Motion range measuring device and method suitable for surgical instrument

Abstract

The invention provides a motion range measuring device and method suitable for a surgical instrument, and the device comprises at least one angle measuring device, and each angle measuring device comprises a substrate which is provided with an annular dial; the pivot is positioned at the position of a central shaft of the dial and is rotatably mounted on the base plate; the first end of the connecting mechanism is installed on the pivot, and the second end of the connecting mechanism is matched with an execution part of the surgical instrument, so that under the condition that the execution part rotates around the rotating shaft, the connecting mechanism rotates around the pivot and points to the scale value of the dial, and the angle range of rotation of the surgical instrument around the rotating shaft is measured.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to the technical field of surgical instruments, and in particular, to a motion range measurement device and method suitable for surgical instruments. Background Art

[0002] The surgical robot is a complex that integrates a number of modern high-tech means and is widely used in the field of surgical instruments. The master-slave surgical robot system includes a doctor control platform and a patient surgical platform. The doctor control platform is used to send control commands to the patient surgical platform according to the doctor's operation to control the patient surgical platform; the patient surgical platform is used to respond to the control commands sent by the doctor's operation platform and perform the corresponding surgical operations; during the product technical testing of the master-slave surgical robot, the basic parameters of the surgical instrument need to be measured, including the pitch angle, deflection angle, rotation angle and opening and closing angle of the surgical instrument.

[0003] When measuring the deflection angle of a needle holding forceps surgical instrument, the mechanical arm of the surgical instrument is usually adjusted to a horizontal state, and then a piece of white paper is placed horizontally under the surgical instrument. Subsequently, the pen is set at the position of the forceps head of the surgical instrument, the deflection joint of the surgical instrument is adjusted to rotate to the first extreme position, and the tip of the pen touches the white paper. The deflection joint of the surgical instrument is adjusted to rotate to the second extreme position. At the same time, the tip of the pen draws the arc motion trajectory of the forceps head on the white paper. Finally, the angle of the arc motion trajectory measured with an angle ruler is the maximum deflection angle of the surgical instrument. This method of drawing trajectories and measuring angles with a fixed pen is cumbersome to operate and has low measurement accuracy. Summary of the invention

[0004] In view of this, the present disclosure provides a motion range measurement device and a measurement method suitable for surgical instruments, which are used to at least partially solve the above technical problems and improve the convenience and measurement accuracy of angle measurement operations.

[0005] According to a first aspect of the present disclosure, there is provided a motion range measuring device suitable for a surgical instrument, comprising at least one angle measuring device, each of the angle measuring devices comprising: a substrate, on which an annular scale is provided; a pivot, located at the center axis of the scale and rotatably mounted on the substrate; and a connecting mechanism, a first end of the connecting mechanism being mounted on the pivot, and a second end cooperating with an actuator of the surgical instrument, so that when the actuator rotates around the rotating axis, the connecting mechanism rotates around the pivot and points to the scale value of the scale to measure the angular range of rotation of the surgical instrument around the rotating axis.

[0006] According to an embodiment of the present disclosure, the rotation axis includes any one of the pitch rotation axis, yaw rotation axis or rotation rotation axis of the surgical instrument.

[0007] According to an embodiment of the present disclosure, two angle measuring devices are provided, including a first angle measuring device and a second angle measuring device, the substrate of the first angle measuring device is a first substrate, and the substrate of the second angle measuring device is a second substrate, the first substrate is perpendicular to the pitch axis, and the second substrate is perpendicular to the yaw axis; the connecting mechanisms of the first angle measuring device and the second angle measuring device each include: a positioning column, a first end of which is mounted on the pivot and is colinear with the pivot, and a second end is arranged between the driving end of the surgical instrument and the corresponding rotating shaft, so that the pivot is parallel or colinear with the corresponding rotating shaft; and a connecting component, a first end of which is mounted on the pivot, the connecting component is spaced apart from the positioning column, and the second end is connected to a position between the end of the actuator of the surgical instrument and the rotating shaft, so as to rotate around the pivot as the actuator swings around the corresponding rotating shaft.

[0008] According to an embodiment of the present disclosure, the connecting assembly includes: a connecting rod, a first end of which is connected to the first end of the positioning column; and an adapter, which is arranged at the second end of the connecting rod and is used for detachably connecting the end of the execution part of the surgical instrument to the position between the rotating shaft.

[0009] According to an embodiment of the present disclosure, the adapter comprises two arms which are arranged at the second end of the connecting rod and are spaced apart from each other. The two arms extend outwardly along the pivot direction to form a receiving groove for receiving the actuator.

