Measuring structure, flexible mechanical arm, surgical robot and surgical robot system

Abstract

The invention relates to the technical field of medical instruments, and particularly discloses a measuring structure, a flexible mechanical arm, a surgical robot and a surgical robot system.The measuring structure comprises a flexible measuring wire and a stay wire detection module; the flexible measuring wire is arranged in the flexible mechanical arm in a penetrating mode along the extending path of the flexible mechanical arm, one end of the flexible measuring wire is connected with a movement joint of the flexible mechanical arm, and the other end of the flexible measuring wire is connected with the stay wire detection module. When the flexible mechanical arm acts, the flexible measuring wire moves under traction force, the pull wire detection module detects the moving distance of the flexible measuring wire, and the swing angle of the moving joint is obtained according to the moving distance. The rotating angle of the rotating joint can be detected in a high-precision mode, and movement of an instrument can be accurately controlled conveniently.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a measuring structure, a flexible robotic arm, a surgical robot and a surgical robot system. Background Art

[0002] Flexible robotic arms generally use wire pulling to control the joint swing angle, but due to the lack of accurate and reliable detection structure, the existing technology is unable to perform high-precision control of the joint swing or bending angle, resulting in large position and posture errors of instruments such as the grasping forceps at the end of the flexible robotic arm during surgery, which is not conducive to the doctor's accurate control of the position and posture movement of the instrument. Summary of the invention

[0003] The purpose of the present application is to provide a measuring structure, a flexible robotic arm, a surgical robot and a surgical robot system, which can perform high-precision detection of the rotation angle at the rotating joint, thereby facilitating precise control of the movement of the instrument.

[0004] The embodiment of the present application is implemented as follows:

[0005] In the first aspect, an embodiment of the present application provides a measurement structure, including a flexible measuring wire and a wire pulling detection module; the flexible measuring wire is arranged in the flexible robotic arm along the extension path of the flexible robotic arm, and one end is connected to the motion joint of the flexible robotic arm, and the other end is connected to the wire pulling detection module; when the flexible robotic arm moves, the flexible measuring wire moves under the traction force, the wire pulling detection module detects the moving distance of the flexible measuring wire, and obtains the motion parameters of the motion joint according to the moving distance.

[0006] As an optional embodiment, the wire pulling detection module includes an encoder turntable and a detection module; the encoder turntable is provided with a winding portion for winding the flexible measuring wire, the central axis of the winding portion coincides with the central axis of the encoder turntable, and when the flexible measuring wire is moved by traction, the encoder turntable is driven to rotate through the winding portion, and the detection module detects the rotation position of the encoder turntable.

[0007] As an optional embodiment, it also includes a torsion spring arranged on the encoder turntable, which generates a force to push the winding part to rotate and retract the flexible measuring wire, so that the flexible measuring wire has a preset tension between the winding part and the motion joint.

[0008] As an optional embodiment, a measuring connection part is provided on one side of the rotation axis of the motion joint, and the flexible measuring wire is connected to the measuring connection part; the motion joint is deflected toward one side of the rotation axis by the traction force, driving the winding part to rotate and release the flexible measuring wire; the motion joint is deflected toward the other side of the rotation axis by the traction force, and the torsion spring drives the winding part to rotate and retract the flexible measuring wire.

[0009] As an optional embodiment, it also includes a signal acquisition board and a control module; the signal acquisition board is used to collect the electrical signal detected by the wire pulling detection module, and transmit the detected electrical signal to the control module, and the control module calculates the swing angle of the motion joint.

[0010] In a second aspect, an embodiment of the present application provides a flexible robotic arm, comprising at least one rotatably arranged motion joint and the above-mentioned flexible robotic arm measurement structure.

[0011] As an optional implementation, the flexible robotic arm measurement structure includes multiple flexible measuring wires connected one-to-one with multiple motion joints, and the wire pulling detection module detects the moving distance of each flexible measuring wire to realize the detection of motion parameters of each motion joint.

[0012] As an optional embodiment, the motion joint is provided with traction connection parts on both sides of the rotation axis; and further comprises two traction lines, one end of the two traction lines is respectively connected to the traction connection parts, and the other end is connected to the driving device.

[0013] In a third aspect, an embodiment of the present application provides a surgical robot, comprising a driving device and the above-mentioned flexible robotic arm; the driving device can be used to drive the flexible robotic arm to complete a preset action.

