Position sensor, puncture outfit and surgical robot

Abstract

The embodiment of the invention provides a position sensor, a puncture outfit and a surgical robot, the position sensor comprises a first friction nanometer generator, a second friction nanometer generator and a sphere, a sphere falling track is arranged between the first friction nanometer generator and the second friction nanometer generator, and the sphere rolls down along the sphere falling track. When the ball falls, the first friction nano-generator and the second friction nano-generator are pushed to generate power respectively, and the inclination position information of a to-be-detected object such as a puncture outfit can be calibrated through the time difference of the electric energy generation moments of the first friction nano-generator and the second friction nano-generator.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a position sensor, a puncture device and a surgical robot. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave device. The master console is used to send control commands to the slave device based on the doctor's operation to control the slave device. The slave device is used to respond to the control commands sent by the master console and perform the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave device, such as a robotic arm, to perform the surgical operation. The surgical instrument may include an end effector for performing the surgical operation and a puncture device pre-prepared for puncturing the surgical site in the body.

[0004] Because human skin is flexible, a trocar naturally sags after insertion, forming an angled position. Existing trocars and the end effector on a robotic arm must undergo multiple adjustments during the preparation phase for insertion into a body cavity. Only after final alignment can the end effector be inserted through the trocar, resulting in low surgical efficiency, long wait times, and increased burdens on both doctors and patients. Therefore, a sensor capable of calibrating the trocar's tilted position is urgently needed. Summary of the Invention

[0005] Based on this, in order to solve the above problems, the present application provides a position sensor, a puncture device and a surgical robot.

[0006] A first aspect of an embodiment of the present application provides a position sensor, which includes a first friction nanogenerator, a second friction nanogenerator, and a sphere. A sphere falling track is provided between the first friction nanogenerator and the second friction nanogenerator. The sphere rolls along the sphere falling track. When the sphere falls, it pushes the first friction nanogenerator and the second friction nanogenerator to generate electricity respectively.

[0007] In a specific embodiment, each of the first and second friction nanogenerators is composed of a first friction pair and a second friction pair, respectively. When the sphere falls along the sphere falling track, each first friction pair and the corresponding second friction pair generate electrical energy through friction.

[0008] In a specific embodiment, the position sensor is provided with a first friction nanogenerator, which is ring-shaped, and the sphere and the sphere falling track respectively include multiple, and the multiple spheres can trigger the first friction nanogenerator to generate electricity, and the second friction nanogenerator is multiple, and the multiple second friction nanogenerators are arranged at intervals.

[0009] In a specific embodiment, the first and second friction nanogenerators include multiple ones respectively, the multiple first friction nanogenerators are arranged at intervals, and the multiple second friction nanogenerators are arranged at intervals. The sphere and the sphere falling track include multiple ones respectively, and one of the spheres, one of the sphere falling tracks, one first friction nanogenerator and one second friction nanogenerator form a working group.

[0010] In a specific embodiment, in the initial position, the sphere is located between two adjacent first friction nanogenerators, and the sphere is configured to push the first friction pair of the first friction nanogenerator to rub against the second friction pair; when the first friction pair of the first friction nanogenerator moves toward the second friction pair, a rolling window of the sphere is formed between the two adjacent first friction nanogenerators.

[0011] In a specific embodiment, the position sensor further includes a sphere falling plane connected to the sphere falling track. When the sphere falls onto the sphere falling plane, the sphere falling plane pushes the first friction pair of the second friction nanogenerator to rub against the second friction pair through a connecting rod.

[0012] In a specific embodiment, each of the first friction pair and the second friction pair is respectively composed of a polymer film and a conductive metal layer. When each of the first friction pair and the corresponding second friction pair rubs against each other, the polymer film of the first friction pair and the polymer film of the corresponding second friction pair slide in friction.

[0013] In a specific embodiment, the material of the polymer film includes a polymer material having a large difference in the ability to gain and lose electrons, and the material of the conductive metal layer is selected from metal materials.

