Surgical robot and instrument driving part thereof

Abstract

The invention relates to a surgical robot and an instrument driving part thereof. The instrument driving part comprises a mounting plate, a force detection mechanism and a power mechanism. The force detection mechanism comprises a plurality of support assemblies, and the support assemblies are detachably connected with the mounting plate. The support assemblies comprise at least one first support assembly, the first support assembly and other support assemblies are mutually spaced, and a first sensitive element is arranged on the first support assembly and used for detecting deformation of the first support assembly. The power mechanism is detachably connected with the support assembly. When the tail end of the instrument is driven by the power mechanism to carry out certain operation, the tail end of the instrument is subjected to counter-acting force from human tissues, and the counter-acting force enables the first support assembly and the first sensitive element located on the first support assembly to deform; therefore, the counter-acting force borne by the power mechanism, namely the force applied to the human tissue, can be obtained through the deformation amount of the first sensitive element, so that the tissue is prevented from being accidentally injured by the tail end of the instrument.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a surgical robot and its instrument driving part. Background Art

[0002] Minimally invasive laparoscopic surgery has become an inevitable trend in the development of future surgical methods due to its advantages such as small incisions, fast recovery, short hospital stay, mild pain, and small scars.

[0003] In related technologies, most surgical instruments lack an effective force detection / force feedback system, resulting in doctors only completing operations such as clamping, cutting, and suturing during surgery through vision, lacking intuitive feelings of contact force, extrusion force, especially clamping force, and there is a hidden danger of accidentally injuring tissues. Summary of the Invention

[0004] Based on this, it is necessary to provide a surgical robot and its instrument driving part for the problem that surgical instruments lack an effective force detection / force feedback system.

[0005] An instrument driving part, the instrument driving part includes:

[0006] A mounting plate;

[0007] A force detection mechanism, including a plurality of bracket components, the bracket components are detachably connected to the mounting plate;

[0008] The plurality of bracket components include at least one first bracket component, the first bracket component is spaced apart from other bracket components among the plurality of bracket components; a first sensitive element is arranged on the first bracket component, and the first sensitive element is used for detecting the deformation of the first bracket component; and

[0009] A power mechanism, detachably connected to the bracket component.

[0010] In one embodiment, the first bracket component includes:

[0011] A first connecting piece, detachably connected to the mounting plate;

[0012] A stiffness weakening piece, one end of which is connected to the first connecting piece, and the first sensitive element is arranged on the stiffness weakening piece;

[0013] A second connecting piece, connected to the other end of the stiffness weakening piece, and the power mechanism is detachably connected to the second connecting piece.

[0014] In one embodiment, the bracket assembly includes: there are a plurality of the stiffness weakening members, the plurality of stiffness weakening members are located on the same circumference, the stiffness weakening members are centrosymmetric about the center of the circle where they are located, the center of the circle where the stiffness weakening members are located is on the axis of the power mechanism, and two adjacent stiffness weakening members are spaced apart from each other.

[0015] In one embodiment, a plurality of the first sensitive elements provided on the first bracket assembly are electrically connected to form a Wheatstone bridge.

[0016] In one embodiment, the number of the stiffness weakening members is four, at least one of the first sensitive elements is provided on each of the stiffness weakening members, and the force measuring direction of the first sensitive element forms a preset angle θ with the axis direction of the power mechanism.

[0017] In one embodiment, two of the first sensitive elements are respectively provided on each of the stiffness weakening members, the force measuring direction of one of the first sensitive elements forms a positive preset angle θ with the axis direction of the power mechanism, and the force measuring direction of the other first sensitive element forms a negative preset angle θ with the axis direction of the power mechanism.

[0018] In one embodiment, the first sensitive element is a resistance strain gauge, and the extending direction of the resistance wire in the resistance strain gauge forms a preset angle θ with the axis direction of the power mechanism.

[0019] In one embodiment, a first hole and a plurality of second holes are formed in the second connecting member, the power mechanism passes through the first hole and has a gap with the inner wall of the first hole, and the plurality of second holes surround the periphery of the first hole, and the power mechanism is connected to the second connecting member through the second holes.

[0020] In one embodiment, the mounting plate is of a U-shaped structure, and the number of the first bracket assemblies is two, and the two first bracket assemblies are respectively connected to two ends of the U-shaped structure.

[0021] A surgical robot includes a surgical instrument and an instrument driving part, and an output shaft of the instrument driving part is connected to the surgical instrument for driving the surgical instrument to move.