[0010] According to an embodiment of the present disclosure, the adapter comprises a contact surface formed by the circumferential surface of the second end of the connecting rod in the radial direction and opposite regions, and the contact surface is provided with friction lines or ridges to cooperate with the end of the execution part of the surgical instrument.

[0011] According to an embodiment of the present disclosure, three angle measuring devices are provided, including the first angle measuring device, the second angle measuring device and the third angle measuring device, the substrate of the third angle measuring device is the third substrate, the third substrate is perpendicular to the rotation axis, and the dials on the first substrate, the second substrate and the third substrate face the same space; the connecting mechanism of the third angle measuring device is provided on the pivot of the third substrate, the pivot is colinear with the rotation axis, and the connecting mechanism is constructed to cooperate with the executing part of the surgical instrument so as to rotate around the pivot as the executing part rotates around the rotation axis.

[0012] According to an embodiment of the present disclosure, the motion range measuring device further includes a telescopic component, which is telescopically disposed at the bottom of the motion range measuring device to adjust the height of the motion range measuring device; and a moving component, which is disposed at the bottom of the telescopic component.

[0013] According to an embodiment of the present disclosure, the connecting mechanism further comprises a pointer, which is arranged on the pivot and points to the scale value of the dial.

[0014] A second aspect of the present disclosure provides a measurement method for a motion range measuring device, comprising: setting up at least one angle measuring device so that the scale plate of the substrate of the angle measuring device faces the actuator of the surgical instrument; the connecting mechanism of the angle measuring device cooperates with the surgical instrument; and the actuator of the surgical instrument rotates around a rotating axis so that the connecting mechanism rotates synchronously around a pivot of the substrate located at the center axis of the scale plate, so as to read the angle value of the rotation of the connecting mechanism.

[0015] According to the motion range measuring device and method for surgical instruments provided by the present invention, when measuring the angle, the second end of the connecting mechanism cooperates with the executive part of the surgical instrument so that the pivot is roughly parallel to the rotating axis of the surgical instrument, and the initial value of the connecting mechanism on the dial is checked. When the executive part of the surgical instrument rotates around the rotating axis, the connecting mechanism rotates around the pivot. When the executive part stops rotating, the final value of the connecting mechanism on the dial is checked. The difference between the final value and the initial value is the angle value of the executive part of the surgical instrument rotating around the rotating axis, thereby improving the convenience and measurement accuracy of the angle measurement operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 A diagram schematically shows a use state diagram of a motion range measurement device for a surgical instrument according to an embodiment of the present disclosure;

[0018] Figure 2 A perspective view schematically shows a pivot and a connection mechanism of a motion range measuring device according to an embodiment of the present disclosure;

[0019] Figure 3 A schematic perspective view of two angle measuring devices of a motion range measuring device according to another embodiment of the present disclosure is shown;

[0020] Figure 4 A diagram schematically shows a usage state diagram of a first angle measuring device in cooperation with an execution unit according to an embodiment of the present disclosure;

[0021] Figure 5A diagram schematically shows a usage state diagram of a second angle measuring device in cooperation with an execution unit according to an embodiment of the present disclosure;

[0022] Figure 6 A three-dimensional schematic diagram of a connection mechanism according to another embodiment of the present disclosure is schematically shown;

[0023] Figure 7 Schematically shows a three-dimensional schematic diagram of three angle measuring devices of a motion range measuring device according to another embodiment of the present disclosure;

[0024] Figure 8 A diagram schematically shows a usage state diagram of a third angle measuring device in cooperation with an execution unit according to an embodiment of the present disclosure;

[0025] Fig. 9 yes Figure 8 A magnified view of point A in the middle; and

[0026] Fig.10 is a flow chart of a measuring method of a motion range measuring device according to an embodiment of the present invention.

[0027] Reference numerals

[0028] 1. Angle measuring device;

[0029] 11. A first angle measuring device;

[0030] 12. A second angle measuring device;

[0031] 13. A third angle measuring device;

[0032] 2. Substrate;

[0033] 21. a first substrate;

[0034] 22. a second substrate;

[0035] 23. A third substrate;

[0036] 24. Dial;

[0037] 3. Pivot;

[0038] 4. Connecting mechanism;

[0039] 41. Positioning column;

[0040] 42. Connecting components;

[0041] 421, connecting rod; 422, adapter; 4221, support arm; 4222, receiving groove;

[0042] 5. Pointer;

[0043] 6. Telescopic components;

[0044] 7. Mobile components;

[0045] 8. Surgical instruments;

[0046] 81. Driving end;

[0047] 82. Execution Department;

