Motion range measuring device and measuring method for surgical instruments

Abstract

The present disclosure provides a motion range measuring device and a measuring method for surgical instruments, wherein the motion range measuring device comprises at least one angle measuring device, each of which comprises a base plate provided with a ring-shaped scale disc, a pivot rotatably mounted on the base plate at the position of the central axis of the scale disc, and a connecting mechanism, the first end of which is mounted on the pivot and the second end of which is matched with the execution part of the surgical instrument, so that when the execution part rotates around the rotation axis, the connecting mechanism rotates around the pivot and points to the scale value of the scale disc, thereby measuring the angle range of the rotation of the surgical instrument around the rotation axis.

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 measuring device and method suitable for surgical instruments. BACKGROUND

[0002] Surgical robots are a comprehensive system integrating multiple modern high-tech means, and are widely used in the field of surgical instruments. A master-slave surgical robot system includes a doctor control platform and a patient surgery platform. The doctor control platform is used to send control commands to the patient surgery platform according to the operation of the doctor, so as to control the patient surgery platform. The patient surgery platform is used to execute corresponding surgical operations in response to the control commands sent by the doctor operation platform. During the product technology test of the master-slave surgical robot, the basic parameters of the surgical instrument need to be measured, including the pitch angle, the deflection angle, the rotation angle and the opening angle of the surgical instrument, etc.

[0003] When measuring the deflection angle of a needle holder surgical instrument, the mechanical arm of the surgical instrument is usually adjusted to a horizontal state, and then a white paper is placed horizontally under the surgical instrument. Subsequently, a pen is set at the position of the jaw head of the surgical instrument, the deflection joint of the surgical instrument is adjusted to rotate to a first limit position, and the pen tip is lightly touched on the white paper. The deflection joint of the surgical instrument is adjusted to rotate to a second limit position. At the same time, the pen tip draws an arc-shaped motion trajectory of the jaw head on the white paper. Finally, the included angle of the arc-shaped motion trajectory is measured by a protractor, which is the maximum deflection angle of the surgical instrument. This method of fixed pen trajectory drawing and angle measurement is complicated to operate and has low measurement accuracy. SUMMARY

[0004] Therefore, the present disclosure provides a motion range measuring device and method suitable for surgical instruments to at least partially solve the above technical problems and improve the convenience and accuracy of angle measurement operation.

[0005] In a first aspect, the present disclosure provides a motion range measuring device suitable for surgical instruments, comprising at least one angle measuring device, each of the angle measuring devices comprising: a base plate, wherein an annular scale disc is arranged on the base plate; a pivot shaft located at the center axis of the scale disc and rotatably mounted on the base plate; and a connecting mechanism, wherein a first end of the connecting mechanism is mounted on the pivot shaft, and a second end of the connecting mechanism is matched with an execution part of a surgical instrument, so that when the execution part rotates around a rotation shaft, the connecting mechanism rotates around the pivot shaft and points to the scale value of the scale disc, to measure the angle range of the surgical instrument rotating around the rotation shaft.

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

[0007] According to an embodiment of the present disclosure, the angle measuring device is provided with two, including a first angle measuring device and a second angle measuring device, a substrate of the first angle measuring device is a first substrate, a substrate of the second angle measuring device is a second substrate, the first substrate is perpendicular to the pitch rotation shaft, and the second substrate is perpendicular to the yaw rotation shaft; a connecting mechanism of the first angle measuring device and the second angle measuring device both includes a positioning column, a first end of the positioning column is installed on the pivot and is collinear with the pivot, a second end is arranged between a driving end of the surgical instrument and the corresponding rotation shaft, so that the pivot is parallel or collinear with the corresponding rotation shaft; and a connecting assembly, a first end of the connecting assembly is installed on the pivot, the connecting assembly is arranged in a spaced manner with the positioning column, and a second end is connected to a position between an end of an execution part of the surgical instrument and the rotation shaft, so as to rotate around the pivot with the execution part swinging around the corresponding rotation shaft.

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

[0009] According to an embodiment of the present disclosure, the adapter includes two arms arranged in a spaced manner at the second end of the connecting rod, the two arms extend outward along the direction of the pivot, and form a containing groove containing the execution part.

