Force sensing type medical surgical knife

Abstract

The invention belongs to the field of surgical instruments, and particularly relates to a force sensing type medical surgical knife which comprises a handle, a knife assembly, a motor, a pressure sensing assembly and a processor. The pressure sensing assembly comprises a pressure sensor fixedly arranged relative to the handle, a first magnet arranged on the far end side of the pressure sensor and a second magnet arranged on the far end side of the first magnet, and the first magnet moves in the axial direction relative to the handle and applies pressure to the pressure sensor. The second magnet synchronously moves at least along with the tool bit in the axial direction and generates repulsive force on the first magnet; the pressure sensor is used for acquiring real-time pressure information of the first magnet and feeding back the real-time pressure information to the processor; and the processor correspondingly obtains resistance information of the tool bit based on the real-time pressure information. A first magnet and a second magnet of the pressure sensing assembly do not need to make contact with each other, it can be avoided that the force sensing assembly interferes with axial movement and circumferential rotation of the tool bit and the tool handle relative to the handle, and detection is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of surgical instruments, and in particular to a force sensing medical surgical tool. Background Art

[0002] Medical staff usually use power tools to assist in processing human tissue during surgery, especially in orthopedic surgery. Tool components such as ring saws and drills have strong cutting capabilities. When the tool components penetrate the bone tissue, medical staff may not be able to turn off the power source in time due to manual error or operating inertia, which can easily damage the remaining body tissues around the bone tissue.

[0003] In the prior art, a force feedback component is usually set to detect the force condition of the tool assembly, and control the opening and closing of the power source according to the force condition, so as to prevent the tool assembly from accidentally damaging the tissue in the body. However, the force feedback component in the prior art usually installs the sensor directly on the tool assembly, and some parts of the force feedback component will interfere with the movement of the tool assembly, resulting in poor accuracy of sensor detection. Summary of the invention

[0004] In order to accurately detect the force applied to a tool during surgery, the present invention provides a force sensing medical surgical tool.

[0005] A force sensing medical surgical tool provided according to an embodiment of the present invention includes a handle, a tool assembly, a motor, a pressure sensing assembly and a processor;

[0006] The handle is cylindrical;

[0007] The motor is fixedly arranged in the handle, and an output shaft is arranged at the distal end of the motor to transmit torque to the tool assembly;

[0008] The tool assembly is inserted into the handle, and the tool assembly includes a tool sleeve, a tool handle and a tool head inserted into the inner side of the tool sleeve, the tool handle is connected to the output shaft and the tool head, and the tool head and the handle are relatively movable in the axial direction and relatively rotated in the circumferential direction;

[0009] The pressure sensing component includes a pressure sensor fixedly arranged relative to the handle, a first magnet arranged at a distal end of the pressure sensor, and a second magnet arranged at a distal end of the first magnet, wherein the first magnet moves axially relative to the handle and applies pressure to the pressure sensor, and the second magnet at least moves synchronously with the tool head along the axial direction and generates a repulsive force on the first magnet;

[0010] The pressure sensor is used to obtain real-time pressure information of the first magnet and feed it back to the processor; the processor is based on the real-time pressure information.

[0011] In some embodiments, a first seat is provided at the distal end of the motor, the inner peripheral wall of the handle forms a limiting ring, and the distal end of the first seat abuts against the end surface of the proximal end of the limiting ring; the output shaft of the motor passes through the first seat and is connected to the handle;

[0012] A retaining ring and a second seat body are sequentially arranged at the proximal end of the motor, the retaining ring is passed through the handle, the second seat body is detachably connected to the proximal end of the handle, a first accommodating groove is formed at the proximal end of the second seat body to be sleeved on the outer peripheral wall of the distal end of the motor, and a bolt is passed through the first seat body to fix the end face of the distal end of the motor.

[0013] In some embodiments, the first magnet is disposed on the first seat body, a second accommodating groove is formed at the distal end of the first seat body to accommodate the first magnet, a second sleeve is disposed between the outer peripheral wall of the first magnet and the groove wall of the second accommodating groove, a retaining ring is formed at the distal end of the second sleeve toward the inside to limit the first magnet from sliding out along the distal end, and the retaining ring abuts against the end face of the proximal end of the limiting ring platform; a first buffer gasket is disposed at the proximal end of the pressure sensor, and a second buffer gasket is disposed between the pressure sensor and the first magnet.