[0048] 821, pitch axis; 822, yaw axis; 823, rotation axis;

[0049] 83. Connecting part. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0051] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0052] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0053] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0054] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0055] When measuring the deflection angle of a needle holding forceps surgical instrument, a piece of white paper is usually placed horizontally below the executive part of the surgical instrument. Then the pen in a vertical state needs to be installed on the executive part, and the executive part is adjusted to a horizontal state so that the pen is in contact with the white paper. In the process of the surgical instrument driving the executive part to rotate from the first extreme position to the second extreme position, the pen tip draws an arc motion trajectory on the white paper. The angle of the arc motion trajectory measured by the angle ruler is the maximum deflection angle of the executive part of the surgical instrument. However, this method of drawing a trajectory on white paper and measuring the angle by fixing the pen is cumbersome to operate and has low measurement accuracy.

[0056] Figure 1 The following schematically shows a usage state diagram of a motion range measuring device suitable for a surgical instrument according to an embodiment of the present disclosure.

[0057] The embodiment of the present disclosure provides a motion range measuring device suitable for surgical instruments, such as Figure 1 As shown, the motion range measuring device includes at least one angle measuring device 1, each of which includes a substrate 2, a pivot 3 and a connecting mechanism 4. An annular scale plate 24 is provided on the substrate 2. The pivot 3 is located at the center axis of the scale plate 24 and is rotatably mounted on the substrate 2. The first end of the connecting mechanism 4 is mounted on the pivot 3, and the second end cooperates with the actuator 82 of the surgical instrument 8, so that when the actuator 82 rotates around the rotation axis, the connecting mechanism 4 rotates around the pivot 3 and points to the scale value of the scale plate 24, so as to measure the angle range of the surgical instrument 8 rotating around the rotation axis.

[0058] It should be noted that if Figure 1 As shown, the dial 24 can be a complete ring structure, a semi-ring structure, an arc structure, etc., which is specifically determined according to the maximum rotation angle of the actuator 82 of the surgical instrument 8. The angle range of the dial 24 is greater than the maximum rotation angle range of the actuator 82.

[0059] Figure 2 A three-dimensional schematic diagram of the pivot and connection mechanism of the motion range measuring device according to an embodiment of the present disclosure is schematically shown.

[0060] In detail, Figure 1 and Figure 2 As shown, the pivot 3 is perpendicular to the base plate 2 and is substantially parallel or colinear with the rotation axis of the surgical instrument 8. The connecting mechanism 4 is detachably arranged with the execution part 82 and cooperates with the execution part 82. When the execution part 82 rotates around the rotation axis, the connecting mechanism 4 rotates around the pivot 3 synchronously.

[0061] Furthermore, if Figure 1As shown, the surgical instrument 8 includes a driving end 81, an execution part 82 and a connecting part 83, wherein the connecting part 83 is connected between the driving end 81 and the execution part 82. The driving end 81 can be a motor, which is configured to drive the execution part 82 to achieve pitch motion, yaw motion and rotation motion. Before measuring the angle, the execution part 82 needs to be adjusted to an initial state. The initial state means that the execution part 82 and the connecting part 83 are in the same straight line.

[0062] According to an embodiment of the present disclosure, when measuring the angle, the second end of the connecting mechanism 4 cooperates with the executing part 82 of the surgical instrument 8, so that the pivot 3 is roughly parallel or colinear with the rotating axis of the surgical instrument 8, and the initial value of the connecting mechanism 4 on the dial 24 is checked. When the executing part 82 of the surgical instrument 8 rotates around the rotating axis, the connecting mechanism 4 rotates around the pivot 3. When the executing part 82 stops rotating, the final value of the connecting mechanism 4 on the dial 24 is checked. The difference between the final value and the initial value is the angle value of the executing part 82 of the surgical instrument 8 rotating around the rotating axis, thereby improving the convenience and measurement accuracy of the angle measurement operation.

[0063] Among them, the initial value of the connection mechanism 4 located on the dial 24 can be the value of the connection mechanism 4 located on the dial 24 when the actuator 82 is in the initial state. The final value of the dial 24 can be the value of the connection mechanism 4 located on the dial 24 when the actuator 82 rotates from the initial state to the extreme state. Since the rotation range of the actuator 82 from the initial state to the extreme state is half of the rotation range of the actuator 82. Therefore, the angle range of the actuator 82 rotating around the axis is twice the difference between the final value and the initial value. It can be understood that the initial value can also be the value of the connection mechanism 4 located on the dial 24 when the actuator 82 is in the first extreme position. When the actuator 82 rotates around the axis to the second extreme position, the value of the connection mechanism 4 located on the dial 24 is the final value. The angle range of the actuator 82 rotating around the axis is the difference between the final value and the initial value.

