A rigid-flex printed circuit board, a linear module, and a surgical robot

Abstract

The present application discloses a flexible-rigid printed circuit board, a linear module, and a surgical robot, relating to the technical field of medical devices and being applied to the linear module of a surgical robot. The linear module includes a strip-shaped flexible circuit board and a rigid circuit board connected to one end of the flexible circuit board. The other end of the flexible circuit board is connected to the instrument drive board of the linear module. There is a 180-degree bending portion between the two ends of the flexible circuit board. The rigid circuit board is connected to an instrument drive box outside the linear module. Electrical circuits are arranged on the flexible circuit board to achieve electrical connection between the instrument drive board, the rigid circuit board, and the instrument drive box. The rigid circuit board is connected to the lead screw of the linear module, and the lead screw is driven by a linear motor of the linear module to drive the rigid circuit board and the instrument drive box to move linearly along the direction of the lead screw. During the linear movement of the rigid circuit board, the position of the bending portion of the flexible circuit board changes. By adopting this flexible-rigid printed circuit board, it is possible to achieve a more compact and closer arrangement of electrical circuits within the linear module.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and particularly to a rigid-flex printed circuit board, a linear module, and a surgical robot. Background Art

[0002] With the development of medical technology, medical devices have gradually become more intelligent, and surgical operations are often completed by medical surgical robots. For a medical surgical robot, generally, a linear module is arranged inside the robotic arm to help the instrument at the front end of the robotic arm move, and then the instrument is brought close to the human tissue to be operated on to complete the surgical operation. For example, if the instrument at the front end of the robotic arm is a scalpel, the robot drives the linear module in the robotic arm to move the scalpel to the human epidermis to complete the epidermal cutting.

[0003] When the linear module moves the front-end instrument, it inevitably drives some components inside the robotic arm to move inside the robotic arm. Usually, various types of wire harnesses need to be arranged inside the robotic arm to meet the communication requirements between components. During the movement of the aforementioned moving components, to avoid the wire harness being twisted in, the field usually uses a drag chain method to fix and protect the wire harness.

[0004] However, due to the requirements of surgical operations, the internal space of the robotic arm of the robot is small, and the structures of the internal components are very compact, with a compactness of up to ten millimeters, resulting in the inability to fix the wires in the robotic arm by the conventional drag chain method. Summary of the Invention

[0005] Embodiments of the present application provide a rigid-flex printed circuit board, a linear module, and a surgical robot to solve the problem in the prior art that electrical circuits cannot be arranged more compactly and tightly in the linear module.

[0006] Embodiments of the present application provide a rigid-flex printed circuit board applied to a linear module of a surgical robot, including:

[0007] A strip-shaped flexible circuit board, and a rigid circuit board connected to one end of the flexible circuit board. The other end of the flexible circuit board is connected to the instrument drive board of the linear module, and there is a 180-degree bending part between the two ends of the flexible circuit board;

[0008] The rigid circuit board is connected to an instrument drive box outside the linear module. Electrical circuits are arranged on the flexible circuit board to realize electrical connections between the instrument drive board, the rigid circuit board, and the instrument drive box;

[0009] The rigid circuit board is connected to the lead screw of the linear module;

[0010] The lead screw is driven by the linear motor of the linear module, driving the rigid circuit board and the instrument drive box to move linearly along the direction of the lead screw. During the linear movement of the rigid circuit board, the position of the bent portion of the flexible circuit board changes.

[0011] Further, the rigid circuit board includes: a first rigid circuit board and a second rigid circuit board connected to each other;

[0012] One end of the first rigid circuit board is connected to the flexible circuit board, and the second rigid circuit board is connected to the instrument drive box.

[0013] Further, the strip-shaped flexible circuit board serves as a first flexible circuit board;

[0014] The first rigid circuit board and the second rigid circuit board are connected by a second flexible circuit board, and electrical circuits are arranged on the second flexible circuit board.

[0015] Further, the first rigid circuit board is used to arrange sensors, and the second rigid circuit board has a drive box connection port for connecting the instrument drive box.

[0016] Further, the drive box connection port is a pogo pin connection device.