[0014] In a fourth aspect, an embodiment of the present application provides a surgical robot system, comprising a doctor's operating table and the above-mentioned surgical robot; the doctor's operating table is used to control the surgical robot, and the surgical robot is used to perform surgical actions.

[0015] During minimally invasive surgery, since the incision is very small, in order to reduce damage to other tissues during the operation, surgical instruments with motion joints are often used to avoid other organs during the operation. Usually, the motion joints use wire traction to control the swing angle of the joint. Due to the lack of accurate and reliable detection structures, the existing technology cannot perform high-precision control of the swing angle of the joint, resulting in a large error in the position and posture of the instrument at the end of the flexible robotic arm during surgery, which is not conducive to the doctor's accurate control of the position and posture of the instrument.

[0016] The beneficial effects of the embodiments of the present application include:

[0017] The embodiment of the present application provides a measurement structure, including a flexible measuring wire and a wire pulling detection module; the flexible measuring wire of the present application is arranged in the flexible mechanical arm along the extension path of the flexible mechanical arm, and one end is connected to the motion joint of the flexible mechanical arm, and the other end is connected to the wire pulling detection module; when the flexible mechanical arm swings around the motion joint, the flexible measuring wire moves under the traction force, the wire pulling detection module detects the moving distance of the flexible measuring wire, and obtains the swing angle of the motion joint according to the moving distance. Accurate detection of the swing angle of the motion joint is achieved, which is convenient for accurate control of the end in surgical use, avoiding large errors, and improving the reliability of surgical operation.

[0018] The embodiment of the present application provides a flexible robotic arm, including a plurality of sequentially arranged motion joints and the above-mentioned measurement structure. The flexible robotic arm provided by the embodiment of the present application adopts the above-mentioned measurement structure. When the flexible robotic arm moves, the flexible measurement wire moves under the traction force, the wire pulling detection module detects the moving distance of the flexible measurement wire, and obtains the motion parameters of the motion joint according to the moving distance. Therefore, the flexible robotic arm provided by the present application can perform high-precision detection of the rotation angle at the motion joint, which is convenient for accurately controlling the movement of the device.

[0019] The embodiment of the present application also provides a surgical robot, including a driving device and the above-mentioned flexible robotic arm; the driving device can be used to drive the flexible robotic arm to complete a preset action. The driving device can drive the above-mentioned flexible robotic arm to complete the preset action according to the operation of the user, and combined with the above-mentioned measurement structure, the surgical robot can be precisely controlled to eliminate the error caused by inaccurate measurement during the operation.

[0020] The embodiment of the present application provides a surgical robot system, including a doctor's operating table and the above-mentioned surgical robot; the doctor's operating table is used to control the surgical robot, and the surgical robot is used to perform surgical actions. The embodiment of the present application facilitates precise control of the end of the surgical robot during surgical use, and can improve the reliability of surgical operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is one of the structural schematic diagrams of the flexible robotic arm of an embodiment of the present application;

[0023] Figure 2This is the second structural diagram of the flexible robotic arm of the embodiment of the present application;

[0024] Figure 3 This is the third structural diagram of the flexible robotic arm of the embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of signal transmission of the flexible robotic arm according to an embodiment of the present application;

[0026] Figure 5 This is the fourth structural diagram of the flexible robotic arm of the embodiment of the present application;

[0027] Figure 6 This is one of the structural schematic diagrams of the surgical robot system according to an embodiment of the present application;

[0028] Figure 7 This is the second structural diagram of the surgical robot system according to the embodiment of the present application;

[0029] Figure 8 This is the third structural diagram of the surgical robot system according to the embodiment of the present application.

[0030] icon:

[0031] 110-flexible measuring wire; 101-wire detection module; 102-flexible robotic arm; 103-motion joint; 104-rotation axis; 105-signal acquisition board; 106-control module; 107-left traction line; 108-right traction line; 111-serial swing skeleton; 113-winding part; 114-encoder turntable; 100-main operating end; 200-slave operating end; 210-robotic arm assembly; 211-robotic arm; 220-driving device; 230-base; 300-support device; 400-imaging device. DETAILED DESCRIPTION

[0032] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0033] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0034] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0035] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0036] Flexible robotic arms generally use wire pulling to control the joint swing angle, but due to the lack of accurate and reliable detection structure, the existing technology is unable to perform high-precision control of the joint swing or bending angle, resulting in large errors in the position and posture of the instrument at the end of the flexible robotic arm during surgery, which is not conducive to the doctor's accurate control of the instrument's position and posture movement.