[0064] In an exemplary embodiment, Figure 1 As shown, the connecting mechanism 4 also includes a pointer 5, which is substantially parallel to the base plate 2 and is disposed on the pivot 3 to point to the scale value of the dial 24. In this way, it is convenient for the user to read the scale value pointed by the pointer 5 more intuitively.

[0065] In an exemplary embodiment, Figure 1 As shown, the angle measuring device 1 can be provided with one. The rotation axis includes any one of the pitch rotation axis 821, the yaw rotation axis 822 or the rotation rotation axis 823 of the surgical instrument 8, and the pitch rotation axis 821, the yaw rotation axis 822 or the rotation rotation axis 823 are perpendicular to each other. In this way, the rotation angle of any one of the pitch motion, the yaw motion and the rotation motion can be measured.

[0066] Figure 3A three-dimensional schematic diagram of two angle measuring devices of a motion range measuring device according to another embodiment of the present disclosure is schematically shown. Figure 4 The figure schematically shows the usage status of the first angle measuring device in cooperation with the execution part according to the embodiment of the present disclosure. Figure 5 The figure schematically shows the usage status of the second angle measuring device in cooperation with the execution part according to the embodiment of the present disclosure.

[0067] In an exemplary embodiment, Figure 3 , Figure 4 and Figure 5 As shown, the angle measuring device 1 is provided with two, including a first angle measuring device 11 and a second angle measuring device 12. The substrate of the first angle measuring device 11 is a first substrate 21, and the substrate of the second angle measuring device 12 is a second substrate 22. The first substrate 21 is perpendicular to the pitch axis 821. The second substrate 22 is perpendicular to the yaw axis 822. Specifically, Figure 3 In the placement position shown, the pitch axis 821 is arranged horizontally, the yaw axis 822 is arranged vertically, and the pitch axis 821 and the yaw axis 822 are perpendicular to each other. Therefore, the first substrate 21 is arranged vertically, and the second substrate 22 is arranged horizontally. The first substrate 21 and the second substrate 22 are connected including but not limited to by connecting plates and bolts. For example, they can be connected to each other by any other detachable connection method such as magnetic attraction, clamping, etc.

[0068] It should be noted that if Figure 3 , Figure 4 and Figure 5 As shown, the first angle measuring device 11 and the second angle measuring device 12 need to be used separately and independently and cannot be used at the same time. The pivot 3 is detachably connected to the base plate 2, so that the connecting mechanism 4 is disassembled and matched with the base plate 2 to independently use the first angle measuring device 11 or the second angle measuring device 12. When the first angle measuring device 11 is used to measure the pitch rotation angle of the surgical instrument 8, the actuator 82 is in an initial state where it is in the same straight line as the connecting portion 83. The connecting mechanism 4 of the first angle measuring device 11 cooperates with the actuator 82. When the actuator 82 rotates around the pitch rotation axis 821, the connecting mechanism 4 rotates around the pivot 3 on the first base plate 21 and points to the scale value of the dial 24 to measure the angle range of the surgical instrument 8 rotating around the pitch rotation axis 821. The use and measurement method of the second angle measuring device 12 is similar and will not be repeated here.

[0069] Furthermore, if Figure 3 , Figure 4 and Figure 5As shown, after the first angle measuring device 11 measures the angle range of the actuator 82 rotating around the pitch axis 821, the actuator 82 of the surgical instrument 8 is adjusted to the initial state. The connecting mechanism 4 of the first angle measuring device 11 is removed from the first substrate 21, and the connecting mechanism 4 of the second angle measuring device 12 is installed on the second substrate 22. The connecting mechanism 4 of the second angle measuring device 12 and the actuator 82 of the surgical instrument 8 are roughly in a matching position. The second angle measuring device 12 can be used to measure the angle range of the actuator rotating around the yaw axis 822 by fine adjustment, which is convenient to operate.

[0070] In an exemplary embodiment, Figure 2 , Figure 3 and Figure 4 As shown, the connection mechanism 4 of the first angle measuring device 11 and the second angle measuring device 12 both include a positioning column 41 and a connecting assembly 42. The first end of the positioning column 41 is mounted on the pivot 3 and is colinear with the pivot 3, and the second end is arranged between the driving end 81 of the surgical instrument 8 and the rotating shaft, so that the pivot 3 is parallel or colinear with the corresponding rotating shaft. The first end of the connecting assembly 42 is mounted on the pivot 3, and the connecting assembly 42 is spaced apart from the positioning column 41. The second end of the connecting assembly 42 is connected to the position between the end of the actuator 82 of the surgical instrument 8 and the rotating shaft, so as to rotate around the pivot 3 as the actuator 82 swings around the rotating shaft.