[0014] In a specific embodiment, the polymer material is selected from one or more of imide, polytetrafluoroethylene, polyethylene terephthalate and polydimethylsiloxane, and the metal of the conductive metal layer is selected from copper or aluminum or an alloy thereof.

[0015] In a specific embodiment, the length of the ball falling track is between 10-30 mm.

[0016] In a specific embodiment, the sphere falling track is in a shape that radiates outward from one end plane to the other end plane, and the angle θ of the outward radiation is an acute angle.

[0017] In a specific embodiment, the outward radiation angle of the sphere falling trajectory is between 3 and 10 degrees.

[0018] The second aspect of the present application also provides a puncture device, which is connected to the above-mentioned position sensor, and the position sensor is used to sense and output the position information of the puncture device.

[0019] The third aspect of the present application also provides a surgical robot, which includes a robotic arm, a surgical instrument driven by the robotic arm, and the above-mentioned puncture device, wherein the puncture device is used to puncture the surgical position of the body, and the surgical instrument has an end effector; the position sensor feeds back the acquired puncture device position information to a processor, and the processor outputs a corresponding electrical signal based on the position information and feeds it back to the robotic arm. The robotic arm moves to a position coupled with the puncture device based on the feedback electrical signal so that the end effector of the surgical instrument is at the same horizontal line as the puncture device and passes through the puncture device into the body for surgery.

[0020] The position sensor, puncture device, and surgical robot disclosed herein have at least the following beneficial effects: When the position sensor's sphere falls, it drives a first triboelectric nanogenerator and a second triboelectric nanogenerator to generate electricity, respectively. The time difference between the first and second triboelectric nanogenerators generating electricity can be used to calibrate the tilt position of an object to be detected, such as the puncture device. The puncture device is equipped with a position sensor, so the position of the puncture device after puncturing human skin can be determined. This allows the surgical robot to drive its robotic arm to a position where it can couple with the puncture device. This ensures that the robotic arm and the puncture device are aligned before the surgical instrument is inserted into the human cavity. The surgeon then inserts the surgical instrument through the puncture device, and the robotic arm drives the surgical instrument to perform the procedure. The puncture device disclosed herein shortens the adjustment period required for the surgeon to insert the instrument, reducing the time spent on pre-operative preparation for both the surgeon and the patient, and improving the surgical experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a surgical robot provided in an embodiment of the present application; Figure 2 This is a schematic structural diagram of the trocar according to the first embodiment of the present application; Figure 3 This is a schematic structural diagram of the trocar according to the second embodiment of the present application; Figure 4 for Figure 3 a schematic top view of the interior of the Figure 5 for Figure 4 A schematic diagram of the expanded structure of Figure 6 for Figure 5 Schematic diagram of the power generation principle of a triboelectric nanogenerator; Figure 7 yes Figure 4 A schematic diagram showing the positional relationship between the sphere, the sphere release plane, the sphere falling trajectory and the sphere falling plane when the trocar is in a vertical state; Figure 8 yes Figure 4 A schematic diagram of the principle of the positional relationship between the sphere, the sphere release plane, the sphere falling trajectory and the sphere falling plane when the puncture device is in a tilted state.

[0022] The components in the figure are numbered as follows: From the operating device 10, robotic arm 11, instrument 12, puncture device 13, position sensor 14, processor 15, electrical signal receiving device 16, puncture device body 131, releaser 132, handle 133, wire cover 134, rolling window 140, first friction nanogenerator 141, second friction nanogenerator 142, sphere 143, sphere falling track 144, first friction pair 145, second friction pair 146, sphere falling plane 147, sphere release plane 149, connecting rod 148, spring 150, polymer film 151, conductive metal layer 152. DETAILED DESCRIPTION

