Slave actuator with torque detection function

Abstract

The invention provides a slave actuator with a torque detection function. The slave actuator comprises an execution driving module and an execution module. The execution driving module comprises a mounting plate and a plurality of execution driving motors, the execution driving motors comprise a yaw driving motor, a pitching driving motor, a rotating driving motor and a shearing driving motor which are all arranged on the mounting plate, and the execution driving motors are connected with the execution module through corresponding control steel wires; the execution driving motors are provided with torque sensors, the control steel wires transmit counter torque generated by human tissue to the corresponding torque sensors, and the torque sensors collect the counter torque and transmit the counter torque of each degree of freedom to the system. According to the multi-degree-of-freedom driving and executing system, multi-degree-of-freedom driving and executing can be conducted, meanwhile, counter torque generated by human tissue can be collected and transmitted to the system, accurate resistance torque can be generated, and therefore the states of all degrees of freedom of the executing module can be truly felt in the operation process.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to a slave actuator with torque detection. Background Art

[0002] Minimally invasive surgery is a type of surgery that doctors perform with the help of an endoscope and special surgical instruments without causing large incisions. In order to achieve the effect of less trauma and better postoperative recovery, minimally invasive surgery has undergone a development process from multi-hole and single-hole laparoscopic surgery to natural orifice surgery. Natural orifice endoscopic surgery is a method of passing a robotic arm through the human cavity to reach the diseased tissue for surgery, which can achieve the effect of no scars on the body surface. At present, the design of endoscopic minimally invasive surgical robots and the research of related key technologies have become one of the research hotspots in the field of surgical robots. Existing endoscopic minimally invasive surgical robots generally adopt a master-slave operation mode. The master operator serves as a human-machine interaction device between the doctor and the slave actuator. The doctor controls the master operator to enable the slave actuator to perform lesion exploration and human tissue manipulation in the cavity.

[0003] To enable doctors to sense the forces interacting with human tissue, the master manipulator typically requires force feedback, which necessitates torque detection during operation via a slave actuator. Traditional slave actuator designs are not ideal, with low accuracy in torque detection and degree-of-freedom execution, requiring further improvement. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies in the above-mentioned background technology and to provide a slave actuator with a reasonable structure and capable of accurately performing torque detection and execution of each degree of freedom.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a slave actuator with torque detection, including an execution drive module and an execution module; the execution drive module includes a mounting plate and multiple execution drive motors, the execution drive motors include a yaw drive motor, a pitch drive motor, a rotation drive motor and a shear drive motor, all of which are arranged on the mounting plate, the execution drive motors are respectively connected to the execution module through corresponding control steel wires, the execution drive motors are each equipped with a torque sensor, the control steel wire transmits the reaction torque generated by human tissue to the corresponding torque sensor, the torque sensor collects the reaction torque and transmits the reaction torque of each degree of freedom to the system.

[0006] Furthermore, one end of the torque sensor is connected to the execution drive motor, and the other end of the torque sensor is connected to the mounting plate.

[0007] Furthermore, the execution drive module also includes a mounting seat, which is connected to the mounting plate, and a plurality of first rollers are arranged in the mounting seat, including a first yaw roller, a first pitch roller, a first rotation roller and a first shear roller, which are respectively rotatably connected to the mounting seat through corresponding rotation axes, and a plurality of second rollers are also arranged in the mounting seat, including a second yaw roller, a second pitch roller and a second shear roller, so as to lead the corresponding control wire from the execution drive module to the execution module; the rotation axes of the first yaw roller, the first pitch roller, the first rotation roller and the first shear roller are respectively connected to the yaw drive motor, the pitch drive motor, the rotation drive motor and the shear drive motor.

[0008] Furthermore, a spline shaft, a spline sleeve, a spring and a limit pin are provided between the execution drive motor and the mounting plate. The spline shaft is fixedly connected to the output flange of the execution drive motor, the spline sleeve is sleeved on the spline shaft, the spring is provided between the spline shaft and the spline sleeve, the limit pin is inserted into the pin hole opened in the mounting plate and is connected to the sliding groove of the spline sleeve, and the spline sleeve is transmission-connected to the corresponding rotating shaft.

[0009] Furthermore, a plurality of rotatable rotating disks are provided on the mounting seat, and the rotating disks are arranged in one-to-one correspondence with the rotating shaft and are fixedly connected to the rotating shaft. The end faces of the rotating disks are provided with clamping blocks, and the clamping blocks match the clamping grooves provided on the end faces of the spline sleeves.