[0022] When it is necessary to detect the force exerted by a certain power mechanism on human tissues, the above surgical robot and its instrument driving part can connect the power mechanism to the first bracket assembly correspondingly. During measurement, when the instrument end is driven by the power mechanism to perform a certain operation, the instrument end will be subjected to a reaction force from human tissues, and this reaction force will be transmitted to the first bracket assembly, causing the first bracket assembly and the first sensitive element located on the first bracket assembly to deform. Thus, the reaction force received by the power mechanism, that is, the force applied to human tissues, can be obtained through the deformation amount of the first sensitive element, so as to prevent the instrument end from accidentally injuring tissues. At the same time, the first bracket assembly is spaced apart from other bracket assemblies. Therefore, when the power mechanism connected to the first bracket assembly receives a reaction force, this reaction force will only cause the first sensitive element on the first bracket assembly to deform, avoiding the situation where when the first bracket assembly is connected to other bracket assemblies, this reaction force is transmitted from the first bracket assembly to other bracket assemblies, reducing the deformation amount of the first sensitive element. That is, by reducing the area of the first bracket assembly, the stiffness of the first bracket assembly is further reduced to enhance the sensitivity of the first sensitive element. Description of the Drawings

[0023] Figure 1 It is a schematic structural diagram of a surgical robot in an embodiment.

[0024] Figure 2 It is a schematic structural diagram of an instrument driving part in an embodiment.

[0025] Figure 3 It is a schematic structural diagram of a mounting plate, a force detection mechanism and a mounting block from one perspective in an embodiment.

[0026] Figure 4 It is a schematic structural diagram of a mounting plate, a force detection mechanism and a mounting block from another perspective in an embodiment.

[0027] Figure 5 It is a schematic structural diagram of a force detection mechanism in an embodiment.

[0028] Reference Numerals: 10, instrument driving part; 20, linear slide; 30, surgical instrument; 40, sterile adapter; 50, cannula; 60, execution part; 70, instrument end;

[0029] 100, mounting plate; 120, third hole; 130, fourth hole; 140, weakening part;

[0030] 200, force detection mechanism; 210, first sensitive element; 220, bracket assembly; 221, first connecting member; 222, stiffness weakening member; 223, second connecting member; 2231, first hole; 2232, second hole; 225, first bracket assembly; 240, second sensitive element;

[0031] 300. Power mechanism;

[0032] 410. Shielding plate; 420. Vertical plate; 430. Instrument quick-release interface; 440. Mounting block; 460. Board card mounting seat; 470. Sensor signal acquisition board; 480. Flexible cable; 490. Transmission disc. Detailed implementation manners

[0033] To make the above objects, features, and advantages of the present application more apparent and understandable, the following describes the detailed implementation manners of the present application in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present application.

[0035] In addition, if there are terms such as "first" and "second", these terms are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, if there is a term "plural", the meaning of "plural" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0036] In the present application, unless otherwise clearly defined and limited, if there are terms such as "mount", "connect", "couple", "fix", etc., these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0037] In this application, unless otherwise clearly defined and limited, if there is a description such as a first feature being "on" or "under" a second feature, its meaning may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If so, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0039] Refer to Figure 1 , a surgical robot provided by an embodiment of the present application, the surgical robot includes a surgical instrument 30 and an instrument driving part 10, and the output shaft of the instrument driving part 10 is connected to the surgical instrument 30 for driving the surgical instrument 30 to move.

[0040] Furthermore, the surgical robot includes a robotic arm, and the robotic arm includes a linear slide 20, a surgical instrument 30, a sterile adapter 40, an instrument driving part 10 and a cannula 50. The output shaft of the instrument driving part 10 passes through the sterile adapter 40 and is connected to the surgical instrument 30. The surgical instrument 30 has an execution part 60. Through holes are respectively formed in the instrument driving part 10 and the sterile adapter 40. The execution part 60 sequentially passes through the through holes in the sterile adapter 40 and the instrument driving part 10. The end of the execution part 60 is an instrument end 70 for performing operations. Wherein the instrument driving part 10, the sterile adapter 40 and the surgical instrument 30 are slidably arranged on the linear slide 20 along the extension direction of the execution part 60. The cannula 50 is arranged at the distal end of the linear slide 20, and the execution part 60 passes through the cannula 50.