[0023] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0024] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The so-called "engagement" herein refers to a connection in which two elements have power transmission. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the accompanying drawings. For example, if the device is flipped in the accompanying drawings, the elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0025] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0026] The term "instrument" is used herein to describe a medical device that is inserted into a patient's body and used to perform a surgical or diagnostic procedure, the instrument including an end effector, which can be a surgical tool for performing a surgical procedure, such as an electrocautery, a clamp, a stapler, a shear, an imaging device (such as an endoscope or an ultrasound probe), and the like. The end effector can also provide an articulated component (such as a joint assembly) so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, the end effector also includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument can also include stored information that can be updated by the surgical system, whereby the storage system can provide one-way or two-way communication between the instrument and one or more system components. The surgical instrument of the present application further uses a puncture device for puncturing a body, such as a surgical site on the human body.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0028] The surgical robot of one embodiment of the present application is as follows Figure 1 As shown, the surgical robot includes a slave operating device 10 and a master operating device (not shown). The slave operating device 10 is located on the patient side for performing surgical operations, wherein the slave operating device 10 includes multiple robotic arms 11 and surgical instruments 12 mounted on the robotic arms 11. The robotic arms 11 are configured to be supported by support columns via multiple arms. In some other embodiments, the robotic arms 11 of the slave operating device 10 can also be mounted on a wall or ceiling. The surgical instruments 12 include end effectors, which can be electric cauterizers, clamps, staplers, shears, etc. for performing surgical operations, or cameras for acquiring images or other surgical instruments.

[0029] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a surgical instrument 12 with a video image acquisition function (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical instrument 12 with image acquisition function includes an optical device with one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the surgical instrument 12 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly for processing and display on the video display device.

[0030] The master operating device (not shown) is located on the side of the doctor operator. The master operating device is used to send control commands to the slave operating device 10 and display the images obtained by the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional images inside the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images inside the patient's body) by operating the master operating device with an immersive feeling.

[0031] The embodiment of the surgical robot of the present application further uses a puncture device 13 for pre-puncturing the body, such as the surgical site of the human body, and the end effector of the surgical instrument 12 passes through the puncture device 13 to perform the surgery. In particular, the puncture device 13 provided in the embodiment of the present application is connected to a position sensor 14 (see Figure 2-3 ), the position sensor 14 is used to sense and output the position information of the puncture device 13.

[0032] Please refer to Figure 2 In the first embodiment of the present application, the position sensor 14 is fixedly connected to the outer wall of the puncture device 13 and is a gyroscope. The gyroscope is an active motion sensor that can be powered by an external power supply. Since human skin is flexible, the puncture device 13 will naturally sag after being inserted into the human body, forming an inclination angle. When the puncture device 13 naturally sags to a certain position after being inserted into the human body, the gyroscope will self-adjust to keep the rotor in the gyroscope in its original balance. Its own angular motion information can reflect the inclination of the puncture device 13. When the puncture device 13 is at a certain angle to the horizontal plane, the gyroscope will sense the inclination of the puncture device 13 and output the obtained inclination position information. In this way, the position information of the puncture device 13 after sagging can be known. The electrical signal output by the position sensor 14 for the position information of the puncture device 13 can be received by a processor 15, or first passed through an electrical signal receiving device 16 and then transmitted to the processor 15, and then processed by the processor 15 and transmitted to the robot's mechanical arm 11. The mechanical arm 11 receives the electrical signal output by the processor 15 and moves to a position coupled with the puncture device 13 according to the electrical signal, so that the end effector of the surgical instrument 12 is at the same horizontal line as the puncture device 13 and passes through the puncture device 13 to enter the body for surgery.

[0033] See also Figure 3 In a second embodiment of the present application, the position sensor 14 is a self-powered sensing device, i.e., not powered by an external power source, and is a triboelectric nanogenerator. Specifically, the puncture device 13 includes a puncture device body 131 and a releaser 132 disposed at a first position within the outer wall of the puncture device body 131. The position sensor 14 includes a first triboelectric nanogenerator 141 and a second triboelectric nanogenerator 142. The first triboelectric nanogenerator 141 is disposed within the releaser 132, and the second triboelectric nanogenerator 142 is disposed at a second position within the outer wall of the puncture device body 131. The position of the releaser 132, i.e., the position of the first triboelectric nanogenerator 141 and the position of the second triboelectric nanogenerator 142, is spaced a certain distance apart. The time difference between the first and second triboelectric nanogenerators 141 and 142 generating electrical energy can be used to calibrate the tilt position information of the puncture device 13.

