Minimally invasive surgical instrument added with tail end micro force sensor

Abstract

The invention discloses a minimally invasive surgical instrument added with a tail end micro force sensor, relates to the technical field of robot-assisted minimally invasive surgical instruments, and solves the problem that an existing robot-assisted minimally invasive surgical instrument sensor is difficult to integrate at the tail end of a minimally invasive surgical instrument. The driving mechanism is used for adjusting the transmission wire set to drive the deflection joint and the pitching joint to move, so that the clamping forceps reach a specified angle in the space, opening or closing of the clamping forceps is achieved, three-degree-of-freedom surgical operation, namely pitching action, deflection action and opening and closing action, is achieved at the tail end of the micro surgical instrument, and the working efficiency is improved. When the clamping forceps at the tail end of the micro instrument act on other external objects, strain is generated in the micro three-dimensional force sensor, and the magnitude and direction of the acting force at the moment can be obtained through calculation, so that the requirements of flexible operation and contact force feedback of the tail end of the micro instrument in a minimally invasive surgery are met.

Description

Technical Field

[0001] The present invention relates to the technical field of robot-assisted minimally invasive surgical instruments, and in particular to a minimally invasive surgical instrument with an end micro force sensor added thereto. Background Art

[0002] Minimally invasive surgery is an important means of surgical treatment. Compared with open surgery, it causes less bleeding, smaller wounds, and shorter recovery time. However, due to factors such as limited field of view, inflexible instruments, and unreal touch, minimally invasive surgery has extremely high requirements for doctors and a long learning cycle for doctors. Using robot-assisted minimally invasive surgery technology, the doctor's main hand operation can be mapped to the end of the flexible minimally invasive surgical instrument through a master-slave control strategy, and the operating force can be directly fed back to the doctor with the main hand by adding sensors to the instrument, improving the doctor's surgical touch, thereby effectively shortening the learning cycle, which is conducive to the promotion of minimally invasive surgery among doctors and in complex surgeries.

[0003] The main method for sensing the operating force of robot-assisted minimally invasive surgical instruments is to integrate a force sensor at a certain position of the minimally invasive surgical instrument. Six-dimensional / three-dimensional force sensors are often placed at the base of the minimally invasive surgical instrument. This design structure is simple, but the movement of the rod of the minimally invasive surgical instrument during the measurement process will interfere with the dynamic measurement of the sensor; placing a three-dimensional force sensor at the end of the minimally invasive surgical instrument can reduce dynamic interference. However, the existing sensor structure of robot-assisted minimally invasive surgical instruments is complex, large in size and mass, and difficult to integrate at the end of the minimally invasive surgical instrument. Summary of the invention

[0004] In view of the above-mentioned problem that the existing robot-assisted minimally invasive surgical instrument sensors are difficult to integrate into the distal end of the minimally invasive surgical instrument, an object of the present invention is to provide a minimally invasive surgical instrument with an additional distal micro force sensor.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A minimally invasive surgical instrument with an end micro force sensor added, comprising: a micro force sensor 1, a driving instrument rod 2 and a surgical instrument, wherein the driving instrument rod 2 is assembled on the surgical instrument body, and the surgical instrument and the end of the driving instrument rod 2 are connected through the micro force sensor 1; the surgical instrument comprises: a pitch joint 3, a deflection joint 4 and a clamp 5, wherein the pitch joint 3 is mounted on the front end of the micro force sensor 1, and the deflection joint 4 is rotatably mounted on the front end of the pitch joint 3, and the clamp 5 comprises: a first clamp body 51 and a second clamp body 52, wherein the first clamp body 51 and the second clamp body 52 match each other and are both rotatably mounted on the front end of the deflection joint 4;

[0007] It also includes: a transmission assembly and a driving mechanism, the driving mechanism is installed in the surgical instrument body, the transmission assembly is placed in the driving instrument rod 2, the surgical instrument and the driving mechanism are connected through the transmission assembly, and the driving mechanism drives the surgical instrument through the transmission assembly to achieve pitch, deflection and clamping of the clamp 5; the clamping end of the clamp 5 is bent downward; the left toothed surface of the first clamp body 51 is meshed with the right toothed surface of the second clamp body 52;

[0008] The micro force sensor 1 comprises: a main body, which is a cylindrical structure, and the main body comprises: a front half, a rear half, at least one middle part and at least two force sensing areas; the force sensing area is a shear beam area or a pressure beam area; any two adjacent force sensing areas are connected through a middle part, the force sensing area located at the front end is connected to the front half, and the force sensing area located at the rear end is connected to the rear half; the front half is connected to the pitch joint 3, the rear half is connected to the driving instrument rod 2, the transmission assembly is located in the main body, and at least one shear beam area and at least one pressure beam area are provided on the main body; the micro force sensor 1 also comprises: optical fiber 18, multiple optical fibers 18 are parallel to the axis of the main body, multiple optical fibers 18 are connected to the inner wall of the main body, and multiple optical fibers 18 are connected to the surgical instrument.

[0009] The above-mentioned minimally invasive surgical instrument with an additional end micro force sensor, wherein the shear beam area includes: a short pressure beam 13 and a shear beam 14, the shear beam 14 is annular, any two adjacent shear beams 14 are connected by at least two short pressure beams 13, and a plurality of short pressure beams 13 are arranged at equal intervals around the axis of the body;

[0010] The shear beam 14 at the front end and the front half / a middle part are connected by at least two short pressure beams 13, and the multiple short pressure beams 13 are arranged at equal intervals around the axis of the body;

[0011] The shear beam 14 at the rearmost end and the rear half / another middle part are connected by at least two short pressure beams 13, and the plurality of short pressure beams 13 are arranged at equal intervals around the axis of the body;

[0012] The number of short pressure beams 13 between any two adjacent shear beams 14, the number of short pressure beams 13 between the frontmost shear beam 14 and the front half / one middle part, and the number of short pressure beams 13 between the rearmost shear beam 14 and the rear half / another middle part are the same;

[0013] Any short pressure beam 13 on the front side of each shear beam 14 is arranged in the middle of the two adjacent short pressure beams 13 on the rear side thereof, and the positions of the multiple short pressure beams 13 connected in front of another adjacent shear beam 14 located on the front side of the shear beam 14 are the same as the multiple short pressure beams 13 connected behind the shear beam 14.