[0071] In an exemplary embodiment, Figure 3 and Figure 4 As shown, the positioning column 41 of the first angle measuring device 11 is parallel to or colinear with the pitch axis 821 , and / or the positioning column 41 of the second angle measuring device 12 is parallel to or colinear with the yaw axis 822 .

[0072] Preferably, the positioning column 41 of the first angle measuring device 11 is collinear with the pitch axis 821 , and the positioning column 41 of the second angle measuring device 12 is collinear with the yaw axis 822 .

[0073] Figure 4 In FIG. 8 , two relative positions between the pitch axis 821 and the positioning column 41 are shown by dashed lines. Figure 5 Two relative positions between the deflection shaft 822 and the positioning column 41 are shown by dotted lines.

[0074] Specifically, in Figure 4 In the embodiment, when the positioning column 41 and the pitch axis 821 are in the same line, the pitch axis 821 is located at the position 821a. When the positioning column 41 and the pitch axis 821 are parallel, the pitch axis 821 can be located at the position 821b or other positions. Figure 5In the embodiment, when the positioning column 41 and the deflection axis 822 are colinear, the deflection axis 822 is located at the position 822a; when the positioning column 41 and the deflection axis 822 are parallel, the deflection axis 822 is located at the position 822b or other positions.

[0075] In an exemplary embodiment, the second end of the positioning column 41 is formed into a conical tip structure to be plugged into the positioning hole on the surgical instrument 8. The positioning column 41 is colinear with the pivot 3 and parallel or colinear with the corresponding rotating axis.

[0076] According to the embodiment of the present disclosure, during the rotation of the actuator 82 around the rotating shaft, the connecting assembly 42 rotates around the positioning column 41 and the pivot 3 as the actuator 82 rotates. When the positioning column 41 is located between the driving end 81 and the corresponding rotating shaft, there is a certain correspondence between the angle at which the actuator 82 rotates around the corresponding rotating shaft and the angle at which the connecting assembly 42 rotates around the pivot 3. When the positioning column 41 is colinear with the corresponding rotating shaft, the angle at which the actuator 82 rotates around the corresponding rotating shaft is equal to the angle at which the connecting assembly 42 rotates around the pivot 3, thereby conveniently and efficiently measuring the angle range of the actuator 82 rotating around the rotating shaft, thereby improving the convenience and measurement accuracy of the angle measurement operation.

[0077] In an exemplary embodiment, Figure 2 and Figure 3 As shown, the connecting assembly 42 includes a connecting rod 421 and an adapter 422. The first end of the connecting rod 421 is connected to the first end of the positioning column 41. The adapter 422 is disposed at the second end of the connecting rod 421 and is used to be detachably connected to the position between the end of the execution part 82 of the surgical instrument 8 and the rotating shaft.

[0078] It can be understood that when the positioning column 41 is colinear with the corresponding rotation axis, the connecting rod 421 and the adapter 422 can be fixedly connected. When the positioning column 41 is parallel to the rotation axis (pitch rotation axis 821 or yaw rotation axis 822), the connecting assembly 42 is movably connected to the actuator 82 to prevent the connecting assembly 42 from hindering the rotation of the actuator 82. For example, the connecting rod 421 of the connecting assembly 42 is parallel to the pivot 3, and the first end of the connecting rod 421 is slidably connected to the pivot 3 through a slide rail, so that the connecting rod 421 can move relative to the pivot 3 along the radial direction of the pivot 3, and the adapter 422 can slide relatively on the actuator 82 with the connecting rod 421. The adapter 422 is installed on the second end of the connecting rod 421 through a rotating shaft, and the rotating shaft is parallel to the pivot 3, so that the adapter 422 rotates around an axis parallel to the pivot 3. The connecting assembly 42 can also be set to other structures to achieve smooth rotation of the actuator 82. The connecting component 42 rotates around the positioning column 41 and the pivot 3 as the executing part 82 rotates, and it is sufficient to prevent the connecting component 42 from hindering the rotation of the executing part 82, which is not limited here.

[0079] In an exemplary embodiment, Figure 2 , Figure 3 and Figure 4 As shown, the adapter 422 includes two arms 4221 , which are disposed at the second end of the connecting rod 421 and are spaced apart from each other. The two arms 4221 extend outwardly along the direction of the pivot 3 to form a receiving groove 4222 for receiving the actuator 82 .