[0041] Among them, the linear slide table 20 is used to drive the instrument driving part 10, the sterile adapter 40, and the surgical instrument 30 to reciprocate linearly along the extension direction of the execution part 60, so that the operator can control the instrument end 70 to perform surgery on human tissues. The cannula 50 is detachably mounted on the linear slide table 20 and is used for preoperative puncture and guiding the surgical instrument 30 during the operation. At the same time, it can also ensure that the contact point between the cannula 50 and the human body remains stationary during the operation, playing a role in protecting the human wound from being torn. The sterile adapter 40 is mounted on the instrument driving part 10, and it can transmit the torque of the instrument driving part 10 to the surgical instrument 30. During the operation, the entire robotic arm will be covered with a sterile cover to isolate the surgical instrument 30 from the surgical environment and ensure the sterility of the surgical environment. The sterile cover is fixed on the sterile adapter 40.

[0042] Referring to Figures 2 - 5 , an instrument driving part 10 provided in an embodiment of the present application includes a mounting plate 100, a force detection mechanism 200, and a power mechanism 300. The force detection mechanism 200 includes a plurality of bracket assemblies 220, and the bracket assemblies 220 are detachably connected to the mounting plate 100. The plurality of bracket assemblies 220 includes at least one first bracket assembly 225. The first bracket assembly 225 is spaced apart from the other bracket assemblies 220, and a first sensitive element 210 is provided on the first bracket assembly 225. The first sensitive element 210 is used to detect the deformation of the first bracket assembly 225. The power mechanism 300 is detachably connected to the bracket assembly 220.

[0043] During the operation, when the instrument end 70 comes into contact with human tissues, including touching, pulling, and clamping, to generate a contact force or a clamping force, the wire rope of the corresponding degree of freedom will generate a torque to resist the contact force or the clamping force, and the torque generated by it depends on the torque output by the power mechanism 300. And the power mechanism 300 is mounted on the bracket assembly 220. Therefore, the bracket assembly 220 provides a constraint torque to the power mechanism 300, and its magnitude is equal to the output torque of the power mechanism 300 and the direction is opposite. Therefore, the magnitude of the output torque of the power mechanism 300 can be obtained through the torque received by the bracket assembly 220, and then the contact force or the clamping force of the instrument end 70 on the human tissue can be obtained.

[0044] It should be noted that the power mechanism 300 corresponds to multiple degrees of freedom of the instrument end 70 respectively, and can realize independent control of different degrees of freedom of the instrument end 70. The power mechanism 300 can be a motor. The power mechanism 300 corresponds to the bracket assembly 220 one by one, and the specific number of motors can be determined according to the degrees of freedom of the instrument to be controlled.

[0045] In an embodiment of the present application, a plurality of bracket assemblies 220 are arranged in sequence to form a U-shaped structure. The plurality of bracket assemblies 220 include at least one first bracket assembly 225. The first bracket assembly 225 can be at any position on the U-shaped structure, and the first bracket assembly 225 is spaced apart from other bracket assemblies 220.

[0046] In a preferred embodiment of the present application, the number of power mechanisms is five, and correspondingly, the number of bracket assemblies 220 is also five. The five bracket assemblies 220 form a U-shaped structure, and a through hole for passing through the execution part 60 is provided in the middle of the U-shaped structure. Of course, the structure of the mounting plate can also be other shapes, such as an annular structure. At this time, the bracket assembly 220 at any position is the first bracket assembly 225, and the first bracket assembly 225 can be set according to actual needs. In this embodiment, when it is necessary to detect the force exerted by a certain power mechanism 300 on human tissue, the power mechanism 300 can be correspondingly connected to the first bracket assembly 225. During measurement, when the power mechanism 300 drives the instrument end 70 to perform a certain operation, the instrument end 70 will receive a reaction force from human tissue, and this reaction force will be transmitted to the first bracket assembly 225, causing the first bracket assembly 225 and the first sensitive element 210 located on the first bracket assembly 225 to deform. Thus, the reaction force received by the power mechanism 300, that is, the force applied to human tissue, can be obtained through the deformation amount of the first sensitive element 210, so as to prevent the instrument end 70 from accidentally injuring the tissue.

[0047] At the same time, the first bracket assembly 225 is spaced apart from other bracket assemblies 220. Thus, when the power mechanism 300 connected to the first bracket assembly 225 receives a reaction force, this reaction force will only cause the first sensitive element 210 on the first bracket assembly 225 to deform, and at the same time, it can avoid the influence of the action of other power mechanisms 300 on the first bracket assembly 225, so that the deformation amount measured by the first sensitive element 210 represents the reaction force received by the power mechanism 300 connected to the first bracket assembly. That is, by improving the independence of the first bracket assembly 225, the sensitivity and measurement accuracy of the first sensitive element 210 are enhanced.