[0014] The above-mentioned minimally invasive surgical instrument with an added end micro force sensor, wherein the pressure beam area includes: a long pressure beam 15, a plurality of long pressure beams 15 are arranged at equal intervals around the axis of the main body, one end of each long pressure beam 15 is connected to the front half or a middle part, and the other end of each long pressure beam 15 is connected to the rear half or another middle part.

[0015] The above-mentioned minimally invasive surgical instrument with an additional end micro force sensor, wherein the length and width of the multiple short pressure beams 13 in each shear beam area are the same, the width of the multiple shear beams 14 in each shear beam area is the same, and the length and width of the multiple long pressure beams 15 in each pressure beam area are the same; each optical fiber 18 is located in the middle of the inner side of the multiple short pressure beams 13 spaced apart along the axial direction in any shear beam area and is located in the middle of the inner side of a long pressure beam 15 in any pressure beam area;

[0016] The miniature force sensor 1 further comprises an adhesive 19 , and each optical fiber 18 is bonded to the inner walls of the front half, the rear half and a plurality of middle parts of the body through the adhesive 19 .

[0017] The above-mentioned minimally invasive surgical instrument with an added terminal micro force sensor, wherein an upper notch 12 with a reduced outer diameter is provided at the upper end of the front half, and the outer wall of the upper notch 12 is provided with at least one concave first cutting angle plane 11; a lower notch 17 with an increased inner diameter is provided at the lower end of the rear half, and the inner wall of the lower notch 17 is provided with at least one convex second cutting angle plane 16.

[0018] The above-mentioned minimally invasive surgical instrument with an added terminal micro force sensor, wherein the pitch joint 3 includes: a pitch member shell 31, a first rotating shaft 32 and a second rotating shaft 33, wherein the pitch member shell 31 is assembled in the upper slot 12, and two first connecting plates are provided at the front end of the pitch member shell 31, and the two ends of the first rotating shaft 32 are respectively connected to the two first connecting plates, and the two ends of the second rotating shaft 33 are respectively connected to the two first connecting plates, and the first rotating shaft 32 and the second rotating shaft 33 are parallel to each other and are both horizontally arranged.

[0019] The above-mentioned minimally invasive surgical instrument with an added terminal micro force sensor, wherein the deflection joint 4 includes: a deflection member housing 41, a third rotating shaft 42 and a fourth rotating shaft 43, the rear end of the deflection member housing 41 is rotatably mounted on the second rotating shaft 33, the third rotating shaft 42 is mounted in the deflection member housing 41, and the front end of the deflection member housing 41 is provided with two second connecting plates, and the two ends of the fourth rotating shaft 43 are respectively connected to the two second connecting plates.

[0020] The above-mentioned minimally invasive surgical instrument with an added end micro force sensor, wherein the clamping forceps 5 also includes: a first clamp body adapter 53 and a second clamp body adapter 54, the first clamp body adapter 53 and the second clamp body adapter 54 are both installed on the fourth rotating shaft 43, the first clamp body 51 is installed on the first clamp body adapter 53, and the second clamp body 52 is installed on the second clamp body adapter 54.

[0021] The above-mentioned minimally invasive surgical instrument with an added terminal micro force sensor, wherein the transmission component includes: a pulley group, the pulley group includes: a first pulley 81, a second pulley 82, a third pulley 83 and a fourth pulley 84, the two first pulleys 81 are symmetrically mounted at both ends of the first rotating shaft 32, the two second pulleys 82 are symmetrically mounted at both ends of the second rotating shaft 33, the two third pulleys 83 are symmetrically mounted at both ends of the third rotating shaft 42, and the two fourth pulleys 84 are symmetrically mounted at both ends of the fourth rotating shaft 43 and are respectively connected to the first clamp body adapter 53 and the second clamp body adapter 54;

[0022] The transmission assembly further includes: a transmission wire group 6, the transmission wire group 6 includes: a first transmission wire 61, a second transmission wire 62, a third transmission wire 63, a fourth transmission wire 64, a fifth transmission wire 65 and a sixth transmission wire 66, and a first assembly hole, a second assembly hole, a third assembly hole and a fourth assembly hole are provided in the deflection member housing 41;

[0023] One end of the first transmission wire 61 is connected to the driving mechanism, and the first transmission wire 61 passes through the first pulley 81 on the left and the second pulley 82 on the left in sequence and then passes through the first assembly hole of the deflection member housing 41. The other end of the first transmission wire 61 is provided with a first rivet head, and the first rivet head is clamped in the first assembly hole, and the first rivet head faces upward;

[0024] One end of the second transmission wire 62 is connected to the driving mechanism, and the second transmission wire 62 passes through the first pulley 81 on the right and the second pulley 82 on the right in sequence and then passes into the second assembly hole of the deflection member housing 41. The other end of the second transmission wire 62 is provided with a second rivet head, and the second rivet head is clamped in the second assembly hole, and the second rivet head faces downward;