[0010] Furthermore, the execution module includes a shearing component, a yaw joint component, and a pitch joint component, and the shearing component, the yaw joint component, and the pitch joint component are respectively driven and controlled by the corresponding control wires.

[0011] Furthermore, the yaw joint assembly is connected to the connecting shaft of the pitch joint assembly, and the corresponding control wire is connected to the pitch control wheel of the pitch joint assembly; the shear assembly is connected to the connecting shaft of the yaw joint assembly, and the corresponding control wire is connected to the yaw control wheel of the yaw joint assembly.

[0012] Furthermore, the shearing assembly includes a shearing seat, a first shearing finger, a second shearing finger, a shearing drive slider and a central support block. The first shearing finger and the second shearing finger are rotatably connected to the shearing seat. A pair of shearing drive sliders are provided, which are respectively located on both sides of the central support block and are slidingly connected to the central support block. The central support block is fixedly connected to the shearing seat. The two ends of the control steel wire of the shearing assembly are respectively connected to the two shearing drive sliders. The first shearing finger is connected to the two shearing drive sliders on both sides through two sections of the first shearing steel wire. The second shearing finger is connected to the two shearing drive sliders on both sides through two sections of the second shearing steel wire.

[0013] Furthermore, a wire moving guide wheel is provided on the central support block, and the wire moving guide wheel is connected to the first shearing wire or the second shearing wire.

[0014] Furthermore, a guide groove is provided on the central support block, and a cylindrical block matching the guide groove is provided on the shear drive slider.

[0015] The above solution of the present invention has the following beneficial effects:

[0016] The slave actuator with torque detection provided by the present invention can drive and execute multiple degrees of freedom through the configuration and association between the execution drive module and the execution module. At the same time, through the configuration of the torque sensor, it can collect the reaction torque generated by human tissue and transmit it to the system, so that the system sends instructions to generate accurate resistance torque for the master operator. Therefore, during the operation, the master operator can truly feel the status of each degree of freedom of the execution module, so that the master operator can operate more reasonably and form an accurate and reliable surgical operation process through continuous communication and iteration.

[0017] Other beneficial effects of the present invention will be described in detail in the subsequent specific implementation section. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the execution drive module of the present invention;

[0020] Figure 3 This is a schematic diagram of the connection between the mounting plate and the execution drive motor of the present invention;

[0021] Figure 4 This is a schematic diagram of the internal structure of the mounting base of the present invention;

[0022] Figure 5 Schematic diagram of the execution module of the present invention;

[0023] Figure 6 is a schematic diagram of a shearing assembly of the present invention;

[0024] Figure 7 This is another schematic diagram of the shearing assembly of the present invention.

[0025] [Description of Reference Numerals]

[0026] 1- Yaw drive motor; 2- Pitch drive motor; 3- Rotation drive motor; 4- Shear drive motor; 5- Mounting plate; 6- Control wire; 7- Torque sensor; 8- Mounting seat; 9- First yaw roller; 10- First pitch roller; 11- First rotation roller; 12- First shear roller; 13- Rotation axis; 14- Guide platform; 15- Second yaw roller; 16- Second pitch roller; 17- Second shear roller; 18- Connecting rod; 19- Flower Key shaft; 20-spline sleeve; 21-spring; 22-limit pin; 23-rotating disk; 24-block; 25-slot; 26-spring tube; 27-connecting shaft; 28-pitch control wheel; 29-yaw control wheel; 30-shear seat; 31-first shear finger; 32-second shear finger; 33-shear drive slider; 34-center support block; 35-fixed shaft; 36-first shear wire; 37-second shear wire; 38-wire guide wheel. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments. Obviously, the embodiments described are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limitations on the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to a locking connection, a detachable connection, or an integral connection; they may refer to a mechanical connection or an electrical connection; they may refer to a direct connection or an indirect connection through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0030] like Figure 1-Figure 3 As shown, an embodiment of the present invention provides a slave actuator with torque detection, including an execution drive module and an execution module. The execution drive module drives and controls each degree of freedom of the execution module through multiple execution drive motors. Specifically, in this embodiment, the slave actuator is provided with four degrees of freedom, including yaw degree of freedom, pitch degree of freedom, rotation degree of freedom, and shear degree of freedom. Based on this, the execution drive motors of the execution drive module include a yaw drive motor 1, a pitch drive motor 2, a rotation drive motor 3, and a shear drive motor 4, all of which are arranged on a mounting plate 5 and connected to the execution module through corresponding control wires 6 for drive control. At the same time, each execution drive motor is equipped with a torque sensor 7. During the driving process, the execution module transmits the reaction torque generated by human tissue to the corresponding torque sensor 7 through the control wire 6. The torque sensor 7 collects the reaction torque and transmits the reaction torque of each degree of freedom to the system, so that the system sends instructions to generate accurate resistance torque on the master operator, thereby truly feeling the state of each degree of freedom of the execution module during the operation.