[0048] In some of these embodiments, the number of the first bracket assemblies 225 is two. The power mechanisms 300 connected to the two first bracket assemblies are used to control the closing of the instrument end, and the first sensitive elements 210 provided on the two first bracket assemblies are used to measure the reaction force received by the power mechanism during the process of closing the instrument end.

[0049] The arrangement positions of the two first bracket components 225 on the mounting plate can be arbitrary, and the two first bracket components 225 and other bracket components 220 are arranged at intervals. In a preferred embodiment of the present application, the bracket components 220 are arranged in a U shape on the mounting plate, the two first bracket components 225 are arranged at both ends of the "U" shape, and multiple bracket components 220 are in the middle. The multiple bracket components 200 in the middle can be ordinary bracket components or first bracket components 225. When the multiple bracket components 200 in the middle are ordinary bracket components, their function is to connect the power mechanism 300 and the sterile adapter. The multiple bracket components in the middle can be arranged at intervals or connected to each other. During actual use, the power mechanism 300 that needs to measure force can be correspondingly connected to the two first bracket components 225, and the force applied to the human tissue can be detected by the first sensitive element 210 located on the first bracket component 225.

[0050] In some other embodiments, each bracket component 220 is a first bracket component 225. That is, adjacent two first bracket components 225 are arranged at intervals. During actual use, the first sensitive element 210 can be selectively arranged on any first bracket component 225. When it is necessary to detect the force exerted by a certain power mechanism 300 on the human tissue, the first sensitive element 210 can be arranged on the first bracket component 225 corresponding to the power mechanism 300. During measurement, when the instrument end 70 performs a certain operation driven by the power mechanism 300, the instrument end 70 will receive a reaction force from the human tissue, and this reaction force will be transmitted to the first bracket component 225, causing the first bracket component 225 and the first sensitive element 210 located on the first bracket component 225 to deform. Thus, the reaction force received by the power mechanism 300, that is, the force applied to the human tissue, can be obtained through the deformation amount of the first sensitive element 210 to prevent the instrument end 70 from accidentally injuring the tissue.

[0051] In addition, each first bracket component 225 is provided separately, and the first sensitive element 210 is arranged on the first bracket component 225. That is, the force detection mechanisms 200 in each dimension are fully decoupled, and each dimension of the force detection mechanism 200 can be maintained and replaced separately. Therefore, the whole instrument drive part 10 will not be scrapped as a whole due to the damage of one dimension of the force detection mechanism 200, improving the reliability of the whole instrument drive part 10 and saving costs. In the embodiment of the present application, the first bracket component 225 includes a first connecting piece 221, multiple intermediate pieces, and a second connecting piece 223. The multiple intermediate pieces are used to connect the first connecting piece 221 and the second connecting piece 223, and the first sensitive element 210 is arranged on the intermediate piece.

[0052] Specifically, multiple middle pieces are located on the same circumference, the middle pieces are centrosymmetric about the center of the circle where they are located, the center of the circle where the middle pieces are located is on the axis of the power mechanism 300, and adjacent middle pieces are spaced apart from each other. In some embodiments, multiple first sensitive elements are provided on the middle pieces. To improve the sensitivity of the first sensitive elements, the middle pieces can be of a thin-walled structure or stiffness-weakening members. Specifically, in some embodiments, the first bracket assembly 225 includes a first connecting member 221, a stiffness-weakening member 222, and a second connecting member 223. The first connecting member 221 is detachably connected to the mounting plate 100. One end of the stiffness-weakening member 222 is connected to the first connecting member 221, and the first sensitive element 210 is disposed on the stiffness-weakening member 222. The second connecting member 223 is connected to the other end of the stiffness-weakening member 222, and the power mechanism 300 is detachably connected to the second connecting member 223.

[0053] In this embodiment, a plurality of third holes 120 are formed in the mounting plate 100. Screws pass through the third holes 120 and the holes in the first connecting member 221 to fix the first connecting member 221 to the mounting plate 100. Thus, the first bracket assembly 225 is fixed to the mounting plate 100 through the first connecting member 221, and the power mechanism 300 is fixed to the second connecting member 223 of the first bracket assembly 225, thereby indirectly fixing the power mechanism 300 to the mounting plate 100. And since the power mechanism 300 is connected to the second connecting member 223 and the first sensitive element 210 is disposed on the stiffness-weakening member 222 between the first connecting member 221 and the second connecting member 223, that is, when the power mechanism 300 receives a reaction force from the human tissue, due to the poor stiffness of the stiffness-weakening member 222, the power mechanism 300 will drive the stiffness-weakening member 222 to deform through the second connecting member 223, and then the first sensitive element 210 will deform. The setting of the stiffness-weakening member 222 is beneficial to improving the sensitivity of the first sensitive element 210 and the detection accuracy of the force detection mechanism 200.