[0025] One end of the third transmission wire 63 is connected to the driving mechanism, and the third transmission wire 63 passes through the third assembly hole and then bypasses the fourth pulley 84 connected to the first caliper body adapter 53, and the other end of the third transmission wire 63 is connected to the right side surface of the first caliper body adapter 53;

[0026] One end of the fourth transmission wire 64 is connected to the driving mechanism, and the fourth transmission wire 64 passes through the fourth assembly hole and then bypasses the fourth pulley 84 connected to the second caliper body adapter 54, and the other end of the fourth transmission wire 64 is connected to the left side of the second caliper body adapter 54;

[0027] The middle part of the fifth transmission wire 65 and the second caliper body adapter 54 are connected by a transmission wire rivet 67. The fifth transmission wire 65 located on the left side of the transmission wire rivet 67 passes around the fourth pulley 84 connected to the second caliper body adapter 54 and then passes around the third pulley 83 on the left side, the second pulley 82 on the left side and the first pulley 81 on the left side in sequence. The fifth transmission wire 65 located on the right side of the transmission wire rivet 67 passes around the fourth pulley 84 connected to the second caliper body adapter 54 and then passes around the second pulley 82 on the right side and the first pulley 81 on the right side in sequence. Both ends of the fifth transmission wire 65 are connected to the driving mechanism.

[0028] The middle part of the sixth transmission wire 66 is connected to the first caliper body adapter 53 through another transmission wire rivet 67. The sixth transmission wire 66 located on the right side of the transmission wire rivet 67 bypasses the fourth pulley 84 connected to the first caliper body adapter 53 and then bypasses the third pulley 83 on the right, the second pulley 82 on the right and the first pulley 81 on the right in sequence. The sixth transmission wire 66 located on the left side of the transmission wire rivet 67 bypasses the fourth pulley 84 connected to the first caliper body adapter 53 and then bypasses the second pulley 82 on the left and the first pulley 81 on the left in sequence. Both ends of the sixth transmission wire 66 are connected to the driving mechanism.

[0029] The above-mentioned minimally invasive surgical instrument with an added terminal micro force sensor also includes: a guide wire disc 7, with a guide wire disc 7 installed at the front and rear ends of the main body respectively, each guide wire disc 7 is provided with a plurality of limiting through holes, and the two guide wire discs 7 are used to limit the transmission wire group 6.

[0030] Due to the adoption of the above technology, the present invention has the following positive effects compared with the prior art:

[0031] (1) The present invention adjusts the transmission wire group through the driving mechanism to drive the deflection joint and the pitch joint to move, so that the clamp reaches a specified angle in space and the clamp is opened or closed. When the clamp at the end of the micro-instrument exerts force on other external objects, strain is generated inside the micro three-dimensional force sensor. The size and direction of the force at this time can be obtained by solving the problem, thus meeting the requirements of flexible operation of the end of the micro-instrument and contact force feedback in minimally invasive surgery.

[0032] (2) In the present invention, by setting a deflection joint and a pitch joint, a surgical operation with three degrees of freedom, namely, pitch movement, deflection movement and opening and closing movement, is realized at the end of the micro-surgical instrument.

[0033] (3) In the present invention, the end of the surgical instrument and the driving instrument rod are connected through a micro force sensor. The micro force sensor is integrated at the end of the minimally invasive surgical instrument and can obtain the three-dimensional interactive force between the end of the micro surgical instrument and the outside. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a structural schematic diagram of a minimally invasive surgical instrument with an added terminal micro force sensor according to the present invention.

[0035] Figure 2 This is a front view of a minimally invasive surgical instrument with an additional terminal micro force sensor according to the present invention.

[0036] Figure 3 It is a side view of a minimally invasive surgical instrument with an additional terminal micro force sensor according to the present invention.

[0037] Figure 4 yes Figure 3 A cross-sectional view of a minimally invasive surgical instrument with an added micro force sensor at the end is shown.

[0038] Figure 5 It is a structural schematic diagram of a surgical instrument end of a minimally invasive surgical instrument with an added terminal micro force sensor according to the present invention.

[0039] Figure 6 yes Figure 5 Front view of the surgical instrument end shown.

[0040] Figure 7 yes Figure 6 A cross-sectional view of the surgical instrument end is shown.

[0041] Figure 8 It is a structural schematic diagram of a micro force sensor of a minimally invasive surgical instrument with an end micro force sensor added thereto according to the present invention.

[0042] Fig. 9 yes Figure 8 Front view of the miniature force sensor shown.

[0043] Fig.10 yes Fig. 9 A cross-sectional view of the miniature force sensor shown.

[0044] Fig.11 yes Figure 8 Top view of the miniature force sensor shown.

[0045] Fig.12 yes Fig.11 A cross-sectional view of the miniature force sensor shown.

[0046] Fig.13 yes Figure 5 The surgical instrument end shown is a first structural view without the pitch member housing and the deflection member housing assembled.

[0047] Fig.14 yes Figure 5 A second structural view of the surgical instrument end shown is shown without the pitch member housing and the deflection member housing assembled.