[0014] In some embodiments, the second magnet is fixedly mounted on the outer peripheral wall of the proximal end of the shank, and the second magnet is arranged on the inner side of the limiting ring.

[0015] In some embodiments, a linear bearing is disposed on the outer peripheral wall of the tool sleeve and connected to the handle, so that the tool sleeve can at least move axially relative to the handle; and bearings are disposed on the outer peripheral walls of the tool handle and the tool head and connected to the tool sleeve, so that the tool head and the tool handle can at least rotate circumferentially relative to the tool sleeve.

[0016] In some embodiments, a tubular joint is provided at the proximal end of the knife handle for the distal end of the output shaft to pass through, a strip-shaped notch is provided at the proximal end of the joint and passes through both radial sides thereof, and a first pin is provided at the distal end of the output shaft and passes through both radial sides thereof, and both ends of the first pin extend out of the output shaft and pass through the strip-shaped notch;

[0017] The distal end of the knife handle is sleeved on the outer peripheral wall of the proximal end of the knife head, and the knife handle and the knife head are connected via a second pin shaft arranged in the radial direction.

[0018] In some embodiments, a spring is further inserted into the joint, and two ends of the spring are correspondingly abutted against the distal end of the output shaft and the proximal end of the tool handle, and the spring pushes the tool sleeve to extend toward the distal end through the tool handle.

[0019] In some embodiments, a ferrule is disposed at the distal end of the handle to be detachably connected to the tool assembly, a proximal end of the ferrule is inserted into the inner side of the distal end of the handle, and the ferrule is connected to the handle via a thread;

[0020] The outer circumferential wall of the distal end of the knife sleeve is provided with spaced-apart clamping protrusions along the axial direction to form a clamping groove between the spaced-apart clamping protrusions, and the inner circumferential wall of the distal end of the clamping sleeve is provided with a clamping ring between the circumferentially corresponding clamping protrusions, and the clamping ring is provided with an avoidance notch corresponding to the clamping protrusion, and the clamping ring can be clamped in the clamping groove between the clamping protrusions.

[0021] In some embodiments, the first magnet is an integral structure in the shape of a ring and / or a split structure in the shape of a circular array, and the second magnet is an integral structure in the shape of a ring and / or a split structure in the shape of a circular array.

[0022] In some embodiments, a button is provided on the handle and is electrically connected to the processor, and the button is used to correspondingly control the start and stop of the motor, the rotation mode of the motor, and the start and stop of the pressure sensor.

[0023] With the force sensing medical surgical tool of the present invention, the displacement change generated when the blade head and the handle are blocked can be converted into the repulsive force change between the first magnet and the second magnet, and the repulsive force change between the first magnet and the second magnet can be converted into the pressure change of the first magnet on the pressure sensor. The pressure sensor is used to accurately detect the real-time pressure of the first magnet to obtain the resistance information of the blade head, wherein the first magnet and the second magnet do not need to contact each other, which can avoid the force sensing component interfering with the axial movement and circumferential rotation of the blade head and the handle relative to the handle, making the detection more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the structure of the force sensing medical surgical tool of this embodiment;

[0025] Figure 2 is a schematic structural diagram of a cross section of a force sensing medical surgical tool according to this embodiment;

[0026] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0027] Figure 4 It is a schematic diagram of the structure during the assembly process of the ferrule and the tool set.

[0028] In the figure: handle 100; limit ring 110; button 120; anti-skid groove 130; motor 200; output shaft 210; first seat body 220; second seat body 230; retaining ring 240; protective cover 250; knife sleeve 300; snap-on protrusion 301; snap-on groove 302; knife handle 310; joint 320; strip notch 321; first pin 322; knife head 330; second pin 331; linear bearing 340; first bearing 341; second bearing 342; third bearing 343; first bushing 344; second bushing 345; spring 350; bushing 400; retaining ring 410; avoidance notch 411; pressure sensor 500; first magnet 510; second magnet 520; first buffer gasket 530; second buffer gasket 540. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0030] The structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification so as to facilitate understanding and reading by persons familiar with this technology, and are not used to limit the conditions under which the present invention can be implemented. Any structural modification, change in proportion or adjustment of size should still fall within the scope of the technical contents disclosed in the present invention without affecting the effects and purposes that can be achieved by the present invention.

