Surgical instrument with force feedback and surgical robot

Abstract

The invention discloses a surgical instrument with force feedback and a surgical robot, the surgical instrument comprises an end effector, and the end effector is used for executing related technical actions in an operation; the driving assembly comprises a driving rod, and the driving rod drives the end effector to execute actions through a connecting assembly; the outer rod is coaxially arranged outside the driving assembly in a sleeving mode, the end effector is arranged at the end of the outer rod, and a force sensor is installed on the outer rod; the measuring surface of the force sensor is attached to the force conduction assembly, the force conduction assembly is connected with the end effector, and the surgical robot comprises the surgical instrument. According to the invention, more complex and fine surgical operation can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a surgical instrument and a surgical robot with force feedback. Background Art

[0002] In the field of surgery, surgical robots are increasingly used. Their advantages such as high precision and strong operational flexibility make the surgical process safer and more efficient. However, there is a significant technical problem with existing surgical robot systems, that is, surgical instruments cannot effectively detect the force on their end effectors. This technical defect limits the application of surgical robots in some complex and delicate surgeries. Summary of the invention

[0003] In order to solve the technical problem that the surgical instrument in the existing surgical robot system cannot effectively detect the force applied to its end, the present invention provides a surgical instrument and a surgical robot with force feedback.

[0004] To achieve the above object, the present invention adopts the following technical solution:

[0005] In one aspect, the present invention provides a surgical instrument with force feedback, comprising:

[0006] An end effector, which is used to perform relevant technical actions during surgery;

[0007] A driving assembly, the driving assembly comprising a driving rod, the driving rod driving the end effector to perform an action through a connecting assembly;

[0008] An outer rod, wherein the outer rod is coaxially sleeved outside the driving assembly, the end effector is arranged at the end of the outer rod, and a force sensor is installed on the outer rod;

[0009] A force transmission component, wherein the measuring surface of the force sensor is in contact with the force transmission component, and the force transmission component is connected to the end effector.

[0010] In a further technical solution, the outer rod comprises an operating outer rod and a yaw outer rod, the end actuator is arranged at the end of the yaw outer rod, the other end of the yaw outer rod is pivotally connected to the operating outer rod, and the pivot axis of the yaw outer rod and the operating outer rod intersects with the axis of the operating outer rod;

[0011] The driving rod is coaxially arranged inside the operating outer rod.

[0012] The split design of the outer rod enables the end effector to swing along with the swing of the outer rod at the end of the operating outer rod, thereby giving the end effector the freedom to swing and making the surgical instrument more flexible in execution.

[0013] In a further technical solution, the force transmission component includes an actuator bracket, the measuring surface of the force sensor is in contact with the actuator bracket, the end actuator is mounted on the actuator bracket, and the mounting surface of the force sensor is in contact with the yaw outer rod.

[0014] The end effector is installed through the actuator bracket. In this technical solution, the force of the end effector is transmitted to the force sensor through the actuator bracket.

[0015] In a further technical solution, the outer rod includes a support rod, the force transmission assembly includes a connecting rod provided at the end of the support rod, and a sway outer rod provided at the end of the connecting rod, one end of the sway outer rod is pivotally connected to the connecting rod, the end actuator is provided at the other end of the sway outer rod, and the pivot axis of the sway outer rod and the connecting rod intersects with the axis of the connecting rod;

[0016] The driving rod is coaxially arranged inside the connecting rod;

[0017] The force sensor is sleeved on the outside of the driving rod and arranged between the connecting rod and the supporting rod.

[0018] In a further technical solution, the measuring surface of the force sensor is in contact with the connecting rod, and the mounting surface of the force sensor is in contact with the supporting rod.

[0019] The split design of the outer rod and the design of the swing outer rod enable the end effector to swing at the end of the connecting rod along with the swing outer rod, thereby giving the end effector the freedom to swing and making the surgical instrument more flexible in execution. The force sensor is arranged between the connecting rod and the support rod. During the surgical operation, the force sensor always remains stationary relative to the connecting rod and the support rod on which it is installed. Therefore, the force sensor always has high stability and accuracy.

[0020] In a further technical solution, it also includes a deflection rod, which is coaxially arranged between the outer rod and the driving rod, and the opposite ends of the deflection rod and the deflection outer rod are respectively provided with intersecting shaft transmission components that cooperate with each other.

[0021] By setting the deflection rod, the two driving actions of driving the end effector and driving the end effector to deflect are made independent of each other, thereby avoiding accidental touch between the two driving actions and facilitating more complex and delicate surgical operations.

[0022] In a further technical solution, the connecting assembly includes a driving part and a connecting part, the driving part is arranged inside the yaw outer rod, and the driving part is used to drive the end effector to move; the connecting part connects the driving part and the driving rod.

[0023] The existence of the yaw action causes a phase change in the power transmission process. The setting of the connecting part ensures that the power can be transmitted to the driving part in the yaw state, thereby realizing the driving of the end effector action.

[0024] In a further technical solution, the driving part is a transmission rod, and the transmission rod is coaxially arranged inside the yaw outer rod.

[0025] The transmission rod is designed for linear transmission, that is, the end effector can be driven by driving the transmission rod in a straight line, which is simple to operate and has a simple transmission structure.

[0026] In a further technical solution, the driving part includes a threaded sleeve, a screw is threadedly provided on the threaded sleeve, the threaded sleeve is fixedly connected to the connecting part, and the screw is connected to the end effector.

[0027] The drive rod drives the threaded sleeve to rotate, thereby driving the screw to perform linear motion, thereby driving the end effector to move. The rotational motion has high control accuracy and good stability, which is further conducive to achieving more complex and delicate surgical operations.

[0028] In a further technical solution, the intersecting shaft transmission assembly includes a first crown gear arranged at the end of the deflection rod and a second crown gear arranged at the end of the deflection outer rod, the first crown gear and the second crown gear are meshed with each other, and the rotation axes of the first crown gear and the second crown gear intersect.

[0029] The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected.

[0030] On the other hand, the present invention further provides a surgical robot, comprising a surgical instrument with force feedback as described in any one of the above technical solutions.