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

[0011] According to an embodiment of the present disclosure, the angle measuring device is provided with three, including the first angle measuring device, the second angle measuring device and a third angle measuring device, a substrate of the third angle measuring device is a third substrate, the third substrate is perpendicular to the rotation shaft, and dials on the first substrate, the second substrate and the third substrate are directed to the same space; a connecting mechanism of the third angle measuring device is arranged on a pivot of the third substrate, the pivot is collinear with the rotation shaft, and the connecting mechanism is configured to cooperate with the execution part of the surgical instrument to rotate around the pivot with the execution part rotating around the rotation shaft.

[0012] According to an embodiment of the present disclosure, the motion range measuring device further comprises a telescopic assembly telescopically arranged at the bottom of the motion range measuring device to adjust the height of the motion range measuring device; and a moving assembly arranged at the bottom of the telescopic assembly.

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

[0014] According to a second aspect of the present disclosure, a measurement method of a motion range measuring device is provided, comprising: arranging at least one angle measuring device such that the scale disc of the base plate of the angle measuring device is opposite to the execution part of the surgical instrument; the connecting mechanism of the angle measuring device cooperates with the surgical instrument; and the execution part of the surgical instrument rotates around the rotation shaft, so that the connecting mechanism rotates synchronously around the pivot located at the position of the central axis of the scale disc of the base plate to read the angle value of the rotation of the connecting mechanism.

[0015] According to the motion range measuring device and the measurement method suitable for the surgical instrument provided by the present disclosure, when measuring the angle, the second end of the connecting mechanism cooperates with the execution part of the surgical instrument, so that the pivot is substantially parallel to the rotation shaft of the surgical instrument, the initial value of the connecting mechanism located on the scale disc is viewed, in the case that the execution part of the surgical instrument rotates around the rotation shaft, the connecting mechanism rotates around the pivot, when the execution part stops rotating, the final value of the connecting mechanism located on the scale disc is viewed, and the difference between the final value and the initial value is the angle value of the execution part of the surgical instrument rotating around the rotation shaft, which improves the convenience and the measurement accuracy of the angle measurement operation. BRIEF DESCRIPTION OF DRAWINGS

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

[0017] Figure 1 A use state diagram of the motion range measuring device suitable for the surgical instrument according to an embodiment of the present disclosure is schematically shown;

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

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

[0020] Figure 4 A use state diagram of the first angle measuring device cooperating with the execution part according to an embodiment of the present disclosure is schematically shown;

[0021] Figure 5A use state diagram of the second angle measuring device and the execution part according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 6 A perspective schematic diagram of a connecting mechanism according to another embodiment of the present disclosure is schematically shown;

[0023] Figure 7 A perspective schematic diagram of three angle measuring devices of a range of motion measuring device according to still another embodiment of the present disclosure is schematically shown;

[0024] Figure 8 A use state diagram of the third angle measuring device and the execution part according to an embodiment of the present disclosure is schematically shown;

[0025] Figure 9 is Figure 8 An enlarged view at A in FIG. 4; and

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

[0027] Reference numerals

[0028] 1. An 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. A base plate;

[0033] 21. A first base plate;

[0034] 22. A second base plate;

[0035] 23. A third base plate;

[0036] 24. A dial;

[0037] 3. A pivot;

[0038] 4. A connecting mechanism;

[0039] 41. A positioning post;

[0040] 42. A connecting assembly;

[0041] 421. A connecting rod; 422. An adapter; 4221. An arm; 4222. A receiving groove;

[0042] 5. A pointer;

[0043] 6. A telescopic assembly;

[0044] 7. mobile assembly;

[0045] 8. surgical instrument;

[0046] 81. driving end;

[0047] 82. execution part;

[0048] 821. pitch rotation shaft; 822. yaw rotation shaft; 823. roll rotation shaft;

[0049] 83. connection part. DETAILED DESCRIPTION

[0050] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the present disclosure will be further described in detail below with reference to specific embodiments and with reference to the drawings.

[0051] The terms used herein are merely used to describe specific embodiments, and are not intended to limit the present disclosure. The terms "include", "comprise" and the like used herein indicate the presence of the described features, steps, operations and / or components, but do not exclude the presence 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 one of ordinary skill in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having meanings consistent with the context of the present specification, and should not be interpreted in an idealized or overly formal manner.