[0054] In some of these embodiments, the middle piece is of a thin-walled structure. By reducing the thickness of the thin-walled structure, the stiffness of the thin-walled structure is weakened, making the thin-walled structure more likely to deform, which is convenient for improving the detection accuracy of the force detection mechanism 200.

[0055] In other embodiments, the stiffness-weakening member 222 is provided with a plurality of holes. For example, holes are formed in the stiffness-weakening member 222 to form a double-hole parallel beam structure. That is, by opening holes in the stiffness-weakening member 222, the stiffness of the stiffness-weakening member 222 is weakened, making the thin-walled structure more likely to deform, which is convenient for improving the detection accuracy of the force detection mechanism 200.

[0056] In other embodiments, the stiffness of the stiffness reducing member 222 can be reduced by changing the shape of the stiffness reducing member 222. For example, the stiffness reducing member 222 can be set as a waist-shaped structure, and the size of the stiffness reducing member 222 can be reduced and then increased along the axial direction of the power mechanism 300.

[0057] In other embodiments, the shape of the stiffness reducing member 222 can be an I-shape, the length of the two ends of the stiffness reducing member connected to the first connecting member and the second connecting member is greater than the middle part of the stiffness reducing member, and the first sensitive element is arranged in the middle part of the stiffness reducing member 222. This can ensure the installation strength of the stiffness reducing member, the power mechanism and the sterile adapter, and also improve the sensitivity of the first sensitive element.

[0058] Of course, the stiffness reducing member 222 may also be any combination of the above three forms, for example, a stiffness reducing member 222 of a waist-shaped structure is provided with a hole, or a thin-walled structure is provided with a hole.

[0059] Furthermore, there are multiple stiffness reducing parts 222, and the multiple stiffness reducing parts 222 are located on the same circumference. The stiffness reducing parts 222 are symmetrical about the center of the circle where they are located. The center of the circle where the stiffness reducing parts 222 are located is located on the axis of the power mechanism 300, and two adjacent stiffness reducing parts 222 are spaced apart from each other.

[0060] Specifically, the stiffness reducing member 222 is an arc-shaped structure.

[0061] In this embodiment, a plurality of stiffness reducing members 222 are used to enhance the support of the first connecting member 221 to the second connecting member 223, that is, to enhance the support force to the power mechanism 300. At the same time, two adjacent stiffness reducing members 222 are spaced apart from each other, that is, the stiffness of the entire stiffness reducing member 222 is further reduced, and the sensitivity of the first sensitive element 210 is improved. A plurality of stiffness reducing members 222 are located on the same circumference, and the stiffness reducing members 222 are symmetrical about the center of the circle where they are located. The center of the circle where the stiffness reducing members 222 are located is located on the axis of the power mechanism 300, so that the torsional direction of the power mechanism 300 is the same as the torsional direction of the stiffness reducing member 222, so that the torque of the power mechanism 300 can be more accurately detected by the force detection mechanism 200.

[0062] In one embodiment, a plurality of first sensing elements 210 on the same first support assembly 225 are electrically connected to form a Wheatstone bridge.

[0063] In actual situations, the load on the force detection mechanism 200 may include the combined effects of axial force, shear force, and bending moment in addition to the output torque of the power mechanism 300. The change in the resistance value of the force detection mechanism 200 can be obtained through the change in the output voltage of the Wheatstone bridge, and then the magnitude of the torque applied to the power mechanism 300 can be obtained, thereby realizing the torque detection function.

[0064] Meanwhile, multiple stiffness weakening members 222 are located on the same circumference, and the deformation amounts of the first sensitive elements 210 on each stiffness weakening member 222 are the same. The multiple first sensitive elements 210 on the same first support assembly 225 are electrically connected to form a Wheatstone bridge, and the Wheatstone bridge can effectively eliminate the strain caused by other types of loads (such as axial force, shear force, and bending moment) except for the torque of the power mechanism 300, so as to obtain a one-to-one correspondence between the strain and torque of the force detection mechanism 200.

[0065] In another embodiment, it may also be that multiple stiffness weakening members 222 are located on different circumferences. For example, any two arc mechanisms are located on different circumferences.

[0066] In some embodiments, the number of stiffness weakening members 222 is four, and at least one first sensitive element 210 is arranged on each stiffness weakening member 222. The force measurement direction of the first sensitive element 210 forms a preset angle θ with the axis direction of the power mechanism 300.