[0034] Please refer to Figure 4 and Figure 5 Specifically, the position sensor 14 further comprises a ball 143, and a ball falling track 144 is arranged between the first and second friction nanogenerators 141, 142, and the ball 143 pushes the first and second friction nanogenerators 141, 142 to generate electricity when falling. In this embodiment, the ball 143 is an iron ball.

[0035] In a preferred embodiment, the releaser 132 can be arranged around the upper position of the puncture body 131, and a plurality of the first friction nanogenerators 141 are arranged at intervals in the releaser 132, and a plurality of the second friction nanogenerators 142 are arranged at intervals in the lower position of the puncture body 131, and the ball 143 and the ball falling track 144 each comprise a plurality of, wherein one ball 143, one falling track 144, one first friction nanogenerator 141 and one second friction nanogenerator 142 form a working group.

[0036] Specifically, each of the first and second friction nanogenerators 141, 142 is composed of a first friction pair 145 and a second friction pair 146, and each of the first and second friction pairs 145, 146 generates electricity by friction when the ball 143 falls along the ball falling track 144.

[0037] In this embodiment, the releaser 132 is rotatable relative to the puncture body 131, and the releaser 132 forms a ball releasing plane 149, and the position sensor 14 further comprises a ball falling plane 147, and the ball falling track 144 connects the ball releasing plane 149 and the ball falling plane 147. When the releaser 132 rotates, the ball 143 pushes the first friction pair 145 of the first friction nanogenerator 141 to rub against the second friction pair 146, and when the ball 143 falls to the ball falling plane 147, the ball falling plane 147 pushes the first friction pair 145 of the second friction nanogenerator 142 to rub against the second friction pair 146 through the connecting rod 148.

[0038] Specifically, the releaser 132 can be provided with a handle 133 to facilitate the doctor to hold the handle 133 and rotate the releaser 132. Before the releaser 132 is rotated, the ball 143 is in an initial position of the ball releasing plane 149, and in this initial position, the ball 143 is located between two adjacent first friction nanogenerators 141, and more specifically, the ball 143 is located between the second friction pair 146 of one first friction nanogenerator 141 and the first friction pair 145 of the adjacent first friction nanogenerator 141.

[0039] When the handle 133 rotates the releaser 132, the ball 143 pushes the first friction pair 145 of the first triboelectric nanogenerator 141 toward the second friction pair 146, generating friction and generating electricity. When the first friction pair 145 of the first triboelectric nanogenerator 141 moves toward the second friction pair 146, a ball 143 rolling window 140 is formed between two adjacent first triboelectric nanogenerators 141. The ball 143 rolls along the ball falling track 144 to the ball falling surface 147. Gravity pushes the ball falling surface 147 downward, pushing the connecting rod 148, which connects to the first friction pair 145 of the second triboelectric nanogenerator 142. This causes the first friction pair 145 of the second triboelectric nanogenerator 142 to move toward the second friction pair 146, generating friction and generating electricity. As the ball 143 rolls from the upper position of the puncture device 13 to the lower position along the ball falling track 144, the mechanical energy of the falling process is converted into electrical energy. The first and second triboelectric nanogenerators 141 and 142 generate electrical energy at different times. This time difference can be used to calibrate the tilt angle information of the puncture device 13. The track length of the ball falling track can be 10-30 mm, for example, 15 mm.