[0048] In the attached drawings: 1, micro force sensor; 2, driving instrument rod; 3, pitch joint; 4, deflection joint; 5, clamping forceps; 6, transmission wire group; 7, wire guide disc; 11, first cutting angle plane; 12, upper notch; 13, short pressure beam; 14, shear beam; 15, long pressure beam; 16, second cutting angle plane; 17, lower notch; 18, optical fiber; 19, adhesive; 31, pitch member shell; 32, first rotating shaft; 33, second rotating shaft; 41, deflection Part housing; 42, third rotating shaft; 43, fourth rotating shaft; 51, first pliers body; 52, second pliers body; 53, first pliers body adapter; 54, second pliers body adapter; 61, first transmission wire; 62, second transmission wire; 63, third transmission wire; 64, fourth transmission wire; 65, fifth transmission wire; 66, sixth transmission wire; 67, transmission wire rivet; 81, first pulley; 82, second pulley; 83, third pulley; 84, fourth pulley. DETAILED DESCRIPTION

[0049] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0050] Please refer to Figures 1 to 14 As shown, a minimally invasive surgical instrument with an end micro force sensor added thereto is shown, wherein the instrument comprises: a micro force sensor 1, a driving instrument rod 2 and a surgical instrument, wherein the driving instrument rod 2 is assembled on the surgical instrument body, and the ends of the surgical instrument and the driving instrument rod 2 are connected through the micro force sensor 1; the surgical instrument comprises: a pitch joint 3, a deflection joint 4 and a clamp 5, wherein the pitch joint 3 is mounted at the front end of the micro force sensor 1, and the deflection joint 4 is rotatably mounted at the front end of the pitch joint 3, and the clamp 5 comprises: a first clamp body 51 and a second clamp body 52, wherein the first clamp body 51 and the second clamp body 52 match each other and are both rotatably mounted at the front end of the deflection joint 4;

[0051] It also includes: a transmission assembly and a driving mechanism, the driving mechanism is installed in the surgical instrument body, the transmission assembly is placed in the driving instrument rod 2, the surgical instrument and the driving mechanism are connected through the transmission assembly, and the driving mechanism drives the surgical instrument through the transmission assembly to achieve pitch, deflection and clamping of the clamp 5; the clamping end of the clamp 5 is bent downward; the left toothed surface of the first clamp body 51 is meshed with the right toothed surface of the second clamp body 52;

[0052] The micro force sensor 1 comprises: a main body, which is a cylindrical structure, and the main body comprises: a front half, a rear half, at least one middle part and at least two force sensing areas; the force sensing area is a shear beam area or a pressure beam area; any two adjacent force sensing areas are connected through a middle part, the force sensing area located at the front end is connected to the front half, and the force sensing area located at the rear end is connected to the rear half; the front half is connected to the pitch joint 3, the rear half is connected to the driving instrument rod 2, the transmission assembly is located in the main body, and at least one shear beam area and at least one pressure beam area are provided on the main body; the micro force sensor 1 also comprises: optical fiber 18, multiple optical fibers 18 are parallel to the axis of the main body, multiple optical fibers 18 are connected to the inner wall of the main body, and multiple optical fibers 18 are connected to the surgical instrument.

[0053] Further, in a preferred embodiment, the transmission assembly includes: a pulley group, the pulley group includes: a first pulley 81, a second pulley 82, a third pulley 83 and a fourth pulley 84, the two first pulleys 81 are symmetrically mounted at both ends of the first rotating shaft 32, the two second pulleys 82 are symmetrically mounted at both ends of the second rotating shaft 33, the two third pulleys 83 are symmetrically mounted at both ends of the third rotating shaft 42, and the two fourth pulleys 84 are symmetrically mounted at both ends of the fourth rotating shaft 43 and are respectively connected to the first caliper body adapter 53 and the second caliper body adapter 54;

[0054] The transmission assembly further includes: a transmission wire group 6, the transmission wire group 6 includes: a first transmission wire 61, a second transmission wire 62, a third transmission wire 63, a fourth transmission wire 64, a fifth transmission wire 65 and a sixth transmission wire 66, and a first assembly hole, a second assembly hole, a third assembly hole and a fourth assembly hole are provided in the deflection member housing 41;

[0055] One end of the first transmission wire 61 is connected to the driving mechanism, and the first transmission wire 61 passes through the first pulley 81 on the left and the second pulley 82 on the left in sequence and then passes through the first assembly hole of the deflection member housing 41. The other end of the first transmission wire 61 is provided with a first rivet head, which is clamped in the first assembly hole and faces upward.

[0056] One end of the second transmission wire 62 is connected to the driving mechanism, and the second transmission wire 62 passes through the first pulley 81 on the right and the second pulley 82 on the right in sequence and then passes into the second assembly hole of the deflection member housing 41. The other end of the second transmission wire 62 is provided with a second rivet head, and the second rivet head is clamped in the second assembly hole, and the second rivet head faces downward.

[0057] One end of the third transmission wire 63 is connected to the driving mechanism, and the third transmission wire 63 passes through the third assembly hole and then bypasses the fourth pulley 84 connected to the first caliper body adapter 53, and the other end of the third transmission wire 63 is connected to the right side surface of the first caliper body adapter 53;

[0058] One end of the fourth transmission wire 64 is connected to the driving mechanism, and the fourth transmission wire 64 passes through the fourth assembly hole and then bypasses the fourth pulley 84 connected to the second caliper body adapter 54, and the other end of the fourth transmission wire 64 is connected to the left side of the second caliper body adapter 54;

[0059] The middle part of the fifth transmission wire 65 and the second caliper body adapter 54 are connected by a transmission wire rivet 67. The fifth transmission wire 65 located on the left side of the transmission wire rivet 67 passes around the fourth pulley 84 connected to the second caliper body adapter 54 and then passes around the third pulley 83 on the left side, the second pulley 82 on the left side and the first pulley 81 on the left side in sequence. The fifth transmission wire 65 located on the right side of the transmission wire rivet 67 passes around the fourth pulley 84 connected to the second caliper body adapter 54 and then passes around the second pulley 82 on the right side and the first pulley 81 on the right side in sequence. Both ends of the fifth transmission wire 65 are connected to the driving mechanism.