[0037] To solve the above problems, the embodiments of the present application provide a measurement structure, a flexible robotic arm 102, a surgical robot and a surgical robot system.

[0038] Reference Figure 1 , Figure 2 as well as Figure 3 As shown, an embodiment of the present application provides a measurement structure, including a flexible measuring wire 110 and a wire pulling detection module 101; the flexible measuring wire 110 is arranged in the flexible robotic arm 102 along the extension path of the flexible robotic arm 102, and one end is connected to the motion joint 103 of the flexible robotic arm 102, and the other end is connected to the wire pulling detection module 101; when the flexible robotic arm moves, the flexible measuring wire 110 moves under the traction force, the wire pulling detection module 101 detects the moving distance of the flexible measuring wire 110, and obtains the motion parameters of the motion joint 103 according to the moving distance.

[0039] It should be noted that the motion parameter in the embodiment of the present application may be a swing angle or a bending angle of the motion joint 103 .

[0040] The embodiment of the present application provides a measurement structure capable of measuring motion parameters of a flexible robotic arm, which includes a flexible measuring wire 110 and a wire pulling detection module 101 .

[0041] The flexible measuring wire 110 of the present application is arranged in the flexible mechanical arm 102 along the extension path of the flexible mechanical arm 102 , and one end is connected to the motion joint 103 of the flexible mechanical arm 102 , and the other end is connected to the wire pulling detection module 101 .

[0042] It should be noted that the flexible measuring wire 110 of the embodiment of the present application is used to conduct the swing angle or bending angle of each motion joint 103, and the flexible measuring wire 110 does not bear the driving force. In other words, one end of the flexible measuring wire 110 is connected to the motion joint 103, and the other end is connected to the wire pulling detection module 101. The flexible measuring wire 110 follows the swing of the motion joint 103 of the flexible mechanical arm 102 to generate displacement, and transmits the displacement to the wire pulling detection module 101, so that the wire pulling detection module 101 detects the swing angle or bending angle of the motion joint 103.

[0043] When the flexible mechanical arm 102 swings or bends, the flexible measuring wire 110 moves under the traction force, and the wire pulling detection module 101 detects the moving distance of the flexible measuring wire 110, and obtains the swing angle of the motion joint 103 according to the moving distance. The accurate detection of the swing angle of the motion joint 103 is realized, which is convenient for realizing the accurate control of the end instrument during the operation, avoiding the generation of large errors, and improving the reliability of the operation.

[0044] Reference Figure 2 , Figure 5 As shown, further, the wire pulling detection module 101 of the embodiment of the present application includes an encoder turntable 114 and a detection module.

[0045] The encoder turntable 114 of the embodiment of the present application is provided with a winding portion 113 for winding the flexible measuring wire 110. The central axis of the winding portion 113 coincides with the central axis of the encoder turntable 114. When the flexible measuring wire 110 is moved by traction, the encoder turntable 114 is driven to rotate by the winding portion 113, and the detection module detects the rotation position of the encoder turntable 114.

[0046] It should be noted that when the motion joint 103 deflects to the first side, the motion joint 103 generates traction force, causing the flexible measuring wire 110 to move forward, and the encoder turntable 114 is rotated by unwinding the wire through the winding part 113. The detection module detects the rotation position of the encoder turntable 114 to obtain the swing angle of the motion joint 103 on this side.

[0047] Furthermore, it also includes a torsion spring arranged on the encoder turntable 114, which generates a force to push the winding part 113 to rotate and retract the flexible measuring wire 110, so that the flexible measuring wire 110 has a preset tension between the winding part 113 and the motion joint 103.

[0048] It should be noted that, in the embodiment of the present application, a torsion spring is arranged on the encoder turntable 114, and one end of the flexible measuring wire 110 is connected to the winding part 113 and the other end is connected to the motion joint 103. When the motion joint 103 rotates to the second side, the winding part 113 releases elastic potential energy in the torsion spring, so that the winding part 113 rotates and drives the flexible measuring wire 110 to move in the opposite direction. At this time, the winding part 113 is wound up, and the torsion spring releases elastic potential energy to generate traction force to pull the flexible measuring wire 110 to move.

[0049] It should be noted that when the motion joint 103 is not deflected, that is, when it is in the initial position, the torsion spring can be pre-compressed to generate a certain preset tensioning force between the winding portion 113 and the motion joint 103 of the flexible measuring wire 110. The setting of the preset tensioning force can prevent the flexible measuring wire 110 from being in a relaxed state, which is beneficial to improving the sensitivity of the measurement and the measurement accuracy of the encoder turntable 114.