[0053] In the case of using expressions similar to "at least one of A, B, and C, etc.", it should be generally interpreted that the meaning of the expression is at least one of the items listed before the conjunction, unless otherwise clearly defined. For example, the expression "a system having at least one of A, B, and C" should be interpreted to include a system having at least one of A, a system having at least one of B, a system having at least one of C, a system having at least one of A and B, a system having at least one of A and C, a system having at least one of B and C, and / or a system having at least one of A, B, and C, etc. In the case of using expressions similar to "at least one of A, B, or C, etc.", it should be generally interpreted that the meaning of the expression is at least one of the items listed before the conjunction, unless otherwise clearly defined. For example, the expression "a system having at least one of A, B, or C" should be interpreted to include a system having at least one of A, a system having at least one of B, a system having at least one of C, a system having at least one of A and B, a system having at least one of A and C, a system having at least one of B and C, and / or a system having at least one of A, B, and C, etc.

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

[0055] In the angle measurement of the deflection angle of the needle holder surgical instrument, a white paper is usually placed horizontally below the execution part of the surgical instrument. Then a pen in vertical state is installed on the execution part, and the execution part is adjusted to be in horizontal state so that the pen is in contact with the white paper. During the process that the execution part of the surgical instrument is driven to rotate from the first limit position to the second limit position, the pen tip draws an arc-shaped motion trajectory on the white paper. The included angle of the arc-shaped motion trajectory is measured by the angle ruler, which is the maximum deflection angle of the execution part of the surgical instrument. However, this method of drawing trajectory on the white paper by fixing the pen and measuring the angle is complicated in operation and low in measurement accuracy.

[0056] Figure 1 A use state diagram of the motion range measuring device suitable for the surgical instrument according to the embodiment of the present disclosure is schematically shown.

[0057] The embodiment of the present disclosure provides a motion range measuring device suitable for the surgical instrument, as shown in Figure 1 The motion range measuring device comprises at least one angle measuring device 1, each of which comprises a base plate 2, a pivot 3 and a connecting mechanism 4. The base plate 2 is provided with an annular scale disc 24. The pivot 3 is located at the center axis of the scale disc 24 and is rotatably installed on the base plate 2. The first end of the connecting mechanism 4 is installed on the pivot 3, and the second end cooperates with the execution part 82 of the surgical instrument 8, so that the connecting mechanism 4 rotates around the pivot 3 and points to the scale value of the scale disc 24 when the execution part 82 rotates around the rotation shaft, thereby measuring the angle range of the rotation of the surgical instrument 8 around the rotation shaft.

[0058] It should be noted that, as shown in Figure 1 The scale disc 24 can be a complete annular structure, a half-ring structure or an arc-shaped structure and the like, which is determined according to the maximum rotation angle of the execution part 82 of the surgical instrument 8, and the angle range of the scale disc 24 is greater than the maximum rotation angle range of the execution part 82.

[0059] Figure 2 A perspective view of the pivot and the connecting mechanism of the motion range measuring device according to the embodiment of the present disclosure is schematically shown.

[0060] In detail, as shown in Figure 1 and Figure 2 The pivot 3 is perpendicular to the base plate 2 and is substantially parallel or collinear with the rotation shaft 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 shaft, the connecting mechanism 4 synchronously rotates around the pivot 3.

[0061] Further, as shown in Figure 1As shown, the surgical instrument 8 includes a driving end 81, an execution part 82, and a connecting part 83 connected between the driving end 81 and the execution part 82. The driving end 81 can be a motor configured to drive the execution part 82 to realize the pitching motion, the yawing motion, and the rotating motion. Before measuring the angle, the execution part 82 needs to be adjusted to an initial state. The initial state refers to that the execution part 82 is in a same straight line with the connecting part 83.

[0062] According to the embodiment of the present disclosure, when measuring the angle, the second end of the connecting mechanism 4 cooperates with the execution part 82 of the surgical instrument 8, so that the pivot 3 is substantially parallel or collinear with the rotation shaft of the surgical instrument 8. The initial value of the connecting mechanism 4 on the scale disc 24 is observed. In the case that the execution part 82 of the surgical instrument 8 rotates around the rotation shaft, the connecting mechanism 4 rotates around the pivot 3. When the execution part 82 stops rotating, the final value of the connecting mechanism 4 on the scale disc 24 is observed. The difference between the final value and the initial value is the angle value of the execution part 82 of the surgical instrument 8 rotating around the rotation shaft, which improves the convenience and measurement accuracy of the angle measurement operation.