[0060] The middle part of the sixth transmission wire 66 is connected to the first caliper body adapter 53 through another transmission wire rivet 67. The sixth transmission wire 66 located on the right side of the transmission wire rivet 67 bypasses the fourth pulley 84 connected to the first caliper body adapter 53 and then bypasses the third pulley 83 on the right, the second pulley 82 on the right and the first pulley 81 on the right in sequence. The sixth transmission wire 66 located on the left side of the transmission wire rivet 67 bypasses the fourth pulley 84 connected to the first caliper body adapter 53 and then bypasses the second pulley 82 on the left and the first pulley 81 on the left in sequence. Both ends of the sixth transmission wire 66 are connected to the driving mechanism.

[0061] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention.

[0062] The present invention also has the following implementation modes based on the above:

[0063] In a further embodiment of the present invention, the micro force sensor 1 is a FBG micro beam type three-dimensional force sensor, and its embodiment is shown in Figures 8 to 12As shown, two force sensing areas are provided on the body, one force sensing area is a shear beam area, and the other force sensing area is a pressure beam area; the shear beam area is connected to the front half, the pressure beam area is connected to the back half, the shear beam area and the pressure beam area are connected through a middle part, and the number of optical fibers 18 selected is 4; the shear beam area is provided with three shear beams 14, any two adjacent shear beams 14 are connected through two short pressure beams 13, the shear beam 14 located at the uppermost end is connected to the front half through two short pressure beams 13, and the shear beam 14 located at the lowermost end is connected to the middle part through two short pressure beams 13, the angle between the planes where any two adjacent groups of short pressure beams 13 are located is 90 degrees and both pass through the axis of the body, the planes where the two groups of short pressure beams 13 arranged at intervals are located are the same plane, each optical fiber 18 is located in the middle of the inner side of the two short pressure beams 13 arranged at intervals, and the pressure beam area is provided with four long pressure beams 15, and each long pressure beam 15 is located on the outside of an optical fiber 18.

[0064] In a further embodiment of the present invention, one end of each optical fiber 18 is connected to the inner wall of the upper slot 12, and the other end of each optical fiber 18 is connected to the surgical instrument. Multiple optical fibers 18 are bonded to the inner wall of the body by adhesive 19, and the bonding points of each optical fiber 18 are respectively located on the inner wall of the upper slot 12, between the shear beam area and the pressure beam area, and between the pressure beam area and the lower slot 17.

[0065] In a further embodiment of the present invention, the main body produces a slight local deformation when subjected to external force, and the main body structure includes an upper slot 12, a lower slot 17 and a force sensing area, wherein a through hole extending from the upper slot 12 to the lower slot 17 is provided in the central area to adjust the stiffness of the force sensing area, and is used for bonding the optical fiber 18 and accommodating the transmission wire group 6.

[0066] In a further embodiment of the present invention, the upper slot 12 and the lower slot 17, the outer cylindrical surface of the upper slot 12 is provided with a first angled plane 11 as a positioning reference, and the inner cylindrical surface of the lower slot 17 is provided with a second angled plane 16 as a positioning reference. During use, this part of the structure has little deformation and can be approximated as a rigid body, thereby avoiding relative rotation between the main body and the driving instrument rod 2 and the pitch joint 3, which would affect the detection data.

[0067] In a further embodiment of the present invention, the force sensing area is provided with a pressure beam area and a shear beam area. The pressure beam area responds to both axial loads and lateral loads but is smaller than the shear beam area. Four optical fibers 18 are selected, and four long pressure beams 15 of equal length and cross-section are distributed at 90 degrees. The axis of the shear beam 14 located in any cross-section is annular. The shear beam 14 located at the uppermost end and the front half of the main body, between two adjacent shear beams 14, and between the shear beam 14 located at the lowermost end and the rear half of the main body are all connected by two short pressure beams 13 spaced 180 degrees apart. The angle between the planes where two adjacent groups of short pressure beams 13 are located is 90 degrees and both pass through the axis of the force sensing area.

[0068] In a further embodiment of the present invention, the optical fiber 18 has two FBG grating regions with different central wavelengths, and their lengths correspond to the lengths of the pressure beam region and the shear beam region, respectively. The four optical fibers 18 are bonded to the inner surface of the body using an adhesive 19, and the two FBG grating regions should correspond to the pressure beam region and the shear beam region in the axial direction and the circumferential direction, respectively, and the adhesive 19 should be evenly coated.

[0069] In a further embodiment of the present invention, the bonding points of each optical fiber 18 are respectively located on the inner wall of the upper slot 12, between the shear beam area and the pressure beam area, and between the pressure beam area and the lower slot 17. The portion from the bonding point of the optical fiber 18 located on the inner wall of the upper slot 12 to its bonding point located between the shear beam area and the pressure beam area is a section of the FBG grating area corresponding to the length of the pressure beam area. The portion from the bonding point of the optical fiber 18 located between the shear beam area and the pressure beam area to its bonding point located between the pressure beam area and the lower slot 17 is another section of the FBG grating area corresponding to the length of the shear beam area.

[0070] In a further embodiment of the present invention, during the bonding process, care should be taken to maintain the pre-tightening of both ends of the optical fiber 18, and the direction of the optical fiber 18 should be parallel to the axial direction of the body to avoid bonding adjacent shear beams 14. After bonding, the excess optical fiber 18 should be removed.

[0071] In a further embodiment of the present invention, since the change of the central wavelength of the FBG grating area is affected by two factors, strain and temperature, in order to avoid the influence of temperature changes on the sensor, the change of the central wavelength of the FBG grating area of ​​the four optical fibers 18 located in the pressure beam area should be the actual reading minus the average value of the four readings, and the change of the central wavelength of the FBG grating area of ​​the four optical fibers 18 located in the shear beam area should be the actual reading minus the average value of the four readings.