[0031] The beneficial effects are:

[0032] 1. In the surgical instrument and surgical robot with force feedback of the present invention, the driving rod drives the end effector to perform an action through a connecting component during surgery. When the end effector performs an action, it may come into contact with internal tissues of the human body, and the force generated by the contact is transmitted from the end effector to the force sensor through the force transmission component. The operator can perform corresponding actions according to the force detected by the force sensor, thereby realizing more complex and delicate surgical operations.

[0033] 2. The split design of the outer rod enables the end effector to swing along with the outer rod at the end of the operating outer rod, so that the end effector has the freedom of swing and the execution flexibility of the surgical instrument is higher.

[0034] 3. The split design of the outer rod and the design of the sway outer rod enable the end effector to sway at the end of the connecting rod along with the sway outer rod, so that the end effector has the freedom of sway and the execution flexibility of the surgical instrument is higher. The force sensor is arranged between the connecting rod and the support rod. During the surgical operation, the force sensor always remains stationary relative to the connecting rod and the support rod on which it is installed. Therefore, the force sensor always has high stability and accuracy.

[0035] 4. By setting the deflection rod, the two driving actions of driving the end effector and driving the end effector to deflect are made independent of each other, avoiding accidental touch between the two driving actions, and facilitating more complex and delicate surgical operations.

[0036] 5. The existence of the yaw action causes a change in the power transmission process. The setting of the connecting part ensures that the power can be transmitted to the driving part in the yaw state, thereby driving the end effector action.

[0037] 6. The transmission rod is designed for linear transmission, that is, the end effector can be driven by driving the transmission rod in a straight line, which is simple to operate and has a simple transmission structure.

[0038] 7. The driving rod drives the threaded sleeve to rotate, thereby driving the screw to move linearly, thereby driving the end effector to move. The control accuracy of the rotational motion is high and the stability is good, which is further conducive to achieving more complex and delicate surgical operations.

[0039] 8. The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a schematic structural diagram of a surgical instrument with force feedback according to Embodiment 1 of the present invention;

[0041] Figure 2 is a schematic diagram of the internal structure of a surgical instrument with force feedback according to Example 1 of the present invention;

[0042] Figure 3 is a schematic structural diagram of a surgical instrument with force feedback according to Embodiment 2 of the present invention;

[0043] Figure 4 is a schematic diagram of the internal structure of a surgical instrument with force feedback according to Embodiment 2 of the present invention;

[0044] Figure 5 is a schematic structural diagram of a surgical instrument with force feedback according to Embodiment 3 of the present invention;

[0045] Figure 6is a schematic diagram of the internal structure of a surgical instrument with force feedback according to Embodiment 3 of the present invention;

[0046] Figure 7 is a schematic structural diagram of a surgical instrument with force feedback according to Embodiment 4 of the present invention;

[0047] Figure 8 is a schematic diagram of the internal structure of a surgical instrument with force feedback according to Embodiment 4 of the present invention;

[0048] Fig. 9 It is a schematic diagram of the principle of local deflection of a surgical instrument with force feedback according to Embodiment 4 of the present invention;

[0049] Fig.10 yes Fig. 9 A schematic diagram of the local enlarged structure at point A in the middle;

[0050] Fig.11 It is a front view of an end portion of a deflection rod of a surgical instrument with force feedback according to Example 4 of the present invention;

[0051] Fig.12 yes Fig.11 A top view of

[0052] Fig.13 It is a schematic diagram of the transmission structure of an end effector of a surgical instrument with force feedback according to Embodiment 4 of the present invention;

[0053] Fig.14 is a schematic diagram of a swaying action 1 of a surgical instrument with force feedback according to embodiment 4 of the present invention;

[0054] Fig.15 It is a schematic diagram of the second swing action of a surgical instrument with force feedback according to Example 4 of the present invention.

[0055] Figure 1-Figure 2 The figure marks in the figure: 1. end effector; 2. actuator bracket; 3. protective shell; 4. yaw outer rod; 5. driving rod; 6. force sensor; 7. signal line.

[0056] Figure 3-Figure 15 The figure marks in the figure are: 1. end effector; 2. yaw outer rod; 5. driving rod; 6. force sensor; 7. signal line; 9. connecting rod; 10. supporting rod; 11. screw; 12. threaded sleeve; 13. yaw rod; 14. clamp; 16. pivot axis of the yaw outer rod and the connecting rod; 17. mounting ear; 18. first crown gear; 19. second crown gear; 20. limiting structure; 21. rotation axis of the second crown gear; 22. the first byte; 23. the twentieth byte. DETAILED DESCRIPTION

[0057] The present invention will be further described below in conjunction with the accompanying drawings:

[0058] Embodiment 1:

[0059] like Figure 1 and Figure 2 As shown, a surgical instrument with force feedback comprises:

[0060] End effector 1, which is used to perform relevant technical actions during surgery;

[0061] A driving assembly, the driving assembly includes a driving rod 5, and the driving rod 5 drives the end effector 1 to perform an action through a connecting assembly;

[0062] An outer rod, the outer rod is coaxially sleeved outside the driving assembly, the end effector 1 is arranged at the end of the outer rod, and a force sensor 6 is installed on the outer rod;

[0063] The force transmission component, the measuring surface of the force sensor 6 is in contact with the force transmission component, and the force transmission component is connected to the end effector 1 .

[0064] In this embodiment, the outer rod includes an operating outer rod and a yaw outer rod 4, the end effector 1 is arranged at the end of the yaw outer rod 4, the other end of the yaw outer rod 4 is pivotally connected to the operating outer rod, and the pivot axis of the yaw outer rod 4 and the operating outer rod intersects with the axis of the operating outer rod;

[0065] The driving rod 5 is coaxially arranged inside the operating outer rod.

[0066] In this embodiment, the force transmission component includes an actuator bracket 2, the measuring surface of the force sensor 6 is in contact with the actuator bracket 2, the end actuator 1 is mounted on the actuator bracket 2, the mounting surface of the force sensor 6 is in contact with the yaw outer rod 4, and a protective shell 3 is covered on the outside of the force sensor 6.

