg For feedback force, θ mg Let θ be the first rotation angle of the gripper. grip Let k1, k2, ..., k be the second rotation angle of the gripping component. n This represents a constant coefficient, obtained through measurement and calibration during the modeling process. The feedback motor 1201 or force feedback actuator 2201 operates based on the feedback force F. mg It outputs feedback force to the gripping component.

[0118] The controller of the force feedback device can be located in the input device, or it can be located in the main control console 10, or in the slave operating device 20. For example, the controller function of the force feedback device can be implemented using the controller 2500 in the slave operating device 20. It is understood that the controller of the force feedback device can be located anywhere in the surgical system.

[0119] In one embodiment, the force feedback device provides feedback force to the gripper 1133 based on a force feedback model related to the opening and closing angles of the two clamping members of the clamping portions 260 and 610 of the instrument. Specifically, when the controller of the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, it acquires the first opening and closing angle of the clamping portion at this time, and acquires in real time the actual second opening and closing angle of the clamping portion after moving from the first opening and closing angle, wherein the second opening and closing angle is less than the first opening and closing angle. The opening and closing angle refers to the opening and closing angle between the two clamping members of the clamping portion, and the opening and closing angle is zero when the clamping is closed. The feedback motor 1201 provides feedback force to the handle based on the first opening and closing angle and the second opening and closing angle, that is, inputs the first opening and closing angle and the second opening and closing angle into the force feedback model to obtain the clamping force of the clamping portion. The force feedback device outputs feedback force to the gripper based on the clamping force. The force feedback model in this embodiment is as follows:

[0120] F ug =k1(θ ug -θ tool )+k2(θ ug -θ tool ) 2 +…+k n (θ ug -θ tool ) n

[0121] In the above force feedback model, F ug θ is the clamping force of the clamping part. ug θ is the first opening and closing angle of the clamping part. tool Let k1, k2, ..., k be the second opening angle. n This represents a constant coefficient, obtained through measurement and calibration during the modeling process. The feedback motor 1201 or force feedback actuator 2201 operates based on the clamping force F. ug It outputs feedback force to the gripping component.

[0122] It is understood that in some embodiments, it is also possible to determine whether the clamping part of the instrument is clamping the tissue by detecting other operating data of the first motor 213a and the second motor 213b, such as the voltage, speed, torque and other operating data of the first motor 213a and the second motor 213b.

[0123] In one embodiment, the force feedback device provides a feedback force, including a tangential force, to the gripping member 1133, 2133 based on a force feedback model related to the pitch angle of the wrist 220. The surgical system pre-stores a second current threshold related to the third motor 213c. When the controller of the force feedback device detects that the current of the third motor 213c exceeds the second current threshold, it acquires a first rotation angle of the gripping member 1133, 2133 at that time, and acquires a second rotation angle of the gripping member 1133, 2133 after moving from the first rotation angle, wherein the second rotation angle is less than the first rotation angle. The force feedback motor 1201 or force feedback actuator 2201 of the force feedback device provides a feedback force, including a tangential force, to the gripping member 1133, 2133 based on the first and second rotation angles. How to obtain the feedback force using the force feedback model and the first and second rotation angles of the gripping member can be referred to the above embodiment, and will not be repeated here.

[0124] In one embodiment, the force feedback device provides feedback force to the grippers 1133, 2133 based on a force feedback model related to the pitch angle of the wrists 220, 410 of the device. Specifically, when the controller of the force feedback device detects that the current of the third motor 213c is greater than the second threshold current, it acquires the first pitch angle of the wrists 220, 410 at this time, and acquires in real time the actual second pitch angle of the wrist after moving from the first pitch angle, wherein the first pitch angle is less than the second pitch angle. The force feedback motor 1201 or brake 2201 provides feedback force to the grippers based on the first pitch angle of the wrist and the second pitch angle of the gripping part. That is, the first pitch angle and the second pitch angle of the wrist are input into the force feedback model to obtain the tangential force of the gripping part, and the force feedback device outputs feedback force to the grippers based on the tangential force. In this embodiment, the force feedback model is as follows:

[0125] F vg =k1(θ vg -θ wrist )+k2(θ vg -θ wrist ) 2 +…+k n (θ vg -θ wrist ) n

[0126] In the above force feedback model, F vg θ is the tangential force of the clamping part. vg θ is the first pitch angle of the wrist. wrist The second pitch angle of the wrist, k1, k2, ..., k n This represents a constant coefficient, obtained through measurement and calibration during the modeling process. The feedback motor 1201 or force feedback actuator 2201 operates based on the tangential force F.vg It outputs feedback force to the gripping component.