[0072] In a further embodiment of the present invention, when relative forces appear between the upper notch 12 and the lower notch 17, the FBG grating area of ​​the optical fiber 18 bonded to the pressure beam area and the shear beam area will be deformed, wherein the two FBG grating areas of the optical fiber 18 produce corresponding central wavelength shifts according to the current strain, and the corresponding changes can be read out using an FBG demodulator to obtain the magnitude of the external force.

[0073] In a further embodiment of the present invention, both ends of the body are respectively connected to surgical instruments and surgical instruments, the lines and components for connecting the surgical instruments and surgical instruments are located inside the body, multiple optical fibers 18 are bonded to the inner wall of the body by adhesive 19, one end of each optical fiber 18 is connected to the inner wall of the upper slot 12, and one end of each optical fiber 18 is connected to the surgical instrument. The structure is compact and can be integrated at the end of the minimally invasive surgical instrument.

[0074] In a further embodiment of the present invention, the body is made of non-metallic material that does not generate electromagnetic effects, preferably ABS or photosensitive resin.

[0075] In a further embodiment of the present invention, the specific structures of the outer cylindrical surface of the upper notch 12 and the inner cylindrical surface of the lower notch 17 can be designed according to actual size and structure so as to be suitable for a variety of surgical instruments.

[0076] In a further embodiment of the present invention, Figures 1 to 4 The present invention shows a minimally invasive surgical instrument with a micro force sensor, which includes a sensing part and an operating part. The sensing part includes a micro force sensor 1 and two guide wire discs 7; the operating part includes a deflection joint 4, a pitch joint 3, a clamp 5, and a transmission wire group 6. The upper notch 12 of the micro force sensor 1 is connected to the pitch joint 3, and the lower notch 17 of the micro force sensor 1 is connected to the driving instrument rod 2. The two wire guide discs 7 are respectively placed on the upper notch 12 and the lower notch 17 of the micro force sensor 1. The axis of the second rotating shaft 33 of the pitch joint 3 is spatially orthogonal to the axis of the fourth rotating shaft 43 of the deflection joint 4. The terminal micro instrument can select the clamp 5, or other types of minimally invasive surgical instruments. The transmission wire group 6 is composed of multiple transmission wires. The deflection joint 4, the pitch joint 3 and the clamp 5 are respectively fixedly connected to at least one transmission wire, and the multiple transmission wires are all connected to the driving mechanism. By pulling different transmission wires by the driving mechanism, the left and right deflection, up and down pitching and opening and closing of the clamp 5 can be realized. A plurality of limit through holes are opened on the wire guide disc 7. The multiple transmission wires of the transmission wire group 6 are respectively inserted into different limit through holes. By setting two wire guide discs 7, it is avoided that multiple transmission wires interfere with each other and affect the operation of the operating part.

[0077] In a further embodiment of the present invention, the driving mechanism adjusts the transmission wire group 6 to drive the deflection joint 4 and the pitch joint 3 to move, so that the clamp 5 reaches a specified angle in space, and the clamp 5 is opened or closed. When the clamp 5 at the end of the micro-instrument acts on other external objects, strain is generated inside the micro three-dimensional force sensor 1, and the magnitude and direction of the force at this time can be obtained by solving. This meets the needs of flexible operation and contact force feedback at the end of the micro-instrument in minimally invasive surgery.

[0078] In a further embodiment of the present invention, by providing a deflection joint 4 and a pitch joint 3, a surgical operation with three degrees of freedom, namely, a pitch movement, a deflection movement and an opening and closing movement, is realized at the end of the microsurgical instrument.

[0079] In a further embodiment of the present invention, the ends of the surgical instrument and the driving instrument rod 2 are connected via a micro force sensor 1. The micro force sensor 1 is integrated at the end of the minimally invasive surgical instrument and can obtain the three-dimensional interaction force between the end of the micro surgical instrument and the outside.

[0080] In a further embodiment of the present invention, the transmission assembly is composed of a pulley group and a transmission wire group 6, and the pulley group adopts a fixed pulley structure to limit the transmission direction of multiple transmission wires of the transmission wire group 6. The winding method of the multiple transmission wires of the transmission wire group 6 is as follows: Fig.13 and Fig.14 shown.

[0081] In a further embodiment of the present invention, the left toothed surface of the first pliers body 51 and the right toothed surface of the second pliers body 52 are meshed; when the clamping pliers 5 are in a closed state, the fourth transmission wire 64 is pulled to drive the second pliers body adapter 54 to deflect to the left around the fourth rotation axis 43, and at the same time, the first pliers body 51 is driven to deflect to the left through the second pliers body 52; the third transmission wire 63 is pulled to drive the first pliers body adapter 53 to deflect to the right, and at the same time, the second pliers body 52 is driven to deflect to the right through the first pliers body 51; that is, the clamping pliers 5 are driven by the transmission wire group 6 to realize the left and right deflection action.

[0082] In a further embodiment of the present invention, a first transmission wire 61 passes through a first assembly hole of a deflection member housing 41, and a first rivet joint is provided at the other end of the first transmission wire 61, which is clamped in the first assembly hole, and the first rivet joint faces upward, and pulling the first transmission wire 61 can realize the deflection of the deflection member housing 41 downward; a second transmission wire 62 passes through a second assembly hole of the deflection member housing 41, and a second rivet joint is provided at the other end of the second transmission wire 62, which is clamped in the second assembly hole, and the second rivet joint faces downward, and pulling the second transmission wire 62 can realize the deflection of the deflection member housing 41 upward; that is, the clamping clamp 5 is driven by the transmission wire group 6 to realize the up and down pitching action.