[0080] Figure 6 A three-dimensional schematic diagram of a connecting mechanism according to another embodiment of the present disclosure is schematically shown.

[0081] In an exemplary embodiment, Figure 6 As shown, the adapter 422 includes a contact surface with friction lines or convex ridges formed in the radial direction of the circumferential surface of the second end of the connecting rod 421, so as to cooperate with the end of the execution part of the surgical instrument (i.e., the concave-convex friction lines on the clamp). In this way, when the positioning column 41 is colinear with the corresponding rotating shaft, the friction lines or convex ridges on the contact surface cooperate with the concave-convex friction lines of the clamp, which can limit the adapter 422 and the execution part 82, reduce the relative movement between the adapter 422 and the execution part 82, and facilitate accurate angle measurement.

[0082] The execution part 82 may be a clamp, or a cutting knife, an endoscope, a probe, etc. The shape of the adapter 422 is defined according to the shape of the execution part 82 .

[0083] According to an embodiment of the present disclosure, before the angle measurement is performed, the execution portion 82 is in an initial state where it is located in the same straight line as the connection portion 83 .

[0084] When measuring the rotation angle range of the pitch axis 821, the position between the actuator 82 of the surgical instrument 8 and the pitch axis 821 is installed in the receiving groove 4222 formed between the two arms 4221 of the adapter 422. The positioning column 41 is arranged between the driving end 81 and the pitch axis 821, and is parallel or colinear with the pitch axis 821. In the initial state, the scale value of the dial 24 pointed by the pointer 5 is the initial value. During the rotation of the actuator 82 around the pitch axis 821, since the position between the actuator 82 and the pitch axis 821 is located in the receiving groove 4222 of the adapter 422, the connecting assembly 42 rotates around the positioning column 41 and the pivot 3 as the actuator rotates. When it rotates to the extreme position, the scale value of the dial 24 pointed by the pointer 5 is the final value. The difference between the final value and the initial value is the angle value of the actuator of the surgical instrument rotating around the pitch axis 821, which improves the convenience and measurement accuracy of the pitch angle measurement operation.

[0085] When measuring the rotation angle range of the deflection shaft 822, the position between the end of the actuator 82 of the surgical instrument 8 and the deflection shaft 822 matches the adapter 422, that is, the clamp of the surgical instrument 8 is clamped on the contact surface with friction lines or ridges at the end of the connecting rod 421. The positioning column 41 is arranged between the driving end 81 and the deflection shaft 822, and is parallel or colinear with the deflection shaft 822. In the initial state, the scale value of the dial 24 pointed by the pointer 5 is the initial value. During the rotation of the actuator 82 around the deflection shaft 822, the position between the end of the actuator 82 and the deflection shaft 822 matches the adapter 422. Therefore, the connecting component 42 rotates around the positioning column 41 and the pivot 3 as the actuator rotates. When rotating to the extreme position, the scale value of the dial 24 pointed by the pointer 5 is the final value. The difference between the final value and the initial value is the angle value of the surgical instrument's actuator rotating around the deflection axis 822, thereby improving the convenience and measurement accuracy of the deflection angle measurement operation.

[0086] Figure 7 A three-dimensional schematic diagram of three angle measuring devices of a motion range measuring device according to yet another embodiment of the present disclosure is schematically shown. Figure 8 The diagram schematically shows the usage status of the third angle measuring device in cooperation with the execution part according to the embodiment of the present disclosure.

[0087] In an exemplary embodiment, Figure 7 and Figure 8 As shown, the angle measuring device 1 is provided with three, including a first angle measuring device 11, a second angle measuring device 12 and a third angle measuring device 13. The substrate of the third angle measuring device 13 is a third substrate 23, and the third substrate 23 is perpendicular to the self-rotation axis 823. The scale plates 24 on the first substrate 21, the second substrate 22 and the third substrate 23 face the same space and are perpendicular to each other. Among them, the self-rotation axis 823 extends in the length direction of the connecting portion 83, so as to drive the execution portion 82 to rotate around the self-rotation axis 823 under the drive of the driving end 81.

[0088] Fig. 9 yes Figure 8 Enlarged view of point A in the middle.

[0089] In an exemplary embodiment, Figure 8 and Fig. 9As shown, the connection mechanism 4 of the third angle measuring device 13 is arranged on the pivot 3 of the third substrate 23, the pivot 3 is colinear with the rotation axis 823, and the connection mechanism 4 is constructed to cooperate with the actuator 82 of the surgical instrument 8, so as to rotate around the pivot 3 as the actuator 82 rotates around the rotation axis 823. Specifically, the first end of the connection mechanism 4 of the third angle measuring device 13 is connected to the pivot 3 of the third substrate 23, and the second end extends in a direction away from the third substrate 23, and the longitudinal section gradually decreases to form a prism structure, and the clamp of the actuator 82 can be clamped on the connection mechanism 4. It is not limited here, and the connection mechanism 4 of the third angle measuring device 13 is specifically defined according to the actuator 82, so as to cooperate with the actuator 82, and rotate around the pivot 3 as the actuator 82 rotates around the rotation axis 823.