[0031] The directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "middle", "longitudinal", "lateral", "horizontal", "inner", "outer", "radial", "circumferential" and the like in this specification are based on the directions or positional relationships shown in the drawings and are only for the convenience of simplifying the description. They do not indicate or imply that the devices or elements referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0032] like Figure 1 and Figure 2 As shown, this embodiment provides a force-sensing medical surgical tool, which includes a handle 100, a tool assembly, a motor 200 and a pressure sensing assembly.

[0033] The handle 100 of this embodiment is cylindrical, and the motor 200 is fixedly arranged in the handle 100. The output shaft 210 is arranged at the distal end of the motor 200 to transmit torque to the tool assembly. The distal end of the motor 200 is preferably provided with a first seat body 220, and the inner peripheral wall of the handle 100 forms a limit ring platform 110 corresponding to the front end of the first seat body 220. The end surface of the proximal end of the limit ring platform 110 is used to limit the first seat body 220 and the motor 200 from moving axially toward the distal end. The output shaft 210 of the motor 200 passes through the first seat body 220 and is connected to the tool assembly. The proximal end of the first seat body 220 preferably forms a first accommodating groove 221 to be sleeved on the outer peripheral wall of the distal end of the motor 200, and bolts are passed through the first seat body 220 to fix the end surface of the distal end of the motor 200.

[0034] The proximal end of the motor 200 of this embodiment is preferably provided with a retaining ring 240 and a second seat body 230 in sequence. The retaining ring 240 is inserted into the handle 100. The second seat body 230 is detachably connected to the proximal end of the handle 100. The second seat body 230 and the retaining ring 240 are used to limit the axial movement of the motor 200 toward the proximal end. The second seat body 230 is preferably connected to the inner circumferential wall of the handle 100 by threads. Some embodiments may also select conventional structures such as buckles or bolts to achieve detachability. Through holes are provided on the second seat body 230 and the retaining ring 240 for cables to pass through. The second seat body 230 is also provided with a cable protective cover 250 to ensure the service life of the cable.

[0035] The limiting ring 110 of this embodiment divides the inner side of the handle 100 into two parts, front and rear. The motor 200 and its assembly-related parts are installed from the proximal end of the handle 100 to the inside of the handle 100, and the tool assembly and other related parts are installed from the distal end of the handle 100 to the inside of the handle 100, making assembly more convenient.

[0036] The tool assembly of this embodiment specifically includes a knife sleeve 300, a knife handle 310 and a knife head 330. The knife head 330 can move axially and rotate circumferentially relative to the handle 100. The outer peripheral wall of the knife sleeve 300 is preferably provided with a linear bearing 340 connected to the handle 100, so that the knife sleeve 300 can move axially relative to the handle 100; the knife handle 310 and the knife head 330 can be rotatably penetrated inside the knife sleeve 300, so that the knife head 330 and the knife handle 310 can rotate circumferentially relative to the knife sleeve 300 and the handle 100. The proximal end of the knife handle 310 extends out of the proximal end of the knife sleeve 300 to connect the output shaft 210, and the distal end of the knife handle 310 is connected to the proximal end of the knife head 330, so that the knife handle 310 and the knife head 330 can move synchronously in the axial direction and rotate synchronously in the circumferential direction, and the distal end of the knife head 330 extends out of the distal ends of the knife sleeve 300 and the handle 100 to act on the target position.