[0063] The initial value of the connecting mechanism 4 on the scale disc 24 can be the value of the connecting mechanism 4 on the scale disc 24 when the execution part 82 is in the initial state. The final value of the scale disc 24 can be the value of the connecting mechanism 4 on the scale disc 24 when the execution part 82 rotates from the initial state to the limit state. Since the execution part 82 rotates from the initial state to the limit state is half of the rotation range of the execution part 82. Therefore, the angle range of the execution part 82 rotating around the rotation shaft 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 connecting mechanism 4 on the scale disc 24 when the execution part 82 is in the first limit position. When the execution part 82 rotates around the rotation shaft to the second limit position, the value of the connecting mechanism 4 on the scale disc 24 is the final value. The angle range of the execution part 82 rotating around the rotation shaft is the difference between the final value and the initial value.

[0064] In an exemplary embodiment, as shown in Figure 1 The connecting mechanism 4 further includes a pointer 5 substantially parallel to the base plate 2 and arranged on the pivot 3 to point to the scale value of the scale disc 24. In this way, the user can more intuitively read the scale value pointed by the pointer 5.

[0065] In an exemplary embodiment, as shown in Figure 1 The angle measurement device 1 can be provided with one. The rotation shaft includes any one of the pitching rotation shaft 821, the yawing rotation shaft 822, or the rotating rotation shaft 823 of the surgical instrument 8, and the pitching rotation shaft 821, the yawing rotation shaft 822, or the rotating rotation shaft 823 are perpendicular to each other. In this way, the rotation angle of any one of the pitching motion, the yawing motion, and the rotating motion can be measured.

[0066] Figure 3Fig. 3 schematically shows a perspective view of two angle measurement devices of a motion range measurement device according to another embodiment of the present disclosure. Figure 4 Fig. 4 schematically shows a use state diagram of the first angle measurement device cooperating with the execution part according to an embodiment of the present disclosure. Figure 5 Fig. 5 schematically shows a use state diagram of the second angle measurement device cooperating with the execution part according to an embodiment of the present disclosure.

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

[0068] It should be noted that, as shown in Figure 3 , Figure 4 and Figure 5 , the first angle measurement device 11 and the second angle measurement device 12 need to be used independently, and cannot be used simultaneously. The pivot 3 is detachably connected to the base plate 2, so as to disassemble and assemble the connecting mechanism 4 and the base plate 2, to independently use the first angle measurement device 11 or the second angle measurement device 12. When the first angle measurement device 11 is used to measure the pitch rotation angle of the surgical instrument 8, the execution part 82 is in an initial state in which it is located in the same straight line as the connecting part 83. The connecting mechanism 4 of the first angle measurement device 11 cooperates with the execution part 82. In the case that the execution part 82 rotates around the pitch rotation shaft 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 rotation of the surgical instrument 8 around the pitch rotation shaft 821. The use measurement method of the second angle measurement device 12 is the same, and will not be described here.

[0069] Further, as shown in Figure 3 , Figure 4 and Figure 5As shown, after the first angle measuring device 11 finishes measuring the angle range of the actuator 82's rotation around the pitch axis 821, the actuator 82 of the surgical instrument 8 is adjusted to its initial state. The connecting mechanism 4 of the first angle measuring device 11 is detached from the first base plate 21, and the connecting mechanism 4 of the second angle measuring device 12 is then installed on the second base plate 22. The connecting mechanism 4 of the second angle measuring device 12 and the actuator 82 of the surgical instrument 8 are approximately in a mating position. With minor adjustments, the second angle measuring device 12 can be used to measure the angle range of the actuator's rotation around the deflection axis 822, making operation convenient.

[0070] In one exemplary embodiment, such as 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 post 41 and a connecting assembly 42. The first end of the positioning post 41 is mounted on the pivot 3 and is collinear with the pivot 3. The second end is located between the drive end 81 of the surgical instrument 8 and the rotating shaft, such that the pivot 3 is parallel or collinear 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 post 41. The second end of the connecting assembly 42 is connected between the end of the execution part 82 of the surgical instrument 8 and the rotating shaft, so that it rotates around the pivot 3 as the execution part 82 swings around the rotating shaft.

[0071] In one exemplary embodiment, such as Figure 3 and Figure 4 As shown, the positioning post 41 of the first angle measuring device 11 is parallel or collinear with the pitch axis 821, and / or the positioning post 41 of the second angle measuring device 12 is parallel or collinear with the yaw axis 822.

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

[0073] Figure 4 The two relative positions between the pitch axis 821 and the positioning post 41 are shown by dashed lines. Similarly, in Figure 5 The two relative positions between the deflection shaft 822 and the positioning post 41 are shown by dashed lines.

[0074] Specifically, in Figure 4 In the case where the positioning post 41 and the pitch axis 821 are collinear, the pitch axis 821 is located at position 821a. When the positioning post 41 and the pitch axis 821 are parallel, the pitch axis 821 can be located at position 821b or other positions. Figure 5In the case that the positioning column 41 is collinear with the deflection pivot 822, the deflection pivot 822 is located at the position of 822a; in the case that the positioning column 41 is parallel to the deflection pivot 822, the deflection pivot 822 is located at the position of 822b or other positions.

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

[0076] According to the embodiment of the present disclosure, the connecting assembly 42 rotates around the positioning column 41 and the pivot 3 as the execution part 82 rotates. When the positioning column 41 is located between the driving end 81 and the corresponding pivot, there is a certain correspondence between the angle of the execution part 82 rotating around the corresponding pivot and the angle of the connecting assembly 42 rotating around the pivot 3. In the case that the positioning column 41 is collinear with the corresponding pivot, the angle of the execution part 82 rotating around the corresponding pivot is equal to the angle of the connecting assembly 42 rotating around the pivot 3, so that the angle range of the execution part 82 rotating around the pivot is conveniently and efficiently measured, and the convenience and measurement accuracy of the angle measurement operation are improved.

[0077] In an exemplary embodiment, as shown in Figure 2 and Figure 3 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 arranged at the second end of the connecting rod 421 and is used for detachable connection with the position between the end of the execution part 82 of the surgical instrument 8 and the pivot.

[0078] It can be understood that, in the case that the positioning column 41 is collinear with the corresponding pivot, the connecting rod 421 and the adapter 422 can be fixedly connected. In the case that the positioning column 41 is parallel to the pivot (the pitch pivot 821 or the deflection pivot 822), the connecting assembly 42 is movably connected with the execution part 82, so as to avoid hindering the rotation of the execution part 82. For example, the connecting rod 421 of the connecting assembly 42 is parallel to the pivot 3, 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 relative to the connecting rod 421 on the execution part 82. The adapter 422 is installed on the second end of the connecting rod 421 through a rotating shaft, the rotating shaft is parallel to the pivot 3, so that the adapter 422 rotates around the axis parallel to the pivot 3. The connecting assembly 42 can also be arranged in other structures, which can realize the smooth rotation of the execution part 82. The connecting assembly 42 rotates around the positioning column 41 and the pivot 3 as the execution part 82 rotates, so as to avoid hindering the rotation of the execution part 82, which is not limited herein.

[0079] In an exemplary embodiment, as shown in Figure 2 , Figure 3 and Figure 4 , the adapter 422 includes two arms 4221 arranged at the second end of the connecting rod 421 and 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 execution part 82.

[0080] Figure 6 A perspective view schematically shows a connection mechanism according to another embodiment of the present disclosure.

[0081] In an exemplary embodiment, as shown in Figure 6 , the circumferential surface of the second end of the connecting rod 421 forms a contact surface with friction lines or ridges at the radially opposite regions, 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 collinear with the corresponding pivot, the friction lines or ridges on the contact surface and the concave-convex friction lines of the clamp cooperate with each other, so as to limit the execution part 82 and the adapter 422, reduce the degree of relative movement between the execution part 82 and the adapter 422, and facilitate accurate angle measurement.

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

[0083] According to the embodiment of the present disclosure, before the angle measurement, the execution part 82 is in an initial state in which it is collinear with the connecting part 83.

[0084] When measuring the rotation angle range of the pitch pivot 821, the position between the execution part 82 of the surgical instrument 8 and the pitch pivot 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 pivot 821 and is parallel or collinear with the pitch pivot 821. In the initial state, the pointer 5 points to the initial value of the scale of the dial 24. During the rotation of the execution part 82 around the pitch pivot 821, since the position between the execution part 82 and the pitch pivot 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 execution part rotates, and when it rotates to the limit position, the pointer 5 points to the final value of the scale of the dial 24. The difference between the final value and the initial value is the angle value of the execution part of the surgical instrument rotating around the pitch pivot 821, which improves the convenience and accuracy of the pitch angle measurement operation.

[0085] In the measurement of the rotation angle range of the deflection rotation shaft 822, the position between the end of the execution part 82 of the surgical instrument 8 and the deflection rotation shaft 822 cooperates with the adapter 422, i.e. the jaws of the surgical instrument 8 clamps on the contact surface with friction lines or ridges on the end of the connecting rod 421. The positioning column 41 is arranged between the driving end 81 and the deflection rotation shaft 822, and is parallel or collinear with the deflection rotation shaft 822. In the initial state, the pointer 5 points to the initial value of the scale of the scale disc 24. During the rotation of the execution part 82 around the deflection rotation shaft 822, the position between the end of the execution part 82 and the deflection rotation shaft 822 cooperates with the adapter 422. Therefore, the connecting assembly 42 rotates around the positioning column 41 and the pivot 3 with the rotation of the execution part. When rotated to the limit position, the pointer 5 points to the final value of the scale of the scale disc 24. The difference between the final value and the initial value is the angle value of the rotation of the execution part of the surgical instrument around the deflection rotation shaft 822, which improves the convenience and measurement accuracy of the deflection angle measurement operation.

[0086] Figure 7 A perspective view schematically shows three angle measurement devices of a motion range measurement device according to yet another embodiment of the disclosure. Figure 8 A use state diagram schematically shows the cooperation of a third angle measurement device with an execution part according to an embodiment of the disclosure.

[0087] In an exemplary embodiment, as shown in Figure 7 and Figure 8 , the angle measurement device 1 is provided with three, including a first angle measurement device 11, a second angle measurement device 12 and a third angle measurement device 13. The base plate of the third angle measurement device 13 is a third base plate 23, which is perpendicular to the rotation shaft 823. The scale discs 24 on the first base plate 21, the second base plate 22 and the third base plate 23 are oriented towards the same space and perpendicular to each other. Among them, the rotation shaft 823 extends in the length direction of the connecting part 83 to drive the execution part 82 to rotate around the rotation shaft 823 under the driving of the driving end 81.

[0088] Figure 9 is Figure 8 an enlarged view of A in

[0089] In an exemplary embodiment, as shown in Figure 8 and Figure 9As shown, the connecting mechanism 4 of the third angle measuring device 13 is arranged on the pivot 3 of the third base plate 23, the pivot 3 is collinear with the rotation axis 823 of the rotation shaft, and the connecting mechanism 4 is configured to cooperate with the execution part 82 of the surgical instrument 8 to rotate around the pivot 3 when the execution part 82 rotates around the rotation axis 823 of the rotation shaft. Specifically, the first end of the connecting mechanism 4 of the third angle measuring device 13 is connected with the pivot 3 of the third base plate 23, the second end extends away from the third base plate 23, and the longitudinal section gradually decreases to form a prism structure, and the clamp of the execution part 82 can be clamped on the connecting mechanism 4. Without limitation, the connecting mechanism 4 of the third angle measuring device 13 is specifically defined according to the execution part 82 to cooperate with the execution part 82 to rotate around the pivot 3 when the execution part 82 rotates around the rotation axis 823 of the rotation shaft.

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

[0091] In an exemplary embodiment, as shown, Figure 7 The motion range measuring device further includes a telescopic assembly 6 and a moving assembly 7. The telescopic assembly 6 is telescopically arranged at the bottom of the second base plate 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 assembly 7 is arranged at the bottom of the telescopic assembly 6.

[0092] Specifically, the second base plate 22 is horizontally placed, and the first base plate 21 and the third base plate 23 are both arranged above the second base plate 22. The telescopic assembly 6 can be a hydraulic cylinder, an air cylinder, or a gear and rack telescopic structure, etc. The telescopic assembly 6 is provided in plurality, and the plurality of telescopic assemblies 6 are distributed to the bottom of the second base plate 22, thereby adjusting the height of the second base plate 22 to be suitable for different types of surgical instruments 8, so that the connecting mechanism 4 cooperates with the execution part 82 of the surgical instrument 8. The moving assembly 7 can be a universal wheel and a brake structure. The universal wheel is arranged to facilitate the movement of the motion range measuring device to the desired position, and the brake structure brakes the universal wheel to maintain the motion range measuring device at the specified position, thereby further improving the convenience of using the motion range measuring device.

[0093] The second aspect of the present disclosure also provides a measurement method of a motion range measuring device, including operations S110-S130.

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

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

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

[0097] In operation S130, the execution part 82 of the surgical instrument 8 is rotated around the rotation shaft, so that the connecting mechanism 4 is synchronously rotated around the pivot 3 located at the position of the central axis of the dial 24 of the base plate 2 to read the angle value of the rotation of the connecting mechanism 4.

[0098] Before operation S110, the execution part 82 of the surgical instrument 8 needs to be adjusted to the initial state of being collinear with the connecting part 83.

[0099] According to the motion range measuring device and the measuring method suitable for the surgical instrument of the present application, when measuring the angle, the second end of the connecting mechanism 4 is matched with the execution part 82 of the surgical instrument 8, so that the pivot 3 is substantially parallel to the rotation shaft of the surgical instrument 8, the initial value of the connecting mechanism 4 located on the dial 24 is checked, in the case that the execution part 82 of the surgical instrument 8 is rotated around the rotation shaft, the connecting mechanism 4 is rotated around the pivot 3, the final value of the connecting mechanism 4 located on the dial 24 is checked when the execution part 82 stops rotating, and the difference between the final value and the initial value is the angle value of the rotation of the execution part 82 of the surgical instrument 8 around the rotation shaft, which improves the convenience and the measuring accuracy of the angle measuring operation.

[0100] The above describes the embodiments of the present application. However, these embodiments are only for illustrative purposes, and are not intended to limit the scope of the present application. Although each embodiment is described above respectively, this does not mean that the measures in each embodiment cannot be used advantageously in combination. The scope of the present application is defined by the appended claims and their equivalents. Without departing from the scope of the present application, those skilled in the art can make various substitutions and modifications, which should all fall within the scope of the present application.

Claims

1. A device for measuring the range of motion of surgical instruments, characterized in that, The angle measuring device (1) comprises: a base plate (2) provided with a ring-shaped scale disc (24); a pivot (3) located at the center axis of the scale disc (24) and rotatably mounted on the base plate (2); and a connecting mechanism (4) having a first end mounted on the pivot (3) and a second end matched with an execution part (82) of a surgical instrument (8) so that the connecting mechanism (4) rotates around the pivot (3) and points to the scale value of the scale disc (24) when the execution part (82) rotates around a rotation axis, thereby measuring the angle range of the surgical instrument (8) rotating around the rotation axis, the connecting mechanism (4) comprising: a positioning column (41) having a first end mounted on the pivot (3) and a second end arranged between a driving end (81) of the surgical instrument (8) and the corresponding rotation axis so that the pivot (3) is parallel or collinear with the corresponding rotation axis; and a connecting assembly (42) having a first end mounted on the pivot (3) and a second end connected to a position between the end of the execution part (82) of the surgical instrument (8) and the rotation axis so as to rotate around the pivot (3) when the execution part (82) swings around the corresponding rotation axis.

2. The range of motion measuring device of claim 1, wherein, The rotation axis comprises any one of a pitch rotation axis (821), a yaw rotation axis (822) or a roll rotation axis (823) of the surgical instrument (8).

3. The range of motion measuring device of claim 2, wherein, The angle measuring device (1) is provided with two angle measuring devices (1), including a first angle measuring device (11) and a second angle measuring device (12), the base plate (2) of the first angle measuring device (11) is a first base plate (21), the base plate (2) of the second angle measuring device (12) is a second base plate (22), the first base plate (21) is perpendicular to the pitch rotation axis (821), and the second base plate (22) is perpendicular to the yaw rotation axis (822).

4. The range of motion measuring device of claim 3, wherein, The connecting assembly (42) comprises: a connecting rod (421) having a first end connected to the first end of the positioning column (41); and an adapter (422) arranged at a second end of the connecting rod (421) and used for detachably connecting to a position between the end of the execution part (82) of the surgical instrument (8) and the rotation axis.

5. The range of motion measuring device of claim 4, wherein, The adapter (422) comprises two arms (4221) arranged at the second end of the connecting rod (421) and oppositely spaced, the two arms (4221) extend outward along the direction of the pivot (3) and form a containing groove (4222) for containing the execution part (82). The angle measuring device (1) comprises: a base plate (2) provided with a ring-shaped scale disc (24); a pivot (3) located at the center axis of the scale disc (24) and rotatably mounted on the base plate (2); and a connecting mechanism (4) having a first end mounted on the pivot (3) and a second end matched with an execution part (82) of a surgical instrument (8) so that the connecting mechanism (4) rotates around the pivot (3) and points to the scale value of the scale disc (24) when the execution part (82) rotates around a rotation axis, thereby measuring the angle range of the surgical instrument (8) rotating around the rotation axis, the connecting mechanism (4) comprising: a positioning column (41) having a first end mounted on the pivot (3) and a second end arranged between a driving end (81) of the surgical instrument (8) and the corresponding rotation axis so that the pivot (3) is parallel or collinear with the corresponding rotation axis; and a connecting assembly (42) having a first end mounted on the pivot (3) and a second end connected to a position between the end of the execution part (82) of the surgical instrument (8) and the rotation axis so as to rotate around the pivot (3) when the execution part (82) swings around the corresponding rotation axis. The rotation axis comprises any one of a pitch rotation axis (821), a yaw rotation axis (822) or a roll rotation axis (823) of the surgical instrument (8). The angle measuring device (1) is provided with two angle measuring devices (1), including a first angle measuring device (11) and a second angle measuring device (12), the base plate (2) of the first angle measuring device (11) is a first base plate (21), the base plate (2) of the second angle measuring device (12) is a second base plate (22), the first base plate (21) is perpendicular to the pitch rotation axis (821), and the second base plate (22) is perpendicular to the yaw rotation axis (822). The connecting assembly (42) comprises: a connecting rod (421) having a first end connected to the first end of the positioning column (41); and an adapter (422) arranged at a second end of the connecting rod (421) and used for detachably connecting to a position between the end of the execution part (82) of the surgical instrument (8) and the rotation axis. The adapter (422) comprises two arms (4221) arranged at the second end of the connecting rod (421) and oppositely spaced, the two arms (4221) extend outward along the direction of the pivot (3) and form a containing groove (4222) for containing the execution part (82).

6. The range of motion measuring device of claim 4, wherein, 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 the contact surface is provided with friction lines or ridges to cooperate with the end of the execution part (82) of the surgical instrument (8).

7. The range of motion measuring device of claim 3, wherein, The angle measuring device (1) is provided with three, including the first angle measuring device (11), the second angle measuring device (12) and the third angle measuring device (13), the base plate (2) of the third angle measuring device (13) is a third base plate (23), the third base plate (23) is perpendicular to the rotation axis (823), and the dials (24) on the first base plate (21), the second base plate (22) and the third base plate (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 base plate (23), the pivot (3) is collinear with the rotation axis (823), and the connecting mechanism (4) is configured to cooperate with the execution part (82) of the surgical instrument (8) to rotate around the pivot (3) as the execution part (82) rotates around the rotation axis (823).

8. The range of motion measuring device of any one of claims 1 to 7, wherein, Further comprising: A telescopic assembly (6) telescopically arranged at the bottom of the range of motion measuring device to adjust the height of the range of motion measuring device; And A moving assembly (7) arranged at the bottom of the telescopic assembly (6).

9. The range of motion measuring device of any one of claims 1 to 7, wherein, The connecting mechanism (4) includes a pointer (5) arranged on the pivot (3) and pointing to the scale value of the dial (24).

10. A measuring method of the range of motion measuring device according to any one of claims 1-9, comprising: At least one angle measuring device (1) is arranged so that the dial (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 execution part (82) of the surgical instrument (8) rotates around the rotation axis, so that the connecting mechanism (4) rotates synchronously around the pivot (3) of the base plate (2) at the position of the central axis of the dial (24), to read the angle value of the rotation of the connecting mechanism (4).

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