[0040] Please refer again Figure 4 During implementation, the number of first and second triboelectric nanogenerators 141, 142 can be selected based on the outer diameter of the puncture device 13. A greater number of first and second triboelectric nanogenerators 141, 142 provide more accurate measurement results. Fewer first and second triboelectric nanogenerators 141, 142 provide a larger area per unit, generating greater charge and facilitating signal reception. Since the space within the puncture device 13 is constant, the number of first and second triboelectric nanogenerators 141, 142 must strike a balance between monitoring accuracy and signal reception. For a puncture device with a diameter of 26 mm, for example, twelve first triboelectric nanogenerators 141 can be evenly spaced along the upper circumference, while twelve second triboelectric nanogenerators 142 can be evenly spaced along the lower circumference. This ensures both relatively accurate positioning and high signal reception.

[0041] Please also refer to Figure 7 and Figure 8 Preferably, the ball falling track 144 is in an outward radiating shape from the ball release plane 149 to the ball falling plane 147, and the outward radiating angle θ (i.e. the angle θ between the ball falling track 144 and the vertical line) is an acute angle, preferably between 3-10 degrees. Due to the different angles θ, the ball 143 falls (see Figure 7 and Figure 8The time it takes for the sphere 143 to contact the different sphere falling planes 147 can be different according to the order of the electrical signal feedback from the friction pairs of different second friction nanogenerators 142. The relative vertical state of the puncture device 13 after insertion into the surgical site of the body or the tilt angle relative to the surgical site of the body can be calibrated by the difference between the falling time and the release time. In specific implementation, all spheres 143 can have exactly the same mass. The more perpendicular the angle of the sphere falling trajectory 144 is to the belly of the surgical body, the greater the gravitational potential energy in the vertical direction and the faster the falling speed. Specifically, if the signal interval between a pair of first and second friction nanogenerators 141, 142 is shorter, it means that the sphere falling trajectory 144 corresponding to the sphere 143 is more perpendicular to the ground (belly) (such as Figure 7 The longer the signal interval between the first and second triboelectric nanogenerators 141 and 142, the more the falling trajectory 144 of the sphere 143 tends to be parallel to the ground (e.g. Figure 8 If the set of friction nanogenerators does not generate a signal, it means that the puncture device 13 is parallel to the ground or inverted, thus generating a signal representing the position information of the posture of the puncture device 13.

[0042] For example, at time a, the operator rotates the release ring 132, and the electrical signal receiving device 16 records the time. The ball 132 falls from the first triboelectric nanogenerator 141. At time b1, it reaches the falling plane 147 closest to 90 degrees relative to the ground (i.e., the angle θ between the ball's falling trajectory 144 and the vertical is closest to 0 degrees), triggering the first triboelectric nanogenerator 142 to generate electricity. At time b2, it reaches the falling plane 147 closest to 90 degrees relative to the ground, and so on. Subtracting a from b1 yields the total falling time H1. Since each ball's falling trajectory has the same operating conditions and mass, differing only in its angle relative to the ground (belly), H1 can be calibrated with the trajectory angle using previous data to determine the trajectory's angle relative to the ground. The calculation method for the times and corresponding angles of H2, H3, and other trajectories is the same as above. After calculating the angles of each trajectory, a computer fitting method can be used to determine the overall angle of the trocar. That is, in an actual robot application, the processor 15 can set a judgment table, and the data in the table can be statistically obtained through the previous drop tests at various angles, for example, how long the interval represents a specific tilt angle value.

[0043] In a possible variant embodiment, the number of the first friction nanogenerator 141 can also be only one. Because when the releaser 132 releases the ball 143, multiple first friction nanogenerators 141 also work simultaneously. Therefore, the number of the first friction nanogenerator 141 can also be only one. The one first friction nanogenerator 141 can be arranged in a ring shape, and multiple balls 143 trigger the first friction nanogenerator 141 to generate electricity. In this case, multiple second friction nanogenerators 142 can be retained.

[0044] In another possible variant embodiment, the number of the first and second triboelectric nanogenerators 141 and 142 can also be set to one. In this case, the ball falling plane 147 can be set to a ring-shaped channel for the ball to roll. The time it takes for the ball 143 to roll to the second triboelectric nanogenerator 142 can be mapped to the tilt posture or specific angle information from the table.