[0067] Wherein, the preset angle θ is greater than 0° and less than 90°. For example, the preset angle θ can be 30°, 40°, 45°, 50°, 60°.

[0068] Specifically, the preset angle θ is 45°, and the force measurement direction of the first sensitive element 210 forms a 45° angle with the axis direction of the power mechanism 300, so as to make the torque of the power mechanism 300 consistent with the principal stress direction of the first sensitive element 210 under the action of torque load, improve the resolution of the first sensitive element 210, and thus better detect the torque of the power mechanism 300 and improve the sensitivity of the force detection mechanism 200.

[0069] In one of the embodiments, one first sensitive element 210 is respectively arranged on each stiffness weakening member 222, that is, four first sensitive elements 210 are arranged on each first support assembly 225, and the four first sensitive elements 210 are electrically connected to form a Wheatstone bridge. At this time, the output voltage change amount of the Wheatstone bridge is four times the voltage change amount output by one of the first sensitive elements 210, that is, the sensitivity of the force detection mechanism 200 can be improved and the accuracy of torque detection can be improved.

[0070] In another embodiment, two first sensitive elements 210 are respectively arranged on each stiffness weakening member 222. The force measurement direction of one first sensitive element 210 forms a positive preset angle θ with the axis direction of the power mechanism 300, and the force measurement direction of the other first sensitive element 210 forms a negative preset angle θ with the axis direction of the power mechanism 300.

[0071] It should be noted that the axial direction of the power mechanism 300 can be from the distal end to the proximal end of the surgical instrument 30, or from the proximal end to the distal end of the surgical instrument 30, such that one preset angle θ is a positive angle and one preset angle θ is a negative angle.

[0072] The number of the stiffness weakening members 222 is four, and two first sensitive elements 210 are respectively arranged on each stiffness weakening member 222, that is, eight first sensitive elements 210 are arranged on each first bracket assembly 225. The eight first sensitive elements 210 are electrically connected to form a Wheatstone bridge. On the one hand, strains caused by other types of loads (such as axial force, shear force, bending moment) except the torque of the power mechanism 300 can be effectively eliminated. On the other hand, the arrangement of the eight first sensitive elements 210 enables the change amount of the output voltage of the Wheatstone bridge to be eight times the change amount of the voltage output by one of the first sensitive elements 210, that is, the sensitivity of the force detection mechanism 200 can be further improved and the accuracy of torque detection can be improved.

[0073] Certainly, in other embodiments, the number of the stiffness weakening members 222 can also be eight, and one first sensitive element 210 is respectively arranged on each stiffness weakening member 222, and the force measurement directions of the first sensitive elements 210 on two adjacent stiffness weakening members 222 are 90° or 180°. Similarly, eight first sensitive elements 210 can be arranged on each first bracket assembly 225.

[0074] In some embodiments, the first sensitive element 210 is a resistance strain gauge, and the extending direction of the resistance wire in the resistance strain gauge is at an angle of 45° with the axial direction of the power mechanism 300. Wherein, the resistance strain gauge includes a base and a resistance wire arranged on the base.

[0075] During actual installation, the extending direction of the resistance wire can be at an angle of 45° with the length direction of the base. At this time, when the strain gauge is arranged on the stiffness weakening member 222, the length direction of the base can be along the axial direction of the stiffness weakening member 222, that is, the resistance wire is at an angle of 45° with the axis of the stiffness weakening member 222, and the force measurement direction of the resistance strain gauge is at an angle of 45° with the axial direction of the power mechanism 300.

[0076] Alternatively, the extending direction of the resistance wire is parallel to the length direction of the base. At this time, when the strain gauge is arranged on the stiffness weakening member 222, the length direction of the base can be arranged at an angle of 45° with the axial direction of the stiffness weakening member 222, that is, the resistance wire is at an angle of 45° with the axis of the stiffness weakening member 222, and the force measurement direction of the resistance strain gauge is at an angle of 45° with the axial direction of the power mechanism 300.

[0077] In some other embodiments, the first sensing element 210 may also be a photosensitive element, such as a fiber Bragg grating. When the fiber Bragg grating is stressed, its grating length changes, and the wavelength or phase of the reflected light can be obtained through a receiver and a demodulator, thereby obtaining the magnitude of the force applied.

[0078] In other embodiments, the force measurement direction of the first sensing element 210 may also be parallel to the axis direction of the power mechanism 300. That is, at this time, the first sensing element 210 can be used to detect the axial force applied by the power mechanism 300 on the human tissue.