[0037] The outer peripheral walls of the handle 310 and the cutter head 330 of this embodiment are connected to the knife sleeve 300 through bearings. The outer peripheral wall of the handle 310 is preferably rotatably connected to the knife sleeve 300 through the first bearing 341 and the second bearing 342. The outer peripheral wall of the cutter head 330 is provided with a third bearing 343 to connect to the inner peripheral wall of the knife sleeve 300. The first bearing 341 is close to the proximal end of the handle 310, and the second bearing 342 is located at the distal end side of the first bearing 341. The first bearing 341 and the second bearing 342 can be limited by conventional structures such as flanges or clamps according to requirements. The outer peripheral wall of the cutter head 330 is sleeved with a third bearing 343 and connected to the inner peripheral wall of the front end of the knife sleeve 300. The distal end of the cutter head 330 can extend to the distal end of the knife sleeve 300 through the third bearing 343. It should be noted that the rotatable and movable connection method of the tool assembly and the handle 100 of this embodiment can adopt other conventional means according to requirements, which will not be repeated in this embodiment.

[0038] The outer contour of the knife handle 310 of this embodiment is preferably in the shape of a stepped shaft with a decreasing diameter from the proximal end to the distal end, wherein the first bearing 341 is sleeved on the outer peripheral wall of the second step portion, the distal end of the second bearing 342 abuts against the retaining ring 240 provided on the knife handle 310, and the second bearing 342 is sleeved on the outer peripheral wall of the third step portion; a first sleeve 344 is also provided between the first bearing 341 and the knife sleeve 300, the proximal end of the first sleeve 344 abuts against the distal end of the first step portion, and a retaining ring is provided at the distal end of the first sleeve 344 for limiting the position, so as to facilitate assembly. It should be noted that the number and arrangement positions of the bearings between the knife handle 310 and the cutter head 330 and the knife sleeve 300 can be set according to actual needs, and will not be described in detail in this embodiment.

[0039] The output shaft 210 of this embodiment is connected to the proximal end of the knife handle 310, so that the knife handle 310 and the output shaft 210 can move relative to each other in the axial direction and rotate synchronously in the circumferential direction. The proximal end of the knife handle 310 is preferably provided with a tubular joint 320 for the distal end of the output shaft 210 to pass through, and the proximal end of the joint 320 is provided with a strip-shaped notch 321 that passes through its radial sides, and the distal end of the output shaft 210 is provided with a first pin 322 that passes through its two sides in the radial direction, and the two ends of the first pin 322 that extend out of the output shaft 210 are passed through the strip-shaped notch 321. The connection structure between the knife handle 310 and the output shaft 210 of this embodiment is simple and easy to assemble. A spring 350 is also passed through the joint 320 of this embodiment, and the two ends of the spring 350 correspondingly abut the distal end of the output shaft 210 and the proximal end of the knife handle 310. The spring 350 applies a thrust to the cutter head 330 through the knife handle 310 so that the cutter head 330 remains in a state of extending toward the distal end.

[0040] The distal end of the knife handle 310 of this embodiment is preferably sleeved on the outer side of the proximal end of the cutter head 330, and the knife handle 310 and the cutter head 330 are connected by a second pin 331 arranged in the radial direction. The second pin 331 penetrates both sides of the knife handle 310 and the cutter head 330 in the radial direction, so that the cutter head 330 and the knife handle 310 can move synchronously in the axial direction and rotate synchronously in the axial direction, and the structure is simple and easy to assemble.

[0041] See Figure 4 , the distal end of the handle 100 of this embodiment is provided with a detachable connecting tool assembly of a ferrule 400, and different surgical requirements can be met by replacing the tool assembly. In this embodiment, the proximal end of the ferrule 400 is preferably inserted into the inner side of the distal end of the handle 100, and the outer side of the proximal end of the ferrule 400 is preferably provided with a thread connected to the handle 100. The distal end of the knife sleeve 300 is preferably provided with spaced-apart clamping protrusions 301 along the axial direction on the outer peripheral wall, so that a clamping groove 302 is formed between the spaced clamping protrusions 301. A clamping ring 410 is provided between the corresponding clamping protrusions 301 along the circumferential direction on the inner peripheral wall of the distal end of the ferrule 400, and an avoidance notch 411 is provided on the clamping ring 410 corresponding to the clamping protrusion 301. The clamping protrusion 301 near the proximal end first passes through the avoidance gap 411, so that the clamping ring 410 is aligned between the clamping protrusions 301; then the tool sleeve 300 and the handle 100 are controlled to rotate relative to each other, so that the clamping ring 410 is clamped in the clamping groove 302 between the clamping protrusions 301. The clamping sleeve 400 and the tool sleeve 300 of this embodiment are connected by clamping, and its structure is simple and convenient for disassembly and assembly of the tool assembly.