[0031] The slave actuator must accurately detect the reaction torque generated by human tissue in each degree of freedom to ensure accurate force feedback to the master manipulator. Therefore, the control and execution of each degree of freedom of the slave actuator must be independent of each other to avoid being affected by other degrees of freedom.

[0032] At the same time Figure 4As shown, the execution drive module also includes a mounting base 8, which is connected to the mounting plate 5. Mounting base 8 is provided with multiple first rollers, namely, a first yaw roller 9, a first pitch roller 10, a first rotation roller 11, and a first shear roller 12, for the four degrees of freedom mentioned above. The first yaw roller 9, the first pitch roller 10, the first rotation roller 11, and the first shear roller 12 are rotatably connected to the mounting base 8 via corresponding rotation axes 13. To achieve a more compact layout, in this embodiment, the four rollers and the corresponding rotation axes 13 are arranged at four diagonal positions of the mounting base 8. A guide platform 14 is provided in the middle of the mounting base 8, on which multiple sets of second rollers, namely, a second yaw roller 15, a second pitch roller 16, and a second shear roller 17, are mounted. This guides the corresponding control wires 6 from the middle of the execution drive module to the execution module, facilitating wiring within the connecting rod 18 between the execution drive module and the execution module. Correspondingly, the second yaw roller 15, the second pitch roller 16, and the second shear roller 17 are also arranged on three sides of the guide platform 14, thereby ensuring that the different control wires 6 are decoupled within the mounting base 8 and the connecting rod 18, and will not affect each other. It should be noted that since the rotational freedom can directly drive the rotation of the connecting rod 18, there is no need to provide a second rotating roller to introduce the control wire 6 into the connecting rod 18. It can be directly led out through the first rotating roller 11.

[0033] In this embodiment, torque sensors 7 are provided in a one-to-one correspondence with the yaw drive motor 1, the pitch drive motor 2, the rotation drive motor 3, and the shear drive motor 4. One end of the torque sensor 7 is connected to the actuator drive motor, and the other end of the torque sensor 7 is connected to the mounting plate 5. When the actuator drive motor rotates to drive the actuator module, a reaction torque is generated and transmitted to the torque sensor 7. The reaction torque of the actuator module is then collected by the torque sensor 7 and uploaded to the system.

[0034] As a preferred embodiment, in this embodiment, a quick-release connection is formed between the execution drive motor and the mounting plate 5 through a spline shaft 19, a spline sleeve 20, a spring 21, and a limit pin 22. Among them, the spline shaft 19 is directly fixedly connected to the output flange of the execution drive motor, the spline sleeve 20 is sleeved on the spline shaft 19, the spring 21 is set in the center groove of the spline shaft 19 and connected to the spline sleeve 20, and the limit pin 22 is inserted into the pin hole of the mounting plate 5 and connected to the sliding groove of the spline sleeve 20 to ensure that the spline sleeve 20 can be engaged in the installation position without falling and will not affect the rotation of the spline shaft 19 (annular sliding groove). When disassembling, it is only necessary to remove the limit pin 22 to complete the process quickly. The spline shaft 19 serves as the output shaft of the execution drive motor, and the torque sensor 7 is connected to the spline shaft 19 to directly detect the reaction torque applied to the spline shaft 19.

[0035] As a preferred embodiment, the mounting base 8 and the mounting plate 5 in this embodiment also adopt a detachable quick connection method, and the driving motor and the rotating shaft 13 of each first roller are also transmitted through the spline sleeve 20 and the rotating disk 23. Specifically, the mounting base 8 is provided with a plurality of rotatable rotating disks 23, which are arranged in a one-to-one correspondence with the rotating shaft 13 and are fixedly connected to the rotating shaft 13. The end surface of the rotating disk 23 is provided with a clamping block 24, which matches the clamping groove 25 provided on the end surface of the spline sleeve 20. Therefore, when the mounting base 8 and the mounting plate 5 are connected in place, the rotating disk 23 can smoothly rotate synchronously with the spline sleeve 20, and the spring 21 ensures that the spline sleeve 20 and the rotating disk 23 are tightly fitted, thereby ensuring accurate and stable transmission, and further ensuring the accuracy of the torque sensor 7 in detecting the reaction torque.