[0090] According to the embodiment of the present disclosure, the actuator 82 is in the initial state, and then the connecting mechanism 4 of the third angle measuring device 13 is matched with the actuator 82 to check the initial value of the connecting mechanism 4 on the dial 24. When the actuator 82 of the surgical instrument 8 rotates around the rotation axis 823, the connecting mechanism 4 rotates around the pivot 3. When the actuator 82 stops rotating, check the final value of the connecting mechanism 4 on the dial 24, and the difference between the final value and the initial value is the angle value of the actuator 82 rotating around the rotation axis 823, thereby improving the convenience and measurement accuracy of the angle measurement operation.

[0091] In an exemplary embodiment, Figure 7 As shown, the motion range measuring device further includes a telescopic component 6 and a moving component 7. The telescopic component 6 is telescopically arranged at the bottom of the second substrate 22 of the second angle measuring device 12 to adjust the height of the second angle measuring device 12, thereby adjusting the overall height of the motion range measuring device. The moving component 7 is arranged at the bottom of the telescopic component 6.

[0092] Specifically, the second substrate 22 is placed horizontally, and the first substrate 21 and the third substrate 23 are both arranged above the second substrate 22. The telescopic component 6 can be a hydraulic cylinder, a cylinder, or a gear rack with a telescopic structure. There are multiple telescopic components 6, and the multiple telescopic components 6 are distributed at intervals to the bottom of the second substrate 22, so as to adjust the height of the second substrate 22 to be suitable for different types of surgical instruments 8, so that the connecting mechanism 4 cooperates with the actuator 82 of the surgical instrument 8. The moving component 7 can be a universal wheel and a braking structure. The universal wheel is provided to facilitate moving the motion range measuring device to the desired position. The braking structure brakes the universal wheel so that the motion range measuring device remains motionless at the specified position, further improving the convenience of using the motion range measuring device.

[0093] According to a second aspect of the present disclosure, a method for measuring a motion range measurement device is provided, comprising operations S110 to S130.

[0094] Fig.10 is a flow chart of a measuring method of a motion range measuring device according to an embodiment of the present invention.

[0095] In operation S110 , at least one angle measuring device 1 is arranged so that the scale plate 24 of the base plate 2 of the angle measuring device 1 faces the execution part 82 of the surgical instrument 8 .

[0096] In operation S120 , the connection mechanism 4 of the angle measuring device 1 cooperates with the surgical instrument 8 .

[0097] In operation S130 , the actuator 82 of the surgical instrument 8 rotates around the rotation axis, so that the pivot 3 of the connecting mechanism 4 rotates around the central axis of the base plate 2 located at the scale plate 24 and synchronously rotates to read the angle value of the connecting mechanism 4 rotation.

[0098] Before operation S110 , the executing portion 82 of the surgical instrument 8 needs to be adjusted to an initial state where it is in line with the connecting portion 83 .

[0099] According to the motion range measuring device and method for surgical instruments disclosed in the present invention, when measuring the angle, the second end of the connecting mechanism 4 cooperates with the actuator 82 of the surgical instrument 8 so that the pivot 3 is roughly parallel to the rotation axis of the surgical instrument 8, and the initial value of the connecting mechanism 4 on the dial 24 is checked. When the actuator 82 of the surgical instrument 8 rotates around the rotation axis, the connecting mechanism 4 rotates around the pivot 3. When the actuator 82 stops rotating, the final value of the connecting mechanism 4 on the dial 24 is checked. The difference between the final value and the initial value is the angle value of the actuator 82 of the surgical instrument 8 rotating around the rotation axis, thereby improving the convenience and measurement accuracy of the angle measurement operation.

[0100] The embodiments of the present disclosure are described above. However, these embodiments are only for illustrative purposes and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make a variety of substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A motion range measuring device suitable for surgical instruments, characterized in that: The invention comprises at least one angle measuring device (1), each of the angle measuring devices (1) comprising: A substrate (2), wherein an annular scale plate (24) is arranged on the substrate (2); a pivot (3) located at the central axis of the scale plate (24) and rotatably mounted on the base plate (2); and A connecting mechanism (4), wherein a first end of the connecting mechanism (4) is mounted on the pivot (3), and a second end cooperates with an actuator (82) of a surgical instrument (8), so that when the actuator (82) rotates around the rotation axis, the connecting mechanism (4) rotates around the pivot (3) and points to the scale value of the dial (24), so as to measure the angular range of rotation of the surgical instrument (8) around the rotation axis.