[0042] See Figure 3 The pressure sensing component of this embodiment is preferably arranged between the motor 200 and the tool, and the pressure sensing component includes a pressure sensor 500, a first magnet 510 and a second magnet 520. The pressure sensor 500 is fixedly arranged relative to the handle 100, the first magnet 510 is arranged at the distal side of the pressure sensor 500, and the second magnet 520 is arranged at the distal side of the first magnet 510. The first magnet 510 moves axially relative to the handle 100 and applies pressure to the pressure sensor 500, and the second magnet 520 can move synchronously along the axial direction with the cutter head 330 and generate a repulsive force on the first magnet 510. The pressure sensor 500 is used to obtain the real-time pressure information of the first magnet 510 and feed it back to the processor, and the processor obtains the resistance of the cutter head 330 based on the real-time pressure information. It should be noted that since the processor is an existing component in the surgical tool, the processor is electrically connected to the motor 200 and the pressure sensor 500, the resistance of the blade 330 corresponds to the real-time pressure information of the pressure sensor 500, and the specific mapping relationship between the real-time pressure information and the resistance of the blade 330 is obtained based on experiments, so it will not be elaborated in this embodiment.

[0043] The first magnet 510 of this embodiment is preferably disposed on the first seat body 220, and the distal end of the first seat body 220 preferably forms a second receiving groove 222 to accommodate the first magnet 510. A second sleeve 345 is disposed between the outer peripheral wall of the first magnet 510 and the groove wall of the second receiving groove 222, and the second sleeve 345 can ensure that the first magnet 510 moves stably along the axial direction, so that the first magnet 510 applies pressure to the pressure sensor 500. A retaining ring is formed at the distal end of the second sleeve 345 toward the inside to limit the first magnet 510 from sliding out of the second sleeve 345 along the distal end, and the retaining ring abuts against the end surface of the proximal end of the limiting ring platform 110 to limit the second sleeve 345 from sliding out of the second receiving groove 222 along the distal end.

[0044] The proximal end of the pressure sensor 500 of this embodiment is preferably provided with a first buffer gasket 530, which is provided between the bottom of the second receiving groove 222 and the pressure sensor 500. A second buffer gasket 540 is preferably provided between the pressure sensor 500 and the first magnet 510 to prevent the first magnet 510 from directly colliding with the pressure sensor 500 during the axial movement. The first buffer gasket 530 and the second buffer gasket 540 can play a buffering role on the pressure sensor 500, thereby extending the service life of the pressure sensor 500.

[0045] The second magnet 520 of this embodiment is preferably fixedly sleeved on the outer peripheral wall of the proximal end of the handle 310, specifically sleeved on the outer peripheral wall of the first step portion of the handle 310, so that the second magnet 520 can follow the handle 310 to move axially and rotate circumferentially relative to the handle 100. The second magnet 520 of this embodiment is preferably arranged on the inner side of the limiting ring 110 to make full use of the space inside the handle 100. It should be noted that some embodiments can also adopt a conventional connection method to enable the second magnet 520 to only move axially relative to the handle 100 following the handle 310.

[0046] The first magnet 510 and the second magnet 520 of this embodiment are preferably an integrated structure in the shape of a circular ring to ensure that the repulsive force can be evenly transmitted between the first magnet 510 and the second magnet. In some embodiments, the first magnet 510 and / or the second magnet 520 can be designed as a split structure of a circumferential array according to needs. The split first magnet 510 and / or the second magnet 520 is composed of a plurality of annular magnetic blocks. The integrated structure and the split structure are conventional means for those skilled in the art, and will not be described in detail in this embodiment.