[0127] 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.

[0128] 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 invention patent. 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 surgical system, characterized in that, include: Surgical instruments, including The long axis includes a proximal portion and a distal portion; An end effector includes a wrist and a gripping portion, the wrist being rotatably connected to the distal portion and the gripping portion being rotatably connected to the wrist; The driving device includes multiple motors. The first and second motors among the multiple motors are used to drive the clamping part to perform an opening and closing action, and the third motor among the multiple motors is used to drive the wrist to perform a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping part unchanged. Input device, including A gripping element used to control the opening and closing angle of the clamping part; A force feedback device coupled to the gripper provides feedback force to the gripper based on the clamping force of the clamping part, the clamping force of the clamping part being determined based on the operating data of the first and second motors; The input device further includes a housing, a tensioning mechanism, a force feedback motor, and a first pulley coupled to the force feedback motor. The first pulley is rotatably connected to the housing via a first pin. The first pulley is connected to the gripper via a first cable. The force feedback motor provides feedback force to the gripper based on the clamping force and through the first cable. The force feedback motor is connected to the first pulley via a second cable. The tensioning mechanism abuts against the second cable, and the tension of the second cable is adjusted by moving the tensioning mechanism.

2. The surgical system as described in claim 1, characterized in that, The force feedback device determines the clamping force of the clamping part based on the operating data of the first and second motors and the force feedback model, and provides feedback force to the gripper based on the clamping force.

3. The surgical system as described in claim 2, characterized in that, The force feedback model includes a relationship model between the operating data of the first and second motors and the clamping force of the clamping part.

4. The surgical system as described in claim 3, characterized in that, The force feedback model includes a relationship model between one of the current, voltage, and rotational speed of the first and second motors and the clamping force of the clamping part.

5. The surgical system as described in claim 3, characterized in that, The force feedback device also provides feedback force to the gripper based on the tangential force of the clamping portion determined by the operating data of the third motor.

6. The surgical system as described in claim 5, characterized in that, The force feedback model also includes a relationship model between the operating data of the third motor and the tangential force of the clamping part.

7. The surgical system as claimed in claim 1, characterized in that, The surgical instrument also includes multiple winches and a decoupling mechanism housed in an instrument case. The first and second winches of the multiple winches are respectively used to receive power input from the first and second motors. The first winch is connected to the clamping part via a first pair of cables, and the second winch is connected to the clamping part via a second pair of cables. The first pair of cables and the second pair of cables are wound around the decoupling mechanism. When the third motor drives the wrist to perform a pitching motion, the decoupling mechanism moves to increase the length of one pair of cables in the instrument case and decrease the length of the other pair of cables in the instrument case, thereby maintaining the opening and closing angle of the clamping part unchanged.

8. The surgical system as claimed in claim 1, characterized in that, The gripping member is rotatably connected to the housing via a second pin, the second pin being parallel to the first pin.

9. The surgical system as claimed in claim 8, characterized in that, The input device further includes a first encoder, which is coaxially arranged with the first pulley and is used to detect the opening and closing angle of the grip.

10. The surgical system as claimed in claim 9, characterized in that, The input device further includes a second encoder, which is used to detect the rotation data of the force feedback motor.

11. A surgical system, characterized in that, include: Surgical instruments, including The long axis includes the proximal portion and the distal portion; An end effector includes a wrist and a gripping portion, the wrist being rotatably connected to the distal portion and the gripping portion being rotatably connected to the wrist; The driving device includes multiple motors. The first and second motors among the multiple motors are used to drive the clamping part to perform an opening and closing action. The third motor among the multiple motors is used to drive the wrist to perform a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping part unchanged. Input device, including A gripping element used to control the opening and closing angle of the clamping part; A force feedback device coupled to the gripper provides feedback force to the gripper based on the tangential force of the clamping part, the tangential force of the clamping part being determined based on the operating data of the third motor; The input device further includes a housing, a tensioning mechanism, a force feedback motor, and a first pulley coupled to the force feedback motor. The first pulley is rotatably connected to the housing via a first pin. The first pulley is connected to the grip via a first cable. The force feedback motor provides feedback force to the grip based on the tangential force and through the first cable. The force feedback motor is connected to the first pulley via a second cable. The tensioning mechanism abuts against the second cable, and the tension of the second cable is adjusted by moving the tensioning mechanism.

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