[0017] Further, a preamplification circuit connected to the sensor is also arranged on the first rigid circuit board, and electrical connection between the preamplification circuit and the instrument drive board is realized through 1 electrical wire on the flexible circuit board.

[0018] Further, a PFC connector is arranged on the flexible circuit board for connecting to the instrument drive board;

[0019] The portion of the flexible circuit board where the PFC connector is arranged is strengthened.

[0020] The embodiment of the present application also provides a linear module, including the rigid-flexible combination board described in any one of the above.

[0021] The embodiment of the present application also provides a surgical robot, including the above linear module.

[0022] The beneficial effects of the present application include:

[0023] The rigid-flex printed circuit board provided by the embodiment of the present application is applied to the linear module of a surgical robot, and includes a strip-shaped flexible printed circuit board and a rigid printed circuit board connected to one end of the flexible printed circuit board. The other end of the flexible printed circuit board is connected to the instrument drive board of the linear module. There is a 180-degree bending part between the two ends of the flexible printed circuit board. The rigid printed circuit board is connected to the instrument drive box outside the linear module. Electrical circuits are arranged on the flexible printed circuit board to achieve electrical connection between the instrument drive board, the rigid printed circuit board, and the instrument drive box. The rigid printed circuit board is connected to the lead screw of the linear module, and the lead screw is driven by the linear motor of the linear module to drive the rigid printed circuit board and the instrument drive box to move linearly along the direction of the lead screw. During the linear movement of the rigid printed circuit board, the position of the bending part of the flexible printed circuit board changes. Compared with the wire fixing method using a drag chain in the prior art, the flexible printed circuit board can achieve a 180-degree bend with a smaller turning radius, and the electrical circuits are arranged on the flexible printed circuit board, so that the electrical circuits can be arranged in a smaller space, that is, a more compact and closer arrangement of electrical circuits can be achieved within the linear module.

[0024] Other features and advantages of the present application will be described in the following specification, and in part, will be obvious from the specification, or will be understood by implementing the present application. The objectives and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written specification, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation to the present application. In the drawings:

[0026] Figure 1 is one of the schematic structural diagrams of the rigid-flex printed circuit board provided by the embodiment of the present application;

[0027] Figure 2 is another schematic structural diagram of the rigid-flex printed circuit board provided by the embodiment of the present application;

[0028] Figure 3 is a side sectional view of the linear module and the instrument drive box in the embodiment of the present application;

[0029] Figure 4 is a longitudinal sectional view of the linear module and the instrument drive box in the embodiment of the present application;

[0030] Figure 5 is one of the schematic structural diagrams of the surgical robot in the embodiment of the present application;

[0031] Figure 6 is another schematic structural diagram of the surgical robot in the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] To provide a solution for implementing a more compact and closer arrangement of electrical circuits within a linear module, the embodiments of the present application provide a rigid-flex board, a linear module, and a surgical robot. The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings of the specification. It should be understood that the preferred embodiments described herein are only for explaining and illustrating the present application and are not used to limit the present application. And without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0033] The embodiments of the present application provide a rigid-flex board, which is applied to the linear module of a surgical robot. As Figures 1-4 shown, it includes:

[0034] A strip-shaped flexible circuit board 1, and a rigid circuit board 2 connected to one end of the flexible circuit board 1. The other end of the flexible circuit board is connected to the instrument drive board 3 of the linear module. There is a 180-degree bending portion 11 between the two ends of the flexible circuit board;

[0035] The rigid circuit board 2 is connected to the instrument drive box 4 outside the linear module. Electrical circuits are arranged on the flexible circuit board 1 to achieve electrical connections between the instrument drive board 3, the rigid circuit board 2, and the instrument drive box 4;

[0036] The rigid circuit board 2 is connected to the lead screw 5 of the linear module;

[0037] The lead screw 5 is driven by the linear motor 6 of the linear module, driving the rigid circuit board 2 and the instrument drive box 4 to move linearly along the direction of the lead screw. During the linear movement of the rigid circuit board 2, the position of the bending portion 11 of the flexible circuit board 1 changes.