2. The motion range measuring device according to claim 1, characterized in that: The rotation axis includes any one of the pitch rotation axis (821), the yaw rotation axis (822) or the rotation rotation axis (823) of the surgical instrument (8).

3. The motion range measuring device according to claim 2, characterized in that: The angle measuring device (1) is provided with two, comprising a first angle measuring device (11) and a second angle measuring device (12); the substrate (2) of the first angle measuring device (11) is a first substrate (21), the substrate (2) of the second angle measuring device (12) is a second substrate (22), the first substrate (21) is perpendicular to the pitch axis (821), and the second substrate (22) is perpendicular to the yaw axis (822); The connection mechanism (4) of the first angle measuring device (11) and the second angle measuring device (12) both comprises: a positioning column (41), wherein a first end of the positioning column (41) is mounted on the pivot (3) and is colinear with the pivot (3), and a second end is arranged between the driving end (81) of the surgical instrument (8) and the corresponding rotating shaft, so that the pivot (3) and the corresponding rotating shaft are parallel or colinear; and A connecting component (42), wherein the first end of the connecting component (42) is mounted on the pivot (3), the connecting component (42) is spaced apart from the positioning column (41), and the second end is connected to a position between the end of the actuator (82) of the surgical instrument (8) and the rotating shaft so as to rotate around the pivot (3) as the actuator (82) swings around the corresponding rotating shaft.

4. The motion range measuring device according to claim 3, characterized in that: The connection assembly (42) comprises: a connecting rod (421), a first end of the connecting rod (421) being connected to a first end of the positioning column (41); and The adapter (422) is arranged at the second end of the connecting rod (421) and is used for detachably connecting with the position between the end of the execution part (82) of the surgical instrument (8) and the rotating shaft.

5. The motion range measuring device according to claim 4, characterized in that: The adapter (422) includes two support arms (4221) which are arranged at the second end of the connecting rod (421) and are spaced apart from each other. The two support arms (4221) extend outwardly along the direction of the pivot (3) to form a receiving groove (4222) for receiving the actuator (82).

6. The motion range measuring device according to claim 4, characterized in that: The adapter (422) includes a contact surface formed by the circumferential surface of the second end of the connecting rod (421) in the radial direction and in the opposite area, and the contact surface is provided with friction patterns or ridges to cooperate with the end of the actuator (82) of the surgical instrument (8).

7. The motion range measuring device according to claim 3, characterized in that: The angle measuring devices (1) are provided with three, including the first angle measuring device (11), the second angle measuring device (12) and the third angle measuring device (13); the substrate (2) of the third angle measuring device (13) is a third substrate (23); the third substrate (23) is perpendicular to the rotation axis (823); and the scale plates (24) on the first substrate (21), the second substrate (22) and the third substrate (23) face the same space; The connecting mechanism (4) of the third angle measuring device (13) is arranged on the pivot (3) of the third substrate (23), and the pivot (3) is colinear with the rotation axis (823). The connecting mechanism (4) is constructed to cooperate with the actuator (82) of the surgical instrument (8) so as to rotate around the pivot (3) as the actuator (82) rotates around the rotation axis (823).

8. The motion range measuring device according to any one of claims 1 to 7, characterized in that: Also includes: A telescopic assembly (6) is telescopically arranged at the bottom of the motion range measuring device to adjust the height of the motion range measuring device; as well as The moving component (7) is arranged at the bottom of the telescopic component (6).

9. The motion range measuring device according to any one of claims 1 to 7, characterized in that: The connecting mechanism (4) comprises a pointer (5) which is arranged on the pivot (3) and points to the scale value of the dial (24).

10. A method for measuring a range of motion measurement device according to any one of claims 1 to 9, comprising: At least one angle measuring device (1) is provided so that the scale plate (24) of the base plate (2) of the angle measuring device (1) faces the execution part (82) of the surgical instrument (8); The connecting mechanism (4) of the angle measuring device (1) cooperates with the surgical instrument (8); and The actuator (82) of the surgical instrument (8) rotates around the rotating shaft, so that the pivot (3) of the connecting mechanism (4) rotates around the position of the base plate (2) located at the central axis of the dial (24) and rotates synchronously, so as to read the angle value of the rotation of the connecting mechanism (4).

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