[0067] In this embodiment, the end effector 1 is a forceps head; the actuator bracket 2, the protective shell 3 and the swing outer rod 4 are sequentially connected along the axis direction of the surgical instrument; the protective shell 3 is made of soft material. Figure 2 As shown, a force sensor 6 is provided in the protective shell 3, and the force sensor 6 is arranged between the actuator bracket 2 and the yaw outer rod 4. The force sensor 6 has a measuring surface and a mounting surface. The measuring surface of the force sensor 6 is in contact with the actuator bracket 2, and the mounting surface of the force sensor 6 is in contact with the yaw outer rod 4; a through hole is provided on the force sensor 6.

[0068] The end effector 1 is mounted on the effector bracket 2 , and the end effector 1 is connected to a driving rod 5 , which passes through a through hole on a force sensor 6 , and a diameter of the driving rod 5 is smaller than a diameter of the through hole on the force sensor 6 .

[0069] In this embodiment, the driving rod 5 is divided into two parts, and the two parts of the driving rod 5 are respectively arranged in the deflection outer rod 4 and the operating outer rod, and the two parts of the driving rod 5 are connected by a transmission connecting rod, that is, it can realize power transmission and can also cooperate with the deflection outer rod 4 to realize deflection.

[0070] The section of the split drive rod 5 located inside the operating outer rod is a hollow rod, and the signal line 7 of the force sensor 6 passes through the inner hole of the hollow rod and is electrically connected to the signal connector of the surgical robot system. Figure 2 The axial force on the Z axis, the torque My on the X axis and the torque Mx on the Y axis are shown.

[0071] During the operation, if the end effector 1 does not move, the movement of the driving rod 5 is locked. At this time, if the end effector 1 is subjected to a force in the X-axis direction, the force in the X-axis direction is applied to the force sensor 6 through the end effector 1 and the effector bracket 2, and the force sensor 6 detects the torque My in the X-axis direction. If the end effector 1 is subjected to a force in the Y-axis direction, the force in the Y-axis direction is applied to the force sensor 6 through the end effector 1 and the effector bracket 2, and the force sensor 6 detects the torque Mx in the Y-axis direction. Since the distance between the measuring surface of the force sensor 6 and the clamp head is fixed, the force in the Y-axis direction can be calculated. If the end effector 1 is subjected to a force in the Z-axis direction, the force in the Z-axis direction is applied to the force sensor 6 through the end effector 1 and the effector bracket 2, and the force sensor 6 detects the force in the Z-axis direction.

[0072] During the operation, when the end effector 1 needs to open and close, since the opening and closing of the end effector 1 is driven by the axial movement of the driving rod 5, and since the end effector 1 is installed on the actuator bracket 2, the opening and closing of the end effector 1 will drive the actuator bracket 2 to move, causing the force sensor 6 to detect the force in the Z-axis direction; however, the force in the Z-axis direction generated by the opening and closing of the end effector 1 is not the actual external force on the end effector 1. Therefore, during the opening and closing of the end effector 1, the force sensor 6 cannot accurately detect the force in the Z-axis direction, so the force in the Z-axis direction detected by the force sensor 6 during this process is not used by the robot system.

[0073] The split design of the outer rod enables the end effector 1 to swing along with the swing outer rod 4 at the end of the operating outer rod, so that the end effector 1 has the freedom of swinging, and the execution flexibility of the surgical instrument is higher.

[0074] The end effector 1 is installed through the actuator bracket 2 . In the present technical solution, the force of the end effector 1 is transmitted to the force sensor 6 through the actuator bracket 2 .

[0075] It can be understood that in this embodiment, the connecting assembly is a part of the end effector 1, and drives the action part of the end effector 1 to act after the linear motion of the driving rod 5.

[0076] Embodiment 2:

[0077] like Figure 3 and Figure 4 As shown, a surgical instrument with force feedback comprises:

[0078] End effector: The end effector is used to perform relevant technical actions during surgery;

[0079] A driving assembly, the driving assembly includes a driving rod 5, and the driving rod 5 drives the end effector to perform an action through a connecting assembly;

[0080] An outer rod, the outer rod is coaxially sleeved outside the driving assembly, the end effector is arranged at the end of the outer rod, and a force sensor 6 is installed on the outer rod;

[0081] The force transmission component, the measuring surface of the force sensor 6 is in contact with the force transmission component, and the force transmission component is connected to the end effector.

[0082] The outer rod includes a support rod 10, and the force transmission assembly includes a connecting rod 9 provided at the end of the support rod 10, and a sway outer rod 2 provided at the end of the connecting rod 9, one end of the sway outer rod 2 is pivotally connected to the connecting rod 9, and the end actuator is provided at the other end of the sway outer rod 2, and the pivot axis 16 of the sway outer rod and the connecting rod intersects the axis of the connecting rod 9;

[0083] The driving rod 5 is coaxially arranged inside the connecting rod 9;

[0084] The force sensor 6 is sleeved on the outside of the driving rod 5 and arranged between the connecting rod 9 and the supporting rod 10;

[0085] The measuring surface of the force sensor 6 is in contact with the connecting rod 9 , and the mounting surface of the force sensor 6 is in contact with the supporting rod 10 .

[0086] The split design of the outer rod and the design of the swaying outer rod 2 enable the end effector to sway at the end of the connecting rod 9 along with the swaying outer rod 2, thereby giving the end effector the freedom to sway, and making the surgical instrument more flexible in execution. The force sensor 6 is arranged between the connecting rod 9 and the support rod 10. During the surgical operation, the force sensor 6 always remains stationary relative to the connecting rod 9 and the support rod 10 on which it is installed. Therefore, the force sensor 6 always has high stability and accuracy.

[0087] During the operation, if the end effector does not move, the movement of the driving rod 5 is locked. At this time, if the end effector is subjected to a force in the X-axis direction, the force in the X-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque My in the X-axis direction. If the end effector is subjected to a force in the Y-axis direction, the force in the Y-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque Mx in the Y-axis direction. If the end effector is subjected to a force in the Z-axis direction, the force in the Z-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the force in the Z-axis direction.