[0036] It should be noted that in this embodiment, an avoidance groove is opened in the center of the mounting plate 5, and the connecting rod 18 of the actuator passes through the avoidance groove and the center position of the four actuator drive motors to further improve the compactness of the structure and adapt to the miniaturization and micro-miniaturization design of the surgical robot.

[0037] At the same time Figure 5 As shown, in this embodiment, the execution module includes a shearing component and a yaw joint component and a pitch joint component. The shearing component, the yaw joint component and the pitch joint component are driven and controlled respectively by corresponding control wires 6. It should be noted that in order to prevent the control of each component from interfering with each other and forming a decoupled control, a spring tube 26 can be set between two adjacent joint components, and the control wire 6 drawn from the latter group of joint components (not directly connected to and driving this joint component) first passes through the spring tube 26 and then passes through the former group of joint components. For example, the control wire 6 of the shearing component passes through the pitch joint component, then passes through the spring tube 26 between the pitch joint component and the yaw joint component, then passes through the yaw joint component and the spring tube 26 between the yaw joint component and the shearing component in sequence, and finally connects to the shearing component. Similarly, the control wire 6 of the yaw joint component passes through the pitch joint component, then passes through the spring tube 26 between the yaw joint component and the pitch joint component, and is connected to the yaw joint component. When the latter group of joint components rotates relative to the former group of joint components, the spring tube 26 bends and deforms synchronously. During the bending and deformation, the length of the spring tube 26 can remain unchanged, thereby keeping the length of the internal control wire 6 unchanged, ensuring that each degree of freedom is independent of each other and not affected by other degrees of freedom, thereby achieving decoupling of the degrees of freedom.

[0038] In this embodiment, the yaw joint assembly and the pitch joint assembly respectively adjust yaw and pitch via corresponding connecting shafts 27 and rotating wheels. For example, the yaw joint assembly is connected to the connecting shaft 27 of the pitch joint assembly, and the control wire 6 is connected to the pitch control wheel 28 of the pitch joint assembly. When the pitch control wheel 28 rotates, it drives the connecting shaft 27 to adjust the pitch of the yaw joint assembly and the shear assembly. The yaw joint assembly is similarly controlled via its own connecting shaft 27 and yaw control wheel 29.

[0039] At the same time Figure 6 、 Figure 7 As shown, the shearing assembly includes a shearing base 30, a first shearing finger 31, and a second shearing finger 32, as well as a shearing drive slider 33 and a central support block 34. The first and second shearing fingers 31, 32 are movably mounted on a fixed shaft 35, which is fixedly connected to the shearing base 30. A pair of shearing drive sliders 33 are provided, one on either side of the central support block 34 and slidably connected to the central support block 34, which is in turn fixedly connected to the shearing base 30. The shearing assembly's control wire 6 is connected at each end to the two shearing drive sliders 33. The first shearing finger 31 is connected to the shearing drive sliders 33 on either side via two first shearing wires 36, while the second shearing finger 32 is connected to the shearing drive sliders 33 on either side via two second shearing wires 37. When the first shearing finger 31 rotates, the two first shearing wires 36 extend and contract relative to the first shearing finger 31, causing one of the shearing drive sliders 33 to slide backward and the other forward. The same is true when the second shear finger 32 rotates (in the opposite direction to the rotation of the first shear finger 31 relative to the fixed shaft 35). Therefore, when controlled by the control wire 6, the traction force of one of the shear drive sliders 33, that is, the driving force for closing the two shear fingers, can be applied on the same side, while the driving force for opening the two shear fingers is also applied on the other side. These two opposing driving forces can be achieved by the forward and reverse rotation of the shear drive motor 4, thereby significantly improving the smoothness of the closing and opening of the two shear fingers. The reaction torque can also be accurately fed back to the torque sensor 7 of the shear drive motor 4, further ensuring the authenticity and accuracy of the system force feedback.

[0040] It should be noted that, based on the arrangement of the first and second shear wires 36, 37, this embodiment further includes a wire positioning guide wheel 38 on the central support block 34. This wire positioning guide wheel 38 further rationalizes the arrangement of the first and second shear wires 36, 37 and facilitates smoother force transmission. Furthermore, a guide groove is provided on the central support block 34, and a cylindrical block is provided on the shear drive slider 33 to mate with the guide groove. This further enhances the smoothness of the sliding movement of the shear drive slider 33, thereby further improving the smoothness of the shearing action and the accuracy of the force feedback.