[0050] In addition, it should be noted that the preset tensioning force is set smaller than the traction force borne by the motion joint 103 .

[0051] Specifically, a measuring connection part is provided on one side of the rotation axis 104 of the motion joint 103, and the flexible measuring wire 110 is connected to the measuring connection part; the motion joint 103 is deflected toward one side of the rotation axis 104 by the traction force, driving the winding part 113 to rotate and release the flexible measuring wire 110; the motion joint 103 is deflected toward the other side of the rotation axis 104 by the traction force, and the torsion spring pushes the winding part 113 to rotate and retract the flexible measuring wire 110.

[0052] After the motion joint 103 is deflected to the other side of the rotation axis 104 by the traction force, the torsion spring is further compressed to the preset tension force, and the torsion spring reserves elastic potential energy. When the driving traction force of the motion joint 103 is removed, the torsion spring releases the elastic potential energy to drive the winding part 113 to rotate and retract the flexible measuring wire 110. In this process, the traction force generated by the torsion spring releasing the elastic potential energy when retracting the flexible measuring wire 110 is less than the driving traction force of the motion joint 103.

[0053] It should be noted that the specific structure of the motion joint 103 can be set by those skilled in the art as needed, and no special limitation is made thereto. The measuring connection portion on the motion joint 103 is located on one side of the rotation axis 104 of the motion joint 103, so that the motion joint 103 can be deflected.

[0054] Reference Figure 5As shown, as an optional implementation, it also includes a signal acquisition board 105 and a control module 106; the signal acquisition board 105 is used to collect the electrical signal detected by the wire pulling detection module 101, and transmit the detected electrical signal to the control module 106, and the control module 106 calculates the swing angle of the motion joint 103.

[0055] It should be noted that the wire pulling detection module 101 can transmit data to the signal acquisition board 105 in a wired or wireless manner, and the signal acquisition board 105 transmits the obtained data to the control module 106 , and the control module 106 calculates the swing angle of the motion joint 103 .

[0056] The embodiment of the present application provides a flexible robotic arm 102, including a plurality of sequentially arranged motion joints 103 and the above-mentioned flexible robotic arm measurement structure; each motion joint 103 in the flexible robotic arm 102 realizes different degrees of freedom, so the flexible robotic arm 102 can realize multiple degrees of freedom movement, such as pitch, yaw, etc. The flexible robotic arm 102 measurement structure includes a plurality of flexible measuring wires 110 respectively connected to the plurality of motion joints 103 in a one-to-one correspondence, and the wire pulling detection module 101 detects the moving distance of each flexible measuring wire 110 to realize the detection of the bending angle of each motion joint 103.

[0057] The motion joint 103 is provided with traction connection parts on both sides of the rotation axis 104 ; it also includes two traction lines and a driving mechanism, one end of the traction line is connected to the traction connection part, and the other end is connected to the driving mechanism.

[0058] See also Figure 4 , Figure 4 It is a schematic diagram of the bending control of a motion joint 103 of the flexible robotic arm 102 provided in an embodiment of the present invention. A left traction line 107 and a right traction line 108 are arranged on both sides of each motion joint 103. By contracting the left traction line 107 and extending the right traction line 108, it is ensured that the pulling force on the left side of the motion joint 103 is greater than the pulling force on the right side, thereby making the flexible robotic arm 102 bend to the left.

[0059] Similarly, the right side bending can be achieved by traction control of the left traction line 107 and the right traction line 108. Among them, by extending the left traction line 107 and contracting the right traction line 108, it is ensured that the tension on the right side of the motion joint 103 is greater than the tension on the left side, so that the flexible robotic arm 102 bends to the right and left sides. The freedom control of other motion joints of the flexible robotic arm 102 is similar, which will not be repeated here.

[0060] It should be noted that the left traction line 107 and the right traction line 108 can be made of steel wires, and those skilled in the art can choose to set other types of metal wires as needed.

[0061] The embodiment of the present application arranges a flexible measuring wire 110 in the flexible robotic arm 102 and uses the wire pulling detection module 101 to detect its moving distance, so as to accurately obtain the motion parameters of the robotic arm motion joint 103, thereby improving the position control accuracy of the end device.

[0062] This measurement structure can realize real-time monitoring of the joint movement of the flexible robotic arm 102, provide instant feedback, and help doctors control the movement of the instrument more accurately during surgery.