[0088] During the operation, when the end effector needs to open and close, since the opening and closing of the end effector is driven by the axial movement of the driving rod 5, and since the end effector is installed on the yaw outer rod 2, the opening and closing of the end effector will drive the yaw outer rod 2 to move, causing the force sensor 6 to detect the force in the Z-axis direction; however, the Z-axis force generated by the opening and closing of the end effector is not the actual external force on the end effector. Therefore, during the opening and closing of the end effector, the force sensor 6 cannot accurately detect the force in the Z-axis direction, so the force in the Z-axis direction detected by the force sensor 6 during this process is not used by the robot system.

[0089] In addition, it should be emphasized that although the yaw external rod 2 and the connecting rod 9 are rotationally connected in this solution, and the yaw external rod 2 will yaw in the X-axis direction; however, in the actual surgical process, if the yaw external rod 2 does not need to yaw in the X-axis direction, the yaw external rod 2 relative to the connecting rod 9 is locked, and the force in the X-axis direction will be applied to the force sensor 6 through the end effector, the yaw external rod 2, and the connecting rod 9. At the same time, after the yaw external rod 2 deflects, the axial movement of the driving rod 5 drives the end effector to open and close, thereby driving the yaw external rod 2 to generate a torque My in the X direction, which is detected by the force sensor 6; but at this time, the torque My in the X direction generated by the opening and closing action of the end effector is not the external torque actually received by the end effector. Therefore, after the yaw external rod 2 deflects and during the opening and closing movement of the end effector, the force sensor 6 cannot accurately detect the torque My in the X direction, so the torque My in the X direction detected by the force sensor 6 in this process is not used by the robot system.

[0090] Embodiment 3:

[0091] like Figure 5 and Figure 6 As shown, a surgical instrument with force feedback comprises:

[0092] End effector: The end effector is used to perform relevant technical actions during surgery;

[0093] A driving assembly, the driving assembly includes a driving rod 5, and the driving rod 5 drives the end effector to perform an action through a connecting assembly;

[0094] An outer rod, the outer rod is coaxially sleeved outside the driving assembly, the end effector is arranged at the end of the outer rod, and a force sensor 6 is installed on the outer rod;

[0095] The force transmission component, the measuring surface of the force sensor 6 is in contact with the force transmission component, and the force transmission component is connected to the end effector.

[0096] The outer rod includes a support rod 10, and the force transmission assembly includes a connecting rod 9 provided at the end of the support rod 10, and a sway outer rod 2 provided at the end of the connecting rod 9, one end of the sway outer rod 2 is pivotally connected to the connecting rod 9, and the end actuator is provided at the other end of the sway outer rod 2, and the pivot axis 16 of the sway outer rod 2 and the connecting rod 9 intersects with the axis of the connecting rod 9. In this embodiment, the pivot axis 16 of the sway outer rod 2 and the connecting rod 9 is eccentric to the axis of the connecting rod 9.

[0097] The driving rod 5 is coaxially arranged inside the connecting rod 9;

[0098] The force sensor 6 is sleeved on the outside of the driving rod 5 and arranged between the connecting rod 9 and the supporting rod 10;

[0099] The measuring surface of the force sensor 6 is in contact with the connecting rod 9 , and the mounting surface of the force sensor 6 is in contact with the supporting rod 10 .

[0100] The split design of the outer rod and the design of the swaying outer rod 2 enable the end effector to sway along with the swaying outer rod 2 at the end of the connecting rod 9, so that the end effector has the freedom of swaying, and the execution flexibility of the surgical instrument is higher. The force sensor 6 is arranged between the connecting rod 9 and the support rod 10. During the surgical operation, the force sensor 6 always remains stationary relative to the connecting rod 9 and the support rod 10 on which it is installed, so the force sensor 6 always has high stability and accuracy. The above-mentioned end effector 1 is connected to the screw rod 11, the threaded sleeve 12, and the first transmission rod 5 in sequence. The screw rod 11 and the threaded sleeve 12 are threadedly connected. The end effector 1 is fixedly connected to the screw rod 11, and the threaded sleeve 12 is fixedly connected to the first transmission rod 5.

[0101] In this solution, the rotation of the drive rod 5 drives the threaded sleeve 12 to rotate, and the rotation of the threaded sleeve 12 drives the screw rod 11 to move along the axial direction of the screw rod 11 through the thread, thereby driving the end effector to open and close. The axial movement of the drive rod 5 drives the yaw outer rod 2 to yaw relative to the connecting rod 9 through the threaded sleeve 12, the screw rod 11, and the end effector.

[0102] During the operation, when the yaw outer rod 2 does not yaw, the axial movement of the driving rod 5 is locked. At this time, if the end effector is subjected to a force in the X-axis direction, the force in the X-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque My in the X-axis direction. If the end effector is subjected to a force in the Y-axis direction, the force in the Y-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque Mx in the Y-axis direction. If the end effector is subjected to a force in the Z-axis direction, the force in the Z-axis direction is applied to the force sensor 6 through the end effector, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the force in the Z-axis direction.

[0103] During the operation, when the yaw outer rod 2 needs to yaw, since the yaw of the yaw outer rod 2 is driven by the axial movement of the driving rod 5, and since the end effector is installed on the yaw outer rod 2, the axial movement of the driving rod 5 will drive the yaw outer rod 2 and the connecting rod 9 to move along the axial direction of the driving rod 5, causing the force sensor 6 to detect the force in the Z-axis direction and the torque in the My direction; however, the force in the Z-axis direction and the torque in the My direction generated by the axial movement of the driving rod 5 are not the external forces actually received by the end effector. Therefore, during the yaw movement of the yaw outer rod 2, the force sensor 6 cannot accurately detect the force in the Z-axis direction and the torque in the My direction, so the force in the Z-axis direction and the torque in the My direction detected by the force sensor 6 during this process are not used by the robot system.