[0047] The outer peripheral wall of the handle 100 of this embodiment is provided with a gripping portion at the proximal side, and the gripping portion includes an anti-skid groove 130 arranged at intervals to ensure that the medical staff's hand can stably hold the handle 100 and play an anti-skid role. The outer peripheral wall of the handle 100 is provided with a button 120 near the distal end, and the button 120 and the anti-skid groove 130 are formed on the opposite side of the handle 100. After the medical staff holds the handle 100, it is convenient to operate the button 120 with the thumb. Preferably, three buttons 120 are arranged on the handle 100 of this embodiment and are electrically connected to the processor, wherein the first button 120 is used to control the start and stop of the motor 200, the second button 120 controls the rotation mode of the motor 200, and the third button 120 is used to control the opening and closing of the pressure sensor 500. It should be noted that the number and function of the buttons 120 can be set according to actual needs, and this embodiment will not be repeated.

[0048] In the force sensing medical surgical tool of this embodiment, when the distal end of the cutter head 330 is subjected to resistance, the cutter head 330 and the handle 310 will move synchronously in the axial direction; when the second magnet 520 on the handle 310 moves synchronously in the axial direction following the handle 310, the repulsive force between the moving second magnet 520 and the first magnet 510 changes; the first magnet 510 moves in the axial direction based on the changed repulsive force and applies pressure to the pressure sensor 500; the pressure sensor 500 converts the acquired real-time pressure information into an electrical signal and feeds it back to the processor, and the processor obtains the resistance information of the cutter head 330 based on the real-time pressure information. In this embodiment, the displacement change generated when the cutter head 330 and the handle 310 are obstructed is first converted into the repulsive force change between the first magnet 510 and the second magnet 520, and then the repulsive force change between the first magnet 510 and the second magnet 520 is converted into the pressure change of the first magnet 510 on the pressure sensor 500. The pressure sensor 500 obtains the corresponding resistance information of the cutter head 330 by accurately detecting the real-time pressure of the first magnet 510. The first magnet 510 and the second magnet 520 do not need to contact each other, which can prevent the force sensing component from interfering with the axial movement and circumferential rotation of the cutter head 330 and the handle 310 relative to the handle 100, thereby making the detected information more accurate.

[0049] The technical features of the above embodiments may 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.

[0050] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A force sensing medical surgical tool, characterized in that: It includes a handle (100), a tool assembly, a motor (200), a pressure sensing assembly and a processor; The handle (100) is cylindrical; The motor (200) is fixedly arranged in the handle (100), and an output shaft (210) is arranged at the distal end of the motor (200) to transmit torque to the tool assembly; The tool assembly is inserted into the handle (100), and comprises a tool sleeve (300), a tool handle (310) and a tool head (330) which are inserted into the inner side of the tool sleeve (300); the tool handle (310) is connected to the output shaft (210) and the tool head (330); the tool head (330) and the handle (100) are relatively movable in the axial direction and relatively rotated in the circumferential direction; The pressure sensing component comprises a pressure sensor (500) fixedly arranged relative to the handle (100), a first magnet (510) arranged at the distal end of the pressure sensor (500), and a second magnet (520) arranged at the distal end of the first magnet (510), wherein the first magnet (510) moves axially relative to the handle (100) and applies pressure to the pressure sensor (500), and the second magnet (520) at least moves synchronously along the axial direction with the tool head (330) and generates a repulsive force on the first magnet (510); The pressure sensor (500) is used to obtain real-time pressure information of the first magnet (510) and feed it back to the processor; The processor obtains the resistance information of the cutter head (330) based on the real-time pressure information.

2. The force sensing medical surgical tool according to claim 1, characterized in that: A first seat body (220) is arranged at the distal end of the motor (200), the inner peripheral wall of the handle (100) forms a limiting ring platform (110), and the distal end of the first seat body (220) abuts against the end surface of the proximal end of the limiting ring platform (110); the output shaft (210) of the motor (200) passes through the first seat body (220) and is connected to the knife handle (310); A retaining ring (240) and a second seat body (230) are sequentially arranged at the proximal end of the motor (200); the retaining ring (240) is inserted into the handle (100); the second seat body (230) is detachably connected to the proximal end of the handle (100); a first accommodating groove (221) is formed at the proximal end of the second seat body (230) to be sleeved on the outer peripheral wall of the distal end of the motor (200); bolts are inserted into the first seat body (220) to be fixedly connected to the end face of the distal end of the motor (200).