[0041] To sum up, the slave actuator with torque detection provided in this embodiment can drive and execute multiple degrees of freedom through the settings and association between the execution drive module and the execution module. At the same time, through the configuration of the torque sensor 7, it can collect the reaction torque generated by human tissue and transmit it to the system, so that the system sends instructions to the main operator to generate accurate resistance torque, thereby truly feeling the various degrees of freedom of the execution module during the operation, so that the main operator can operate more reasonably and form an accurate and reliable surgical operation process through continuous communication and iteration.

[0042] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, 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.

[0043] The above embodiments merely illustrate several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A slave actuator with torque detection, characterized in that: It includes an execution drive module and an execution module; the execution drive module includes a mounting plate and multiple execution drive motors, the execution drive motors include a yaw drive motor, a pitch drive motor, a rotation drive motor and a shear drive motor, all of which are arranged on the mounting plate, the execution drive motors are connected to the execution modules through corresponding control wires, the execution drive motors are all equipped with torque sensors, the control wires transmit the reaction torque generated by human tissue to the corresponding torque sensors, the torque sensors collect the reaction torque and transmit the reaction torque of each degree of freedom to the system.

2. A slave actuator with torque detection according to claim 1, characterized in that: One end of the torque sensor is connected to the execution drive motor, and the other end of the torque sensor is connected to the mounting plate.

3. A slave actuator with torque detection according to claim 1, characterized in that: The execution drive module also includes a mounting seat, which is connected to the mounting plate. A plurality of first rollers are arranged in the mounting seat, including a first yaw roller, a first pitch roller, a first rotation roller and a first shear roller, which are respectively rotatably connected to the mounting seat through corresponding rotation axes. A plurality of second rollers are also arranged in the mounting seat, including a second yaw roller, a second pitch roller and a second shear roller, so as to lead the corresponding control wires from the execution drive module to the execution module; the rotation axes of the first yaw roller, the first pitch roller, the first rotation roller and the first shear roller are respectively connected to the yaw drive motor, the pitch drive motor, the rotation drive motor and the shear drive motor.

4. A slave actuator with torque detection according to claim 3, characterized in that: A spline shaft, a spline sleeve, a spring and a limit pin are arranged between the execution drive motor and the mounting plate. The spline shaft is fixedly connected to the output flange of the execution drive motor, the spline sleeve is sleeved on the spline shaft, the spring is arranged between the spline shaft and the spline sleeve, the limit pin is inserted into the pin hole opened in the mounting plate and is connected to the sliding groove of the spline sleeve, and the spline sleeve is transmission-connected to the corresponding rotating shaft.

5. A slave actuator with torque detection according to claim 4, characterized in that: A plurality of rotatable rotating disks are arranged on the mounting seat, and the rotating disks are arranged one-to-one corresponding to the rotating shafts and are fixedly connected to the rotating shafts. The end faces of the rotating disks are provided with clamping blocks, and the clamping blocks match the clamping grooves provided on the end faces of the spline sleeves.

6. A slave actuator with torque detection according to claim 1, characterized in that: The execution module comprises a shearing assembly, a yaw joint assembly, and a pitch joint assembly. The shearing assembly, the yaw joint assembly, and the pitch joint assembly are driven and controlled respectively through the corresponding control wires.

7. A slave actuator with torque detection according to claim 6, characterized in that: The yaw joint assembly is connected to the connecting shaft of the pitch joint assembly, and the corresponding control wire is connected to the pitch control wheel of the pitch joint assembly. The shear assembly is connected to the connecting shaft of the yaw joint assembly, and the corresponding control wire is connected to the yaw control wheel of the yaw joint assembly.

8. A slave actuator with torque detection according to claim 6 or 7, characterized in that: The shearing assembly includes a shearing seat, a first shearing finger, a second shearing finger, a shearing driving slider and a central support block. The first shearing finger and the second shearing finger are rotatably connected to the shearing seat. A pair of shearing driving sliders are provided, which are respectively located on both sides of the central support block and are slidably connected to the central support block. The central support block is fixedly connected to the shearing seat. The two ends of the control steel wire of the shearing assembly are respectively connected to the two shearing driving sliders. The first shearing finger is respectively connected to the two shearing driving sliders on both sides through two sections of the first shearing steel wire, and the second shearing finger is respectively connected to the two shearing driving sliders on both sides through two sections of the second shearing steel wire.

9. A slave actuator with torque detection according to claim 8, characterized in that: A wire moving guide wheel is arranged on the central support block, and the wire moving guide wheel is connected to the first shearing wire or the second shearing wire.

10. A slave actuator with torque detection according to claim 8, characterized in that: The central support block is also provided with a guide groove, and the shear drive sliding block is provided with a cylindrical block matched with the guide groove.

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