[0104] Embodiment 4:

[0105] like Figure 7 and Figure 8 As shown, a surgical instrument with force feedback comprises:

[0106] End effector: The end effector is used to perform relevant technical actions during surgery;

[0107] A driving assembly, the driving assembly includes a driving rod 5, and the driving rod 5 drives the end effector to perform an action through a connecting assembly;

[0108] An outer rod, the outer rod is coaxially sleeved outside the driving assembly, the end effector is arranged at the end of the outer rod, and a force sensor 6 is installed on the outer rod;

[0109] The force transmission component, the measuring surface of the force sensor 6 is in contact with the force transmission component, and the force transmission component is connected to the end effector.

[0110] The outer rod includes a support rod 10, and the force transmission assembly includes a connecting rod 9 provided at the end of the support rod 10, and a sway outer rod 2 provided at the end of the connecting rod 9, one end of the sway outer rod 2 is pivotally connected to the connecting rod 9, and the end actuator is provided at the other end of the sway outer rod 2, and the pivot axis 16 of the sway outer rod and the connecting rod intersects the axis of the connecting rod 9;

[0111] The driving rod 5 is coaxially arranged inside the connecting rod 9;

[0112] The force sensor 6 is sleeved on the outside of the driving rod 5 and arranged between the connecting rod 9 and the supporting rod 10;

[0113] The measuring surface of the force sensor 6 is in contact with the connecting rod 9 , and the mounting surface of the force sensor 6 is in contact with the supporting rod 10 .

[0114] The split design of the outer rod and the design of the swaying outer rod 2 enable the end effector to sway at the end of the connecting rod 9 along with the swaying outer rod 2, thereby giving the end effector the freedom to sway, and making the surgical instrument more flexible in execution. The force sensor 6 is arranged between the connecting rod 9 and the support rod 10. During the surgical operation, the force sensor 6 always remains stationary relative to the connecting rod 9 and the support rod 10 on which it is installed. Therefore, the force sensor 6 always has high stability and accuracy.

[0115] Since the pivot axis 16 of the swing outer rod and the connecting rod intersects with the axis of the connecting rod 9, that is, when the swing outer rod 2 rotates around the pivot axis of the swing outer rod 2 and the outer rod, with the axis of the connecting rod 9 as the boundary, the force and stroke of the swing in two directions are always proportional, that is, the swing in two directions is linear, which is of great significance in surgical operations in narrow spaces. When the end effector of the surgical instrument moves to the surgical position, the linear swing in two directions ensures that the swing in any direction can be operated with the same force and stroke, providing a structural basis for the operator's precise operation.

[0116] In this embodiment, a deflection rod 13 is further included. The deflection rod 13 is coaxially arranged between the outer rod and the driving rod 5. The opposite ends of the deflection rod 13 and the deflection outer rod 2 are respectively provided with intersecting shaft transmission components that cooperate with each other.

[0117] By providing the deflection rod 13, the two driving actions of driving the end effector to move and driving the end effector to deflect are made independent of each other, thereby avoiding accidental contact between the two driving actions and facilitating more complex and delicate surgical operations.

[0118] In this embodiment, the connection assembly includes a driving part and a connecting part. The driving part is arranged inside the yaw outer rod 2 and is used to drive the end effector to move; the connecting part connects the driving part and the driving rod 5.

[0119] The existence of the yaw action causes a phase change in the power transmission process. The setting of the connecting part ensures that the power can be transmitted to the driving part in the yaw state, thereby realizing the driving of the end effector action.

[0120] In this embodiment, the driving part includes a threaded sleeve 12, on which a screw rod 11 is threadedly provided, the threaded sleeve 12 is fixedly connected to the connecting part, and the screw rod 11 is connected to the end effector.

[0121] The driving rod 5 drives the threaded sleeve 12 to rotate, thereby driving the screw 11 to perform linear motion, thereby driving the end effector to move. The rotational motion has high control accuracy and good stability, which is further conducive to achieving more complex and delicate surgical operations.

[0122] In the present invention, since the pivot axis 16 of the yaw outer rod and the connecting rod intersects with the axis of the connecting rod 9, the rotational movement of the connecting rod 9 can drive the yaw outer rod 2 and the end actuator thereon to rotate around the axis of the connecting rod 9, which is one degree of freedom; secondly, due to the setting of the intersecting axis transmission assembly, the rotational movement of the yaw rod 13 can drive the yaw outer rod 2 to rotate around the pivot axis 16 of the yaw outer rod and the connecting rod, thereby realizing the yaw outer rod 2 and the end actuator thereon to swing relative to the axis of the yaw rod 13 and the connecting rod 9, which is one degree of freedom; thirdly, the setting of the driving rod 5 drives the end actuator to perform related technical actions, which is one degree of freedom. Therefore, the movement of the three degrees of freedom, especially the yaw and action of the end actuator, are respectively driven by the movement of two different rods, thereby avoiding the situation where the driving parts drive each other under different operations and cause misoperation.

[0123] In this embodiment, if Fig. 9 As shown, the end effector includes a jaw 14 .

[0124] In the present embodiment, there are two forceps blades 14 , that is, the two forceps blades 14 form two execution parts of the surgical forceps.

[0125] The surgical instrument of this embodiment is a surgical forceps.

[0126] In this embodiment, if Fig.10 As shown, the intersecting axis transmission assembly includes a first crown gear 18 arranged at the end of the deflection rod 13 and a second crown gear 19 arranged at the end of the deflection outer rod 2. The first crown gear 18 and the second crown gear 19 are meshed with each other, and the rotation axes of the first crown gear 18 and the second crown gear 19 intersect.

[0127] In this embodiment, the yaw outer lever 2 and the second crown gear 19 are integrally formed.

[0128] The crown gear has high rigidity, so the transmission stability is good and a variety of transmission angles can be selected.

[0129] In this embodiment, if Fig.11 and Fig.12As shown, the gear teeth of the first crown gear 18 are distributed in an arc shape at the end of the deflection rod 13, and the value range of the central angle x corresponding to the arc is 10°≤x≤270°.

[0130] The central angle x corresponding to the arc in this embodiment is 160°.