[0079] In some embodiments, a first hole 2231 and a second hole 2232 are formed in the second connecting member 223. The power mechanism 300 passes through the first hole 2231 and has a gap with the inner wall of the first hole 2231. A plurality of second holes 2232 are arranged around the circumference of the first hole 2231, and the power mechanism 300 is connected to the second connecting member 223 through the second holes 2232.

[0080] During actual assembly, screws are used to connect the second holes 2232 and the holes on the power mechanism 300 one by one, thereby connecting the power mechanism 300 and the second connecting member 223.

[0081] In some other embodiments, the power mechanism 300 can also be welded to a plurality of second positions on the second connecting member 223.

[0082] In some embodiments, the instrument driving part 10 includes a mounting block 440, the force detection mechanism 200 includes a second sensing element 240. The mounting block 440 is arranged on the side of the mounting plate 100 close to the linear slide 20. The mounting block 440 has a weakening part 140, and the second sensing element 240 is arranged in the weakening part 140. The second sensing element 240 is used to detect the axial force of the power mechanism 300.

[0083] The weakening part 140 is a double-hole parallel beam structure. The weakening part 140 is used to reduce the stiffness of the mounting block 440 in the axial direction. When the end 70 of the instrument contacts the human tissue to generate an axial force, the deformation of the weakening part 140 can be detected through the second sensing element 240, and then the axial force applied by the surgical instrument 30 on the human tissue can be detected.

[0084] Furthermore, the mounting block 440 is installed on the guide rail slider of the linear slide 20 to realize the connection between the instrument driving part 10 and the linear slide 20.

[0085] In another embodiment, a weakening portion 140 is provided between the mounting block 440 and the mounting plate 100. The second sensitive element 240 is disposed on the weakening portion 140. During the surgical process, the contact force between the instrument end 70 and the human tissue is transmitted to the mounting plate 100 through the sterile adapter 40, and then transmitted to the linear slide 20 through the mounting block 440. The linear slide 20 provides an axial constraint to the mounting block 440. That is, the weakening portion 140 is provided between the mounting block 440 and the mounting plate 100, and can also be used to detect the axial force applied by the surgical instrument 30 on the human tissue.

[0086] The force detection mechanism 200 is integrated on the instrument driving portion 10. Compared with being disposed at the instrument end 70, it can avoid the requirements for biocompatibility, avoid the adverse effects of sterilization and high temperature on the accuracy of the sensitive element, and with the help of the housing of the instrument driving portion 10, avoid the requirements for electrostatic protection and withstand voltage in electrical safety regulations, avoid the limitation of the number of times the instrument is used, improve the product economy, and can achieve long-term, stable, and high-precision use.

[0087] In some embodiments, the instrument driving portion 10 includes a shielding plate 410, a vertical plate 420, and an instrument quick-release interface 430. The shielding plate 410, the mounting plate 100, the bracket assembly 220, and the instrument quick-release interface 430 are sequentially arranged along the axis direction of the power mechanism 300. Among them, the bottom parts of the shielding plate 410, the mounting plate 100, and the instrument quick-release interface 430 are respectively connected to the vertical plate 420. A transmission disk 490 is provided on the side of the instrument quick-release interface 430 away from the bracket assembly 220.

[0088] Among them, the shielding plate 410 is mounted on the vertical plate 420 and is used to shield the electromagnetic interference of the power mechanism 300, which has the effect of ensuring the stability of the driving signal of the power mechanism 300. At the same time, the shielding plate 410 also plays a role in constructing the structural framework of the instrument driving portion 10. Similarly, the vertical plate 420 is also used to construct the structural framework of the instrument driving portion 10 to ensure the strength and stiffness of the instrument driving portion 10. A fourth hole 130 is also opened on the mounting plate 100. The power mechanism 300 passes through the fourth hole 130 and extends towards the shielding plate 410. There is a gap between the end of the power mechanism 300 close to the shielding plate 410, that is, to ensure that the power mechanism 300 is only connected to the mounting plate 100, ensuring the singularity of the force transmission link and improving the detection accuracy of the torque. The output shaft of the power mechanism 300 passes through the mounting plate 100 and the bracket assembly 220 and is connected to the transmission disk 490, transmitting the output torque to the transmission disk 490. Then, through the transmission device on the sterile adapter 40, the output torque of the power mechanism 300 is transmitted to the multiple instrument driving disks of the surgical instrument 30, and then the instrument driving disks drive the wire rope group inside the surgical instrument 30 to move, thereby driving the end effector of the surgical instrument 30 to adjust the posture and open and close the clamp to complete the surgical action.