[0063] The design using the flexible measuring wire 110 and the wire pulling detection module 101 avoids the need for complex sensor integration, simplifies the overall design of the flexible robotic arm 102, and is suitable for minimally invasive surgical environments with limited space.

[0064] The embodiments of the present application can significantly reduce the posture error of the end instrument through high-precision motion parameter detection, reduce surgical errors caused by inaccurate control, and improve surgical safety and effectiveness.

[0065] In addition, the flexible measuring wire 110 of the embodiment of the present application can bend freely with the movement of the flexible robotic arm 102, adapt to complex motion scenes with multiple degrees of freedom, and ensure that the detection accuracy is not affected by the complex motion path of the robotic arm.

[0066] Reference Figure 3 As shown, two serially-connected swing skeletons 111 are spaced apart on the extension path of the flexible robotic arm 102 .

[0067] Exemplarily, three serially connected swing skeletons 111 are arranged at intervals on the extension path of the flexible robotic arm 102 .

[0068] The embodiment of the present application further provides a surgical robot, comprising a driving device and the above-mentioned flexible robotic arm 102, wherein the driving device can be used to drive the flexible robotic arm 102 to complete a preset action.

[0069] It should be noted that an end effector is provided at the end of the flexible mechanical arm 102, wherein the end effector is any one of scissors, forceps, and suture needles. There is no special limitation on this, and those skilled in the art can select it according to their needs.

[0070] For example, refer to Figure 3As shown, the end of the flexible robotic arm 102 can be loaded with execution instruments for performing different or the same surgical operations, and the surgical operations that can be performed by the execution instruments include but are not limited to clamping, cutting, shearing, suturing, electrocuting or electrocoagulation, etc. It can be used to perform actions such as grasping and clamping biological tissues under the drive of the driving device, so as to achieve the corresponding medical purpose.

[0071] The surgical robot system provided in the embodiment of the present application adopts the above-mentioned flexible robotic arm 102, which realizes accurate detection of the swing angle of the motion joint 103 through the flexible measuring wire 110 and the pull-wire detection module 101, so as to realize accurate control of the end instrument during the operation. Therefore, the use of the surgical instrument provided in the embodiment of the present application can improve the accuracy and safety of the operation.

[0072] Figure 6 A schematic diagram of the structure of a surgical robot system provided in an embodiment of the present application is shown in FIG. Figure 6 As shown, the surgical robot system may include: a master operating end 100 and a slave operating end 200 .

[0073] The master operation terminal 100 and the slave operation terminal 200 are connected in communication, and the master operation terminal 100 has a control input device, which can send control commands to the slave operation terminal 200 according to the movements of the hands and / or feet of the operation object, so as to drive and adjust the posture of the mechanical arm assembly 210 of the slave operation terminal 200, and drive the execution instrument of the mechanical arm assembly 210 to perform the corresponding surgical operation. The operation object can control the movement of the end of the slave operation terminal 200 to achieve the corresponding movement, that is, the movement of the master operation terminal 100 and the movement of the slave operation terminal 200 have a mapping relationship.

[0074] like Figure 7 and Figure 8 As shown, the slave operation end 200 has a mechanical arm assembly 210 for performing surgical actions, a driving device 220 for driving the mechanical arm assembly 210 according to a control command, and a base 230 for supporting the driving device 220, wherein the mechanical arm assembly 210 includes at least one mechanical arm 211, and the mechanical arm 211 can specifically refer to a flexible mechanical arm 102, a rigid mechanical arm, or a combination of the two. The end of each mechanical arm 211 can be loaded with an execution instrument for performing different or the same surgical operations, and the surgical operations that can be performed by the execution instrument include but are not limited to clamping, cutting, shearing, suturing, electrocuting or electrocoagulation. For example, the execution instrument can be any one of the needle holders, scissors, grippers, and clamp applicators. The needle holders are generally used to implement operations such as clamping, suturing, and knotting, the scissors are generally used to implement operations such as cutting, dissecting, and cutting, the grippers are generally used to implement operations such as grasping and pulling, and the clamp applicators are generally used to cooperate with the ligation clamp for ligation.