[0131] It can be understood that, when the transmission ratio is constant, the distribution range of the teeth of the first crown gear 18 determines the angle at which it drives the second crown gear 19 to rotate, that is, determines the swing angle of the swing outer rod 2, which directly affects the motion range of the end effector, or when the swing angle of the swing outer rod 2 is constant, the distribution range of the teeth of the first crown gear 18 determines its transmission ratio, which directly affects the sensitivity during operation, and the range of 10° to 270° is sufficient to cover most application scenarios.

[0132] In this embodiment, the gear teeth of the first crown gear 18 are distributed at equal angles at the end of the deflection rod 13 .

[0133] The gear teeth of the first crown gear 18 are distributed at equal angles, so the transmission ratio of the first crown gear 18 driving the second crown gear 19 is fixed, that is, the driving of the yaw motion of the end effector by rotating the yaw rod 13 is linear.

[0134] In this embodiment, if Fig.10 and Fig.12 As shown, the two ends of the gear teeth distribution of the first crown gear 18 are respectively provided with limiting structures 20 , and the limiting structures 20 are arranged at the ends of the deflection rod 13 .

[0135] Since the swing of the swing outer rod 2 rotates around the pivot axis 16 of the swing outer rod and the connecting rod, the swing outer rod 2 itself has two stop points of the swing stroke. In order to prevent the swing outer rod 2 from swinging beyond the stop points and colliding with the connecting rod 9, limiting structures 20 are provided at both ends of the tooth distribution of the first crown gear 18, so as to limit the movement of the swing outer rod 2 before the stop points of the two directions of movement of the swing outer rod 2, which has higher safety.

[0136] In this embodiment, if Fig.10 As shown, the rotation axis 21 of the second crown wheel is perpendicular to the rotation axis of the first crown wheel 18 .

[0137] In this embodiment, if Fig.10 As shown, the pivot axis 16 of the yaw outer lever and the connecting rod is perpendicular to the axis of the connecting rod 9 .

[0138] The swing motion axis of the swing outer rod 2 is perpendicular to the axis of the connecting rod 9, that is, perpendicular to the axis of the swing rod 13. Therefore, during operation, the swing direction of the swing outer rod 2 and the end effector thereon is stable during the driving process and will not tilt, which is convenient for surgical operation.

[0139] In this embodiment, if Fig.10 As shown, the rotation axis 21 of the second crown wheel is coaxial with the pivot axis 16 of the yaw outer lever and the connecting rod.

[0140] The rotation axis 21 of the second crown gear is coaxial with the rotation center of the yaw outer rod 2, that is, the second crown gear 19 rotates synchronously with the yaw outer rod 2, avoiding interference between the two movements, and the yaw range of the end effector is larger, and the stroke of the end effector in the two yaw directions is the same.

[0141] In this embodiment, if Fig.10 As shown, two mounting ears 17 are provided at the end of the connecting rod 9 , the yaw outer rod 2 is pivotally connected to the connecting rod 9 via one of the mounting ears 17 , and the second crown gear 19 on the yaw outer rod 2 is pivotally connected to the other mounting ear 17 .

[0142] By providing two mounting ears 17 to mount the yaw outer rod 2, interference between the movement of the yaw outer rod 2 and the second crown gear 19 is further avoided, thereby ensuring the yaw range of the end effector.

[0143] In this embodiment, if Fig.13 As shown, the end effector includes:

[0144] The connecting rod mechanism is used to drive the clamp blade 14 to rotate around the rotation center between the clamp blade 14 and the actuator bracket.

[0145] By providing a connecting rod mechanism, it is possible to convert a driving force in a single direction into a force for driving the pliers 14 to rotate, thereby enabling the two pliers 14 to clamp or open.

[0146] In this embodiment, if Fig.13 As shown, the connecting part is a universal joint group, which includes a first byte 22 and a twentieth byte 23. The first byte 22 is connected to the end of the driving rod 5, and the twentieth byte 23 is connected to the threaded sleeve 12. The first byte 22 and the second byte 23 are fixedly connected, and the first byte 22 and the second byte 23 are combined to form a universal joint.

[0147] By setting the universal joint group, the first byte 22 can transmit the rotational force to the twentieth byte 23 in an inclined manner after the deflection outer rod 2 deflects, so that the action of the end effector can still be controlled after the end effector deflects.

[0148] The following is a detailed introduction to the sway motion of the sway outer rod 2 and the end effector in this embodiment:

[0149] like Fig.14As shown, at this time, the deflection angle of the deflection outer rod 2 is 0, and the deflection rod 13 is rotated in the direction B. When the first crown gear 18 and the second crown gear 19 cooperate, the deflection outer rod 2 and the end effector rotate about the pivot axis 16 of the deflection outer rod and the connecting rod, and the rotation direction is Fig.14 In the C direction, such as Fig.15 As shown, at this time, the swaying of the swaying outer rod 2 reaches the dead point.

[0150] In this embodiment, the rotation of the drive rod 5 drives the threaded sleeve 12 to rotate, and the rotation of the threaded sleeve 12 drives the screw rod 11 to move along the axial direction of the screw rod 11 through the thread, thereby driving the pliers head 1 to open and close, and the Z-axis torque of the friction force between the threaded sleeve 12 and the screw rod 11, but the force sensor 6 in this solution does not actually measure the torque in this direction, so it will not affect the measurement result of the force sensor 6. The rotation of the deflection rod 13 drives the deflection outer rod 2 to deflect relative to the connecting rod 9 through the crown gear; after the deflection outer rod 2 deflects, the opening of the pliers head will generate a Z-axis torque, but the force sensor 6 in this solution does not actually measure the torque in this direction, so it will not affect the measurement result of the force sensor 6.

[0151] During the operation, if the forceps head 1 is subjected to a force in the X-axis direction, the force in the X-axis direction is applied to the force sensor 6 through the forceps head 1, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque My in the X-axis direction. If the forceps head 1 is subjected to a force in the Y-axis direction, the force in the Y-axis direction is applied to the force sensor 6 through the forceps head 1, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the torque Mx in the Y-axis direction. If the forceps head 1 is subjected to a force in the Z-axis direction, the force in the Z-axis direction is applied to the force sensor 6 through the forceps head 1, the yaw outer rod 2, and the connecting rod 9, and the force sensor 6 detects the force in the Z-axis direction.

[0152] like Fig.15 As described above, after the deflection outer rod 2 deflects, the center of gravity of the deflection outer rod 2 changes and deviates from the axis of the outer rod. Under the action of the gravity moment, the force sensor will detect the X-direction torque My. In actual control, real-time calculation can be performed according to the state of the deflection outer rod 2, and the system automatically eliminates this part of the influence. The system compensates for the gravity moment change caused by the change of the device posture in real time, and eliminates the force and moment caused by the change of the device posture.

[0153] Embodiment 5:

[0154] The difference between this embodiment and the above-mentioned embodiment is that the forceps blade 14 of the end effector is replaced by a surgical blade head, and the number of the surgical blade head is set to one.

[0155] Therefore, the surgical instrument in this embodiment is a scalpel.

[0156] Embodiment 6:

[0157] The difference between this embodiment and the above-mentioned embodiment is that the driving rod 5 is a sleeve structure, so the coaxial hole on the driving rod 5 can allow the active cable to pass through, and the active cable is connected to the end effector to provide energy to the end effector, thereby making the surgical instrument of this embodiment an active surgical instrument.

[0158] Embodiment 7:

[0159] The difference between this embodiment and the above-mentioned embodiment is that the forceps blade 14 of the end effector is replaced by an ultrasonic blade head, and the number of ultrasonic blade heads is set to one.

[0160] Therefore, the surgical instrument in this embodiment is an ultrasonic scalpel.

[0161] Embodiment 8:

[0162] The difference between this embodiment and the above-mentioned embodiment is that the forceps 14 of the end effector are replaced by blades, namely a strong blade and a dynamic blade, and the number of the blades is set to two.

[0163] Therefore, the surgical instrument in this embodiment is a surgical scissors.

[0164] Embodiment 9:

[0165] The present embodiment is different from the above-mentioned embodiment in that the forceps blade 14 of the end effector is replaced by a pointed forceps blade 14 , and the number of the pointed forceps blades 14 is two.

[0166] Therefore, the surgical instrument in this embodiment is a needle holder or surgical forceps.

[0167] Embodiment 10:

[0168] The difference between this embodiment and the above embodiment is that the intersecting axis transmission assembly includes a first bevel gear arranged at the end of the deflection rod 13 and a second bevel gear arranged at the end of the deflection outer rod 2, the first bevel gear and the second bevel gear are meshed with each other, and the rotation axes of the first bevel gear and the second bevel gear intersect.

[0169] It is understandable that the intersecting shaft transmission can also be achieved through bevel gear transmission.

[0170] Embodiment 11:

[0171] The difference between this embodiment and the above-mentioned embodiment is that the intersecting shaft transmission assembly is a hyperbolic gear transmission.

[0172] In the above embodiment, the transmission ratio of the first crown gear 18 and the second crown gear 19 is balanced, that is, the rotation angle of the deflection rod 13 is basically equal to the deflection angle of the deflection outer rod 2. When x=160°, the positive and negative strokes of the deflection rod 13 are 80°, that is, the deflection stroke of the deflection outer rod 240 is also plus or minus 80°.

[0173] In another embodiment, the difference between this embodiment and the above embodiment is that the teeth of the first crown gear 18 are distributed in an arc shape at the end of the deflection rod 13, and the central angle x corresponding to the arc is 10°. The driving range of 10 degrees is relatively small, so the rotation stroke of the deflection rod 13 is also relatively small. In this embodiment, the transmission ratio of the intersecting axis transmission assembly is relatively small, that is, the small rotation angle of the deflection rod 13 is converted into a larger deflection angle of the deflection outer rod 2. The surgical instrument in this embodiment is a special surgical instrument, which is aimed at surgical scenarios that require rapid reciprocating operations.

[0174] Embodiment 12:

[0175] The difference between this embodiment and the above-mentioned embodiment is that the teeth of the first crown gear 18 are distributed in an arc shape at the end of the deflection rod 13, and the central angle x corresponding to the arc is 270°. The driving range of 270 degrees is relatively large, that is, the rotation stroke of the deflection rod 13 is relatively large. In this embodiment, the transmission ratio of the intersecting axis transmission assembly is relatively large, that is, the larger rotation angle of the deflection rod 13 is converted into a smaller deflection angle of the deflection outer rod 2. The surgical instrument in this embodiment is for a surgical scene that requires a more precise deflection angle, so the larger transmission ratio allows the operator to control the deflection angle more accurately.

[0176] Embodiment 13:

[0177] The difference between this embodiment and the above embodiment is that the gear teeth of the first crown gear 18 are distributed at increasing angles at the end of the deflection rod 13. In this embodiment, the gear teeth distribution angle increases gradually from the gear teeth distribution center to the two ends of the first crown gear 18.

[0178] It can be understood that the gear tooth distribution of the first crown gear 18 corresponds to the gear tooth distribution of the second crown gear 19 .

[0179] In this embodiment, since the angle gradually increases, when the deflection rod 13 is rotated, the initial rotation is converted into a relatively large deflection angle of the deflection outer rod 2. After that, the closer the stroke is to the end, the more the rotation of the deflection rod 13 is converted into a relatively small deflection angle of the deflection outer rod 2. Therefore, the surgical instrument of this embodiment can achieve rapid adjustment and precise control.

[0180] Embodiment 14:

[0181] The difference between this embodiment and the above-mentioned embodiment is that, in this embodiment, the outer rod is also covered with an insulating layer to improve the safety during the operation.

[0182] Embodiment 15:

[0183] The difference between this embodiment and the above-mentioned embodiment is that, in this embodiment, the angle between the pivot axis 16 of the yaw outer rod and the connecting rod and the axis of the connecting rod 9 is 70°.