[0038] By using the above-mentioned rigid-flex board provided by the embodiments of the present application and applying it to the linear module of a surgical robot, compared with the existing technology of fixing wires using a cable carrier, using a flexible printed circuit (FPC) can achieve a 180-degree bend with a smaller turning radius. By arranging the electrical circuits on the flexible circuit board, it is possible to achieve an arrangement of electrical circuits that occupies less space, that is, to achieve a more compact and closer arrangement of electrical circuits within the linear module.

[0039] Figure 5 And Figure 6 FIG. is a schematic structural diagram of a surgical robot in the embodiments of the present application, including: a linear module 100, an instrument drive box 4, and an instrument 200 connected to the instrument drive box 4;

[0040] Among them, the linear module 100 has a guide rail 7 to control the linear movement of the instrument drive box 4 along the guide rail 7, so that the instrument drive box 4 drives the instrument 200 to move linearly, that is, to drive the instrument 200 to reciprocate telescopically.

[0041] In the embodiments of the present application, as Figures 1-4 shown, between the instrument drive board 3 and the rigid circuit board 2 in the linear module 100 and the instrument drive box 4, they are electrically connected through the electrical lines arranged on the flexible circuit board 1. The rigid circuit board 2 can be connected to the lead screw 5 through the lead screw nut 8. The instrument drive board 3 drives the lead screw 5 to rotate by controlling the linear motor 6, thereby driving the rigid circuit board 2 and the instrument drive box 4 to move linearly. The instrument drive box 4 drives the instrument 200 to move linearly. And during the linear movement of the rigid circuit board 2, the position of the bent portion 11 of the flexible circuit board 1 changes accordingly.

[0042] In the embodiments of the present application, the flexible circuit board 1 includes two parts. One part is the part that is connected to the instrument drive board 3 and cannot be bent, and the other part is the other part, that is, the part that can be bent and is connected to the rigid circuit board 2. The part of the rigid circuit board 2 and the flexible circuit board 1 that can be bent can change its position relative to the main body of the linear module 100 and the instrument drive board 3. The part of the flexible circuit board 1 that cannot be bent has a fixed position relative to the main body of the linear module 100 and the instrument drive board 3.

[0043] In the embodiments of the present application, a PFC connector 9 is arranged on the flexible circuit board 1 for connecting to the instrument drive board 3;

[0044] In order to maintain the stability of the flexible circuit board 1, the part of the flexible circuit board 1 where the PFC connector 9 is arranged can be strengthened, and the part of the flexible circuit board 1 that can be bent can also be protected and strengthened with a thin-walled material with high bending fatigue life, self-recovery ability, certain elasticity, strength and wear resistance.

[0045] In an embodiment of the present application, as Figures 1-4 shown, the rigid circuit board 2 may include: a first rigid circuit board 21 and a second rigid circuit board 22 connected to each other;

[0046] The first rigid circuit board 21 is connected to one end of the flexible circuit board 1, and the second rigid circuit board 22 is connected to the instrument drive box 4.

[0047] Further, in an embodiment of the present application, as Figures 1-4 shown, the strip-shaped flexible circuit board 1 is used as the first flexible circuit board 1;

[0048] The first rigid circuit board 21 and the second rigid circuit board 22 are connected through a second flexible circuit board 10, and electrical lines are arranged on the second flexible circuit board 10.

[0049] In an embodiment of the present application, as Figures 1-4As shown, the first rigid circuit board 21 is used to arrange the sensor 13, for example, a tensile and compressive force sensor. The second rigid circuit board 22 has a drive box connection port 14 for connecting the instrument drive box 4.

[0050] Furthermore, in the embodiment of the present application, the drive box connection port 14 can be a pogo pin connection device. By using the pogo pin connection device, the volume of the connection device is reduced, which is convenient for installation with the instrument drive box 4.

[0051] In the embodiment of the present application, the electrical lines arranged on the flexible circuit board 1 can be flexibly set according to the actual application needs. For example, the instrument drive board 3 can have a control line interface, a power line interface, a communication line interface, and a sensor output interface.

[0052] Among them, the control line interface, the power line interface, and the communication line interface on the instrument drive board 3 can be electrically connected to the corresponding interfaces on the instrument drive box 4 through the electrical lines arranged on the flexible circuit board 1.