[0045] After the electrical signals from the first and second triboelectric nanogenerators 141 and 142 are transmitted to the electrical signal receiving device 16, the device records them as the start and end times, respectively. The electrical signal receiving device 16 then transmits the time of signal reception to the processor 15. By calculating the difference between the start and end times, the processor 15 can calibrate the position of the puncture device 13. After the processor 15 feeds this position information back to the controller of the robotic arm 11, the robotic arm 11 can synchronously move the surgical instrument 12 to a plane coaxial with the puncture device 13. The surgeon only needs to push the end effector of the surgical instrument 12 forward to insert it through the puncture device 13 into the human body.

[0046] Please refer again Figure 5 and Figure 6 The ball-falling surface 147 can be connected to the outer wall of the trocar 13 via a spring 150. As the ball 143 rolls down, it pushes down on the ball-falling surface 147, and the spring 150 helps the ball-falling surface 147 return to its original position. After the procedure is completed, the trocar 13 is removed from the body and disconnected from the electrical signal receiving device 16. The trocar 13 is shaken to return the ball 143 to its original position, and the release mechanism 132 is rotated. The spring 150 pushes the ball-falling surface 147 back to its original position, allowing the trocar to be reused for the next procedure.

[0047] The first friction pair 145 of each first and second triboelectric nanogenerators 141, 142 is formed by stacking a polymer film 151 and a conductive metal layer 152. The second friction pair 146 of each first and second triboelectric nanogenerators 141, 142 is formed by stacking a polymer film 153 and a conductive metal layer 154. When the first and second friction pairs 145, 146 rub against each other, sliding friction occurs between the polymer film 151 of the first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146. In relatively small spaces, the polymer film 151 of each first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146 can be positioned adjacent to each other. Alternatively, before the releaser 132 rotates, the polymer film 151 of each first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146 can be close to each other but not in contact, or only slightly in contact. During friction, the two polymer films 151 fully contact, generating sliding friction.

[0048] The polymer film comprises a polymer material with a significant difference in electron gain and loss, enabling a higher voltage to be generated after friction, facilitating electrical signal acquisition. The conductive metal layer is made of a metal material. The polymer material is preferably selected from one or a combination of polyimide (KAPTON), polytetrafluoroethylene (PTFE), polyethylene terephthalate (PET), and polydimethylsiloxane (PDMS). The conductive metal is preferably selected from copper or aluminum, or their alloys. These materials offer fast charge transfer, are cost-effective, and facilitate electrical signal acquisition. In other embodiments, the polymer film 151 may also be made of commonly used insulating materials, such as aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, polyamide nylon 11, polyamide nylon 66, wool and its fabrics, silk and its fabrics, paper, and polyethylene glycol succinate. The two polymer films 151 and 153 may be made of the same material or different materials. The two conductive metal layers 152 and 154 may also be made of the same material or different materials.

[0049] The surface of the polymer film of this friction nanogenerator can be modified, for example, by processing nano-scale pyramid structures, grooves, etc., to increase the power generation. It can be understood that the friction nanogenerator used in the puncture device 13 of this embodiment only needs to ensure that the sensitivity of the electrical signal receiving device 16, or the processor 15 integrated with the electrical signal receiving device 16, can ensure signal reception.

[0050] Please refer again Figure 3The puncture device body 131 can be provided with a wire cover 134 at the position corresponding to the second friction nanogenerator 142, which is used to accommodate the wires of the electric signal receiving device and / or the processor. The wire cover 134 can also serve as an identifier of the position of the second friction nanogenerator 142, thereby corresponding to the identifier of the release device 132. The second friction nanogenerator 142 can be arranged between the outer wall of the puncture device body 131 and the wire cover 134, or a circular cavity with a cover can be formed in the outer wall of the puncture device body 131, the second friction nanogenerator 142 is arranged in the circular cavity, and the cover is