[0184] In this embodiment, the pivot axis 16 of the yaw outer rod and the connecting rod is not perpendicular to the axis of the outer rod. When the yaw outer rod 2 rotates around the pivot axis 16 of the yaw outer rod and the connecting rod, the axis of the yaw outer rod 2 relative to the connecting rod 9 is. The surgical instrument of this embodiment is used to perform special surgical operations.

[0185] In this embodiment, the rotation axis 21 of the second crown gear is not perpendicular to the rotation axis of the first crown gear 18 , and the angle between them is also 70°.

[0186] Embodiment 16:

[0187] This embodiment is based on embodiment 1 or embodiment 2. Figure 1-Figure 4 As shown, it also includes a deflection rod 13, which is coaxially arranged between the outer rod and the driving rod 5. The opposite ends of the deflection rod 13 and the deflection outer rod 2 are respectively provided with intersecting axis transmission components that cooperate with each other.

[0188] By providing the deflection rod 13, the two driving actions of driving the end effector to move and driving the end effector to deflect are made independent of each other, thereby avoiding accidental contact between the two driving actions and facilitating more complex and delicate surgical operations.

[0189] The connecting assembly includes a driving part and a connecting part. The driving part is arranged inside the yaw outer rod 2 and is used to drive the end effector to move. The connecting part connects the driving part and the driving rod 5.

[0190] The existence of the yaw action causes a phase change in the power transmission process. The setting of the connecting part ensures that the power can be transmitted to the driving part in the yaw state, thereby realizing the driving of the end effector action.

[0191] Embodiment 17:

[0192] This embodiment is based on embodiment 1 or embodiment 2. Figure 1-Figure 4 As shown, the driving part is a transmission rod, and the transmission rod is coaxially arranged inside the yaw outer rod 2.

[0193] The transmission rod is designed for linear transmission, that is, the end effector can be driven by driving the transmission rod in a straight line, which is simple to operate and has a simple transmission structure.

[0194] Embodiment 18:

[0195] like Figure 5 and Figure 6 As shown, the driving part includes a threaded sleeve 12, on which a screw rod 11 is threadedly provided, the threaded sleeve 12 is fixedly connected to the connecting part, and the screw rod 11 is connected to the end effector.

[0196] The driving rod 5 drives the threaded sleeve 12 to rotate, thereby driving the screw 11 to perform linear motion, thereby driving the end effector to move. The rotational motion has high control accuracy and good stability, which is further conducive to achieving more complex and delicate surgical operations.

[0197] In another embodiment, a surgical robot includes a surgical instrument with force feedback as described in any one of the above embodiments.

[0198] The surgical instrument and surgical robot with force feedback of this embodiment, during surgery, the driving rod 5 drives the end effector to perform an action through the connecting component. When the end effector performs the action, it touches the internal tissues of the human body, and the force generated by the touch is transmitted from the end effector to the force sensor 6 through the force transmission component. The surgical robot system transmits the force detected by the force sensor 6 to the main operating hand on the doctor's operating table, and the doctor's hand feels the feedback of the force detected by the force sensor 6 from the main operating hand.

[0199] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A surgical instrument with force feedback, characterized in that: include: An end effector, which is used to perform relevant technical actions during surgery; A driving assembly, the driving assembly comprising a driving rod, the driving rod driving the end effector to perform an action through a connecting assembly; An outer rod, wherein the outer rod is coaxially sleeved outside the driving assembly, the end effector is arranged at the end of the outer rod, and a force sensor is installed on the outer rod; A force transmission component, wherein the measuring surface of the force sensor is in contact with the force transmission component, and the force transmission component is connected to the end effector.

2. A surgical instrument with force feedback according to claim 1, characterized in that: The outer rod comprises an operating outer rod and a swaying outer rod, the end actuator is arranged at the end of the swaying outer rod, the other end of the swaying outer rod is pivotally connected to the operating outer rod, and the pivot axis of the swaying outer rod and the operating outer rod intersects with the axis of the operating outer rod; The driving rod is coaxially arranged inside the operating outer rod.

3. A surgical instrument with force feedback according to claim 2, characterized in that: The force transmission component comprises an actuator bracket, a measuring surface of the force sensor is fitted with the actuator bracket, the end actuator is mounted on the actuator bracket, and a mounting surface of the force sensor is fitted with the yaw outer rod.

4. A surgical instrument with force feedback according to claim 1, characterized in that: The outer rod comprises a support rod, the force transmission assembly comprises a connecting rod arranged at the end of the support rod, and a swaying outer rod arranged at the end of the connecting rod, one end of the swaying outer rod is pivotally connected to the connecting rod, the end actuator is arranged at the other end of the swaying outer rod, and the pivot axis of the swaying outer rod and the connecting rod intersects with the axis of the connecting rod; The driving rod is coaxially arranged inside the connecting rod; The force sensor is sleeved on the outside of the driving rod and arranged between the connecting rod and the supporting rod.

5. A surgical instrument with force feedback according to claim 4, characterized in that: The measuring surface of the force sensor is in contact with the connecting rod, and the mounting surface of the force sensor is in contact with the supporting rod.

6. A surgical instrument with force feedback according to claim 3 or 4, characterized in that: It also includes a deflection rod, which is coaxially arranged between the outer rod and the driving rod. The opposite ends of the deflection rod and the deflection outer rod are respectively provided with intersecting shaft transmission components that match each other.

7. A surgical instrument with force feedback according to claim 6, characterized in that: The connecting assembly comprises a driving part and a connecting part. The driving part is arranged inside the yaw outer rod and is used to drive the end effector to move. The connecting part connects the driving part and the driving rod.

8. The surgical instrument with force feedback according to claim 7, characterized in that: The driving part is a transmission rod, and the transmission rod is coaxially arranged inside the yaw outer rod.

9. The surgical instrument with force feedback according to claim 7, characterized in that: The driving part comprises a threaded sleeve, a screw rod is threadedly provided on the threaded sleeve, the threaded sleeve is fixedly connected to the connecting part, and the screw rod is connected to the end effector.

10. A surgical robot, characterized in that: A surgical instrument with force feedback comprising the method described in any one of claims 1 to 9.

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