3. The force sensing medical surgical tool according to claim 2, characterized in that: The first magnet (510) is arranged on the first seat (220), and a second accommodating groove (222) is formed at the distal end of the first seat (220) to accommodate the first magnet (510). A second sleeve (345) is arranged between the outer peripheral wall of the first magnet (510) and the groove wall of the second accommodating groove (222). The distal end of the second sleeve (345) forms a retaining ring toward the inside to limit the first magnet (510) from sliding out along the distal end, and the retaining ring abuts against the end surface of the proximal end of the limiting ring platform (110); a first buffer gasket (530) is arranged at the proximal end of the pressure sensor (500), and a second buffer gasket (540) is arranged between the pressure sensor (500) and the first magnet (510).

4. The force sensing medical surgical tool according to claim 3, characterized in that: The second magnet (520) is fixedly sleeved on the outer peripheral wall of the proximal end of the knife handle (310), and the second magnet (520) is arranged on the inner side of the limiting ring platform (110).

5. The force sensing medical surgical tool according to any one of claims 1 to 4, characterized in that: A linear bearing (340) is arranged on the outer peripheral wall of the knife sleeve (300) and is connected to the handle (100), so that the knife sleeve (300) can at least move axially relative to the handle (100); and bearings are arranged on the outer peripheral walls of the knife handle (310) and the knife head (330) and are connected to the knife sleeve (300), so that the knife head (330) and the knife handle (310) can at least rotate circumferentially relative to the knife sleeve (300).

6. The force sensing medical surgical tool according to claim 5, characterized in that: A tubular joint (320) is provided at the proximal end of the knife handle (310) for the distal end of the output shaft (210) to pass through, a strip-shaped notch (321) is provided at the proximal end of the joint (320) to pass through both radial sides thereof, and a first pin (322) is provided at the distal end of the output shaft (210) to pass through both radial sides thereof, and both ends of the first pin (322) extending out of the output shaft (210) are passed through the strip-shaped notch (321); The distal end of the knife handle (310) is sleeved on the outer peripheral wall of the proximal end of the knife head (330), and the knife handle (310) and the knife head (330) are connected via a second pin shaft (331) arranged in the radial direction.

7. The force sensing medical surgical tool according to claim 6, characterized in that: A spring (350) is also inserted into the joint (320), and two ends of the spring (350) are correspondingly abutted against the distal end of the output shaft (210) and the proximal end of the knife handle (310), and the spring (350) pushes the knife sleeve (300) to extend toward the distal end through the knife handle (310).

8. The force sensing medical surgical tool according to claim 5, characterized in that: A ferrule (400) is disposed at the distal end of the handle (100) and is detachably connected to the tool assembly, the proximal end of the ferrule (400) is inserted into the inner side of the distal end of the handle (100), and the ferrule (400) is connected to the handle (100) via a thread; The outer peripheral wall of the distal end of the knife sleeve (300) is provided with spaced-apart snap-fitting protrusions (301) along the axial direction to form a snap-fitting groove (302) between the spaced-apart snap-fitting protrusions (301); the inner peripheral wall of the distal end of the clamping sleeve (400) is provided with a snap-fitting ring (410) circumferentially corresponding to the snap-fitting protrusions (301); the snap-fitting ring (410) is provided with an avoidance notch (411) corresponding to the snap-fitting protrusions (301); and the snap-fitting ring (410) can be snap-fitted in the snap-fitting groove (302) between the snap-fitting protrusions (301).

9. The force sensing medical surgical tool according to any one of claims 1 to 4, characterized in that: The first magnet (510) is an integral structure in the shape of a ring and / or a split structure in the shape of a circular array, and the second magnet (520) is an integral structure in the shape of a ring and / or a split structure in the shape of a circular array.

10. The force sensing medical surgical tool according to any one of claims 1 to 4, characterized in that: A button (120) is provided on the handle (100) and is electrically connected to the processor, and the button (120) is used to correspondingly control the start and stop of the motor (200), the rotation mode of the motor (200), and the start and stop of the pressure sensor (500).

Images