[0053] The power line interface and the sensor output interface on the instrument drive board 3 can be electrically connected to the corresponding interfaces of the sensor 13 on the first rigid circuit board 21 through the electrical lines arranged on the flexible circuit board 1.

[0054] The number of electrical lines connected to the control line interface, the communication line interface, and the sensor output interface respectively can be flexibly set according to the actual application.

[0055] In the embodiment of the present application, a pre-amplification circuit connected to the sensor 13 can also be arranged on the first rigid circuit board 21. The pre-amplification circuit is electrically connected to the instrument drive board through 1 electrical line on the flexible circuit board.

[0056] The tensile and compressive force sensor is located inside the linear module, relatively fixed in position with respect to the instrument drive box 4, and relatively not fixed in position with respect to the instrument drive board 3. The signal it outputs is generally a weak voltage signal of 1 - 2 mV level. In an environment with multiple motor control signals, if the transmission cable is long, it is more vulnerable to interference, and it is difficult to provide a reliable wiring space in the limited space of the linear module.

[0057] In the present application, a pre-amplification circuit is designed for this signal on the rigid-flexible circuit board. After processing, the signal is amplified and the output impedance is transformed, improving the anti-interference performance and reducing the electrical wiring. Generally, 4 - 5 electrical lines are required for common sensors of the same type. In the present application, only 1 dedicated electrical line can be used in the rigid-flexible circuit board to achieve signal transmission.

[0058] Based on the above-mentioned flexible and rigid printed circuit board provided by the embodiments of the present application, the embodiments of the present application further provide a linear module, including any one of the above-mentioned flexible and rigid printed circuit boards, as well as an instrument drive board, a lead screw, and a linear motor.

[0059] The embodiments of the present application further provide a surgical robot, including the above-mentioned linear module, as well as an instrument drive box and an instrument.

[0060] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the presence of additional identical elements in the process, method, article or device including the said element.

[0061] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims

1. A rigid-flex printed circuit board is applied to the linear module of a surgical robot, and is characterized in that, Comprising: A strip-shaped flexible circuit board, and a rigid circuit board connected to one end of the flexible circuit board. The other end of the flexible circuit board is connected to the instrument drive board of the linear module, and there is a 180-degree bending portion between the two ends of the flexible circuit board; The rigid circuit board is connected to an instrument drive box outside the linear module. Electrical circuits are arranged on the flexible circuit board to achieve electrical connection between the instrument drive board, the rigid circuit board, and the instrument drive box; The rigid circuit board is connected to the lead screw of the linear module; The lead screw is driven by a linear motor of the linear module to drive the rigid circuit board and the instrument drive box to move linearly along the direction of the lead screw. During the linear movement of the rigid circuit board, the position of the bending portion of the flexible circuit board changes; Wherein, the rigid circuit board includes: a first rigid circuit board and a second rigid circuit board connected to each other; The first rigid circuit board is connected to one end of the flexible circuit board, and the second rigid circuit board is connected to the instrument drive box.

2. The rigid-flex printed circuit board according to claim 1, wherein The strip-shaped flexible circuit board serves as a first flexible circuit board; The first rigid circuit board and the second rigid circuit board are connected by a second flexible circuit board, and electrical circuits are arranged on the second flexible circuit board.

3. The rigid-flex printed circuit board according to claim 1, wherein The first rigid circuit board is used to arrange sensors, and the second rigid circuit board has a drive box connection port for connecting the instrument drive box.

4. The rigid-flex printed circuit board according to claim 3, wherein The drive box connection port is a pogo pin connection device.

5. The rigid-flex printed circuit board according to claim 3, wherein A preamplification circuit connected to the sensor is also arranged on the first rigid circuit board, and electrical connection between the preamplification circuit and the instrument drive board is achieved through 1 electrical wire on the flexible circuit board.

6. The rigid-flex printed circuit board according to claim 1, wherein A PFC connector is arranged on the flexible circuit board for connecting to the instrument drive board; The portion of the flexible circuit board where the PFC connector is arranged is strengthened.

7. A linear module, characterized in that, Comprising the rigid-flex board according to any one of claims 1-6.

8. A surgical robot, characterized in that, Comprising the linear module according to claim 7.

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