[0083] In a further embodiment of the present invention, the second pliers body 52 is connected to the second pliers body adapter 54, the middle part of the fifth transmission wire 65 and the second pliers body adapter 54 are connected by a transmission wire rivet 67, and the opening and closing action of the second pliers body 52 can be achieved by pulling the two ends of the fifth transmission wire 65 respectively; the first pliers body 51 is connected to the first pliers body adapter 53, the middle part of the sixth transmission wire 66 and the first pliers body adapter 53 are connected by another transmission wire rivet 67, and the opening and closing action of the first pliers body 51 can be achieved by pulling the two ends of the sixth transmission wire 66 respectively; the opening and closing action of the clamping pliers 5 can be achieved by driving the fifth transmission wire 65 and the sixth transmission wire 66 respectively.

[0084] In a further embodiment of the present invention, the first assembly hole, the second assembly hole, the third assembly hole and the fourth assembly hole of the deflection member housing 41 and the pulley group are used to position the multiple transmission wires of the transmission wire group 6, ensuring that the transmission directions of the multiple transmission wires of the transmission wire group 6 are accurate when the driving mechanism drives the transmission wire group 6, ensuring that the clamping forceps 5 have high precision when performing pitching, deflecting and opening and closing movements, and the movements are precise and in place.

[0085] The above are only preferred embodiments of the present invention, and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A minimally invasive surgical instrument with an additional end micro force sensor, characterized in that: include: A micro force sensor (1), a driving instrument rod (2) and a surgical instrument, wherein the driving instrument rod (2) is mounted on a surgical instrument body, and the ends of the surgical instrument and the driving instrument rod (2) are connected via the micro force sensor (1); the surgical instrument comprises a pitch joint (3), a deflection joint (4) and a clamp (5), wherein the pitch joint (3) is mounted at the front end of the micro force sensor (1), the deflection joint (4) is rotatably mounted at the front end of the pitch joint (3), and the clamp (5) comprises a first clamp body (51) and a second clamp body (52), wherein the first clamp body (51) and the second clamp body (52) match each other and are both rotatably mounted at the front end of the deflection joint (4); It also includes: a transmission assembly and a driving mechanism, the driving mechanism is installed in the surgical instrument body, the transmission assembly is placed in the driving instrument rod (2), the surgical instrument and the driving mechanism are connected through the transmission assembly, and the driving mechanism drives the surgical instrument through the transmission assembly to achieve pitch, deflection and clamping of the clamping forceps (5); the clamping end of the clamping forceps (5) is bent downward; the left toothed surface of the first clamp body (51) is meshed with the right toothed surface of the second clamp body (52); The micro force sensor (1) comprises: a body, which is a cylindrical structure and comprises: a front half, a rear half, at least one middle part and at least two force sensing areas; the force sensing area is a shear beam area or a pressure beam area; any two adjacent force sensing areas are connected via a middle part, the force sensing area at the front end is connected to the front half, and the force sensing area at the rear end is connected to the rear half; the front half is connected to a pitch joint (3), the rear half is connected to a driving instrument rod (2), the transmission assembly is located in the body, and at least one shear beam area and at least one pressure beam area are provided on the body; the micro force sensor (1) also comprises: an optical fiber (18), a plurality of optical fibers (18) are parallel to the axis of the body, a plurality of optical fibers (18) are connected to the inner wall of the body, and a plurality of optical fibers (18) are connected to a surgical instrument.

2. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 1, characterized in that: The shear beam area comprises: a short pressure beam (13) and a shear beam (14); the shear beam (14) is ring-shaped; any two adjacent shear beams (14) are connected by at least two short pressure beams (13); and a plurality of short pressure beams (13) are arranged at equal intervals around the axis of the body; The shear beam (14) at the front end and the front half / a middle part are connected by at least two short pressure beams (13), and the multiple short pressure beams (13) are arranged at equal intervals around the axis of the body; The shear beam (14) at the rearmost end is connected to the rear half / another middle part via at least two short pressure beams (13), and the plurality of short pressure beams (13) are arranged at equal intervals around the axis of the body; The number of short pressure beams (13) between any two adjacent shear beams (14), the number of short pressure beams (13) between the shear beam (14) at the front end and the front half / one middle part, and the number of short pressure beams (13) between the shear beam (14) at the rear end and the rear half / another middle part are the same; Any short pressure beam (13) on the front side of each shear beam (14) is arranged in the middle of two adjacent short pressure beams (13) on the rear side thereof, and the positions of the multiple short pressure beams (13) connected in front of another adjacent shear beam (14) located on the front side of the shear beam (14) are the same as the positions of the multiple short pressure beams (13) connected behind the shear beam (14).

3. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 2, characterized in that: The pressure beam area comprises: a long pressure beam (15), a plurality of long pressure beams (15) are arranged at equal intervals around the axis of the body, one end of each long pressure beam (15) is connected to the front half or a middle part, and the other end of each long pressure beam (15) is connected to the rear half or another middle part.

4. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 3, characterized in that: The length and width of the multiple short pressure beams (13) in each shear beam area are the same, the width of the multiple shear beams (14) in each shear beam area is the same, and the length and width of the multiple long pressure beams (15) in each pressure beam area are the same; each optical fiber (18) is located in the middle of the inner side of the multiple short pressure beams (13) arranged at intervals along the axial direction in any shear beam area and is located in the middle of the inner side of a long pressure beam (15) in any pressure beam area; The micro force sensor (1) further comprises: an adhesive (19), and each optical fiber (18) is bonded to the inner walls of the front half, the rear half and a plurality of middle parts of the body through the adhesive (19).

5. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 1, characterized in that: An upper notch (12) with a reduced outer diameter is provided at the upper end of the front half, and at least one first indented cutting angle plane (11) is provided on the outer wall of the upper notch (12); a lower notch (17) with an increased inner diameter is provided at the lower end of the rear half, and at least one second convex cutting angle plane (16) is provided on the inner wall of the lower notch (17).

6. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 5, characterized in that: The pitch joint (3) comprises: a pitch member shell (31), a first rotating shaft (32) and a second rotating shaft (33); the pitch member shell (31) is assembled on the upper notch (12); two first connecting plates are arranged at the front end of the pitch member shell (31); two ends of the first rotating shaft (32) are respectively connected to the two first connecting plates; two ends of the second rotating shaft (33) are respectively connected to the two first connecting plates; the first rotating shaft (32) and the second rotating shaft (33) are parallel to each other and are both arranged horizontally.

7. The minimally invasive surgical instrument with a terminal micro force sensor according to claim 6, characterized in that: The deflection joint (4) comprises: a deflection member housing (41), a third rotating shaft (42) and a fourth rotating shaft (43); the rear end of the deflection member housing (41) is rotatably mounted on the second rotating shaft (33); the third rotating shaft (42) is mounted in the deflection member housing (41); the front end of the deflection member housing (41) is provided with two second connecting plates; and the two ends of the fourth rotating shaft (43) are respectively connected to the two second connecting plates.

8. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 7, characterized in that: The clamping pliers (5) further comprise: a first pliers body adapter (53) and a second pliers body adapter (54); the first pliers body adapter (53) and the second pliers body adapter (54) are both mounted on a fourth rotating shaft (43); the first pliers body (51) is mounted on the first pliers body adapter (53); and the second pliers body (52) is mounted on the second pliers body adapter (54).

9. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 8, characterized in that: The transmission assembly comprises: a pulley group, wherein the pulley group comprises: a first pulley (81), a second pulley (82), a third pulley (83) and a fourth pulley (84), wherein the two first pulleys (81) are symmetrically mounted at both ends of the first rotating shaft (32), the two second pulleys (82) are symmetrically mounted at both ends of the second rotating shaft (33), the two third pulleys (83) are symmetrically mounted at both ends of the third rotating shaft (42), and the two fourth pulleys (84) are symmetrically mounted at both ends of the fourth rotating shaft (43) and are respectively connected to the first caliper body adapter (53) and the second caliper body adapter (54); The transmission assembly further comprises: a transmission wire group (6), the transmission wire group (6) comprising: a first transmission wire (61), a second transmission wire (62), a third transmission wire (63), a fourth transmission wire (64), a fifth transmission wire (65) and a sixth transmission wire (66); a first assembly hole, a second assembly hole, a third assembly hole and a fourth assembly hole are provided in the deflection member housing (41); One end of the first transmission wire (61) is connected to the driving mechanism, the first transmission wire (61) passes through the first pulley (81) located on the left and the second pulley (82) located on the left in sequence, and then passes through the first assembly hole of the deflection member housing (41), the other end of the first transmission wire (61) is provided with a first rivet head, the first rivet head is clamped in the first assembly hole, and the first rivet head faces upward; One end of the second transmission wire (62) is connected to the driving mechanism, the second transmission wire (62) passes through the first pulley (81) and the second pulley (82) located on the right side in sequence, and then passes into the second assembly hole of the deflection member housing (41), the other end of the second transmission wire (62) is provided with a second rivet head, the second rivet head is clamped in the second assembly hole, and the second rivet head faces downward; One end of the third transmission wire (63) is connected to the driving mechanism, the third transmission wire (63) passes through the third assembly hole and then passes around the fourth pulley (84) connected to the first caliper body adapter (53), and the other end of the third transmission wire (63) is connected to the right side surface of the first caliper body adapter (53); One end of the fourth transmission wire (64) is connected to the driving mechanism, the fourth transmission wire (64) passes through the fourth assembly hole and then passes around the fourth pulley (84) connected to the second caliper body adapter (54), and the other end of the fourth transmission wire (64) is connected to the left side surface of the second caliper body adapter (54); The middle part of the fifth transmission wire (65) and the second caliper body adapter (54) are connected via a transmission wire rivet (67); the fifth transmission wire (65) on the left side of the transmission wire rivet (67) passes around the fourth pulley (84) connected to the second caliper body adapter (54) and then passes around the third pulley (83) on the left side, the second pulley (82) on the left side and the first pulley (81) on the left side in sequence; the fifth transmission wire (65) on the right side of the transmission wire rivet (67) passes around the fourth pulley (84) connected to the second caliper body adapter (54) and then passes around the second pulley (82) on the right side and the first pulley (81) on the right side in sequence; both ends of the fifth transmission wire (65) are connected to the driving mechanism; The middle part of the sixth transmission wire (66) is connected to the first caliper body adapter (53) through another transmission wire rivet (67). The sixth transmission wire (66) located on the right side of the transmission wire rivet (67) passes around the fourth pulley (84) connected to the first caliper body adapter (53) and then passes around the third pulley (83) on the right side, the second pulley (82) on the right side and the first pulley (81) on the right side in sequence. The sixth transmission wire (66) located on the left side of the transmission wire rivet (67) passes around the fourth pulley (84) connected to the first caliper body adapter (53) and then passes around the second pulley (82) on the left side and the first pulley (81) on the left side in sequence. Both ends of the sixth transmission wire (66) are connected to the driving mechanism.

10. The minimally invasive surgical instrument with an additional end micro force sensor according to claim 9, characterized in that: Also includes: A wire guide disk (7) is installed at the front and rear ends of the body respectively, and each wire guide disk (7) is provided with a plurality of limiting through holes, and the two wire guide disks (7) are used to limit the transmission wire group (6).

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