[0089] Further, a buckle is provided on the instrument quick-release interface 430, and the sterile adapter 40 is detachably connected to the instrument quick-release interface 430 through the buckle.

[0090] In some embodiments, the instrument driving part 10 further includes a board mounting seat 460 and a sensor signal acquisition board 470. The board mounting seat 460 is mounted on the instrument quick-release interface 430. Threaded holes or bosses are provided on the board mounting seat 460, and the sensor signal acquisition board 470 is detachably mounted on the board mounting seat 460. The first sensitive element 210 and the second sensitive element 240 are connected to the signal acquisition board through a wire harness 480, and are used for processing the signals in the first sensitive element 210 and the second sensitive element 240.

[0091] The wire harness 480 is an FPC wire harness 480. An EMI shielding layer is provided on the surface of the FPC wire harness 480. The FPC wire harness 480 can realize clear and reasonable wiring in a narrow space, protect the signal from electromagnetic interference of the power mechanism 300, and improve the detection reliability of the product.

[0092] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0093] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. An instrument drive unit (10), characterized in that, The device driving part (10) includes: A mounting plate (100); A force detection mechanism (200), including a plurality of bracket components (220), and the bracket components (220) are detachably connected to the mounting plate (100); The plurality of bracket components (220) includes at least one first bracket component (225), and the first bracket component (225) is spaced apart from other bracket components among the plurality of bracket components (220); a first sensitive element (210) is arranged on the first bracket component (225), and the first sensitive element (210) is used for detecting the deformation of the first bracket component (225); and A power mechanism (300), which is detachably connected to the bracket component (220).

2. The instrument drive unit (10) according to claim 1, characterized in that, The first bracket component (225) includes: A first connecting piece (221), which is detachably connected to the mounting plate (100); A stiffness weakening piece (222), one end of which is connected to the first connecting piece (221), and the first sensitive element (210) is arranged on the stiffness weakening piece (222); A second connecting piece (223), which is connected to the other end of the stiffness weakening piece (222), and the power mechanism (300) is detachably connected to the second connecting piece (223).

3. The instrument drive unit (10) according to claim 2, characterized in that, There are a plurality of the stiffness weakening pieces (222), and the plurality of stiffness weakening pieces (222) are located on the same circumference. The stiffness weakening pieces (222) are centrosymmetric about the center of the circle where they are located. The center of the circle where the stiffness weakening pieces (222) are located is on the axis of the power mechanism (300), and adjacent two stiffness weakening pieces (222) are spaced apart from each other.

4. The instrument drive unit (10) according to claim 3, characterized in that, A plurality of the first sensitive elements (210) arranged on the first bracket component (225) are electrically connected to form a Wheatstone bridge.

5. The instrument drive unit (10) according to claim 3, characterized in that, The number of the stiffness weakening pieces is four, and at least one first sensitive element (210) is arranged on each stiffness weakening piece. The force measuring direction of the first sensitive element (210) forms a preset angle θ with the axis direction of the power mechanism (300).

6. The instrument drive unit (10) according to claim 5, characterized in that, Two first sensitive elements (210) are respectively arranged on each stiffness weakening piece (222). The force measuring direction of one first sensitive element (210) forms a positive preset angle θ with the axis direction of the power mechanism (300), and the force measuring direction of the other first sensitive element (210) forms a negative preset angle θ with the axis direction of the power mechanism (300).

7. The instrument drive unit (10) according to claim 5 or 6, characterized in that, The first sensitive element (210) is a resistance strain gauge, and the extending direction of the resistance wire in the resistance strain gauge forms a preset angle θ with the axis direction of the power mechanism (300).

8. The instrument drive unit (10) according to claim 2, characterized in that, A first hole (2231) and a plurality of second holes (2232) are formed in the second connecting member (223). The power mechanism (300) passes through the first hole (2231) and has a gap with the inner wall of the first hole (2231). The plurality of second holes (2232) surround the circumference of the first hole (2231), and the power mechanism (300) is connected to the second connecting member (223) through the second holes (2232).

9. The instrument drive unit (10) according to claim 1, characterized in that, The mounting plate is of a U-shaped structure, and the number of the first bracket assemblies (225) is two. The two first bracket assemblies (225) are respectively connected to two ends of the U-shaped structure.

10. A surgical robot, characterized in that, It includes a surgical instrument (30) and the instrument driving part (10) according to any one of claims 1-9. The output shaft of the instrument driving part (10) is connected to the surgical instrument (30) for driving the surgical instrument (30) to move.

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