[0075] Optionally, continue as Figure 6 As shown, the surgical robot system also includes an image device 400, which is used to obtain the surgical field image of the cavity (referring to the patient's body cavity) taken by the endoscope, and then image-process the surgical field image, and transmit it to the first display device of the image device 400 and / or the second display device (not shown in the figure) of the main operation terminal 100 for display, so that the operation object can observe the surgical field image. The surgical field image includes but is not limited to the type, number, position and posture of the execution instrument in the body cavity, the target organ tissue that needs to be operated, and the morphology of the surrounding blood vessels, etc. Further, a mechanical arm 211 in the mechanical arm assembly 210 of the slave operation terminal 200 can also be loaded with an endoscope for assisting in collecting the image in the surgical field, which can then be displayed through the first display device and / or the second display device. It should be understood that the image displayed by the image device 400 can be a two-dimensional or three-dimensional image. The endoscope can include various endoscopes used for surgery, such as thoracoscopes, arthroscopes, and nasal mirrors.

[0076] Optionally, the surgical robot system further includes a supporting device 300 (eg, an operating table) for supporting a surgical object for surgery. The supporting device 300 may also be replaced with other surgical platforms depending on the type of surgery, which is not limited in this embodiment.

[0077] The surgical robot's operating end 200 may also include a detachable external channel device, which has at least two through channels inside. The through channels can be used to accommodate the robotic arm 211 or the endoscope, thereby guiding the instrument arm and the endoscope to a difficult-to-access position in the patient's natural lumen. The channel device can be adjusted in the direction of guidance manually or from the operating end 200.

[0078] It should be noted that Figures 6 to 8 This is just an example. The surgical robot system is not limited to the device structure or quantity shown in the above figures, and corresponding adjustments can be made in other application scenarios, such as adding or deleting Figure 6 equipment, adjust the quantity of equipment or parts, or adjust the structure of equipment or components, etc.

[0079] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A measurement structure, characterized in that: It includes a flexible measuring wire and a wire pulling detection module; the flexible measuring wire is inserted into the flexible robotic arm along the extension path of the flexible robotic arm, and one end is connected to the motion joint of the flexible robotic arm, and the other end is connected to the wire pulling detection module; when the flexible robotic arm moves, the flexible measuring wire moves under the traction force, and the wire pulling detection module detects the moving distance of the flexible measuring wire, and obtains the motion parameters of the motion joint according to the moving distance.

2. The measurement structure according to claim 1, characterized in that: The wire pulling detection module includes an encoder turntable and a detection module; the encoder turntable is provided with a winding portion for winding the flexible measuring wire, the central axis of the winding portion coincides with the central axis of the encoder turntable, and when the flexible measuring wire is moved by traction, the encoder turntable is driven to rotate through the winding portion, and the detection module detects the rotation position of the encoder turntable.

3. The measurement structure according to claim 2, characterized in that: It also includes a torsion spring arranged on the encoder turntable, which generates a force that pushes the winding part to rotate and retract the flexible measuring wire, so that the flexible measuring wire has a preset tension between the winding part and the motion joint.

4. The measurement structure according to claim 3, characterized in that: A measuring connection part is provided on one side of the rotation axis of the motion joint, and the flexible measuring wire is connected to the measuring connection part; the motion joint is deflected toward one side of the rotation axis by the traction force, driving the winding part to rotate and release the flexible measuring wire; the motion joint is deflected toward the other side of the rotation axis by the traction force, and the torsion spring drives the winding part to rotate and retract the flexible measuring wire.

5. The measurement structure according to claim 1, characterized in that: It also includes a signal acquisition board and a control module; the signal acquisition board is used to collect the electrical signal detected by the wire pulling detection module, and transmit the detected electrical signal to the control module, and the control module calculates the swing angle of the motion joint.

6. A flexible robotic arm, characterized in that: It comprises at least one motion joint and the flexible mechanical arm measurement structure according to any one of claims 1 to 5.

7. The flexible robotic arm according to claim 6, characterized in that: The measuring structure includes a plurality of flexible measuring wires connected to a plurality of motion joints in one-to-one correspondence, and the wire pulling detection module detects the moving distance of each of the flexible measuring wires to detect the motion parameters of each motion joint.

8. The flexible robotic arm according to claim 6, characterized in that: The motion joint is provided with traction connection parts on both sides of the rotation axis; and further comprises two traction lines, one end of the two traction lines is respectively connected to the traction connection parts, and the other end is connected to the driving device.

9. A surgical robot, characterized in that: It comprises a driving device and a flexible robotic arm as described in any one of claims 6 to 8; the driving device can be used to drive the flexible robotic arm to complete a preset action.

10. A surgical robot system, characterized in that: It comprises a doctor's operating table and the surgical robot as claimed in claim 9; the doctor's operating table is used to control the surgical robot, and the surgical robot is used to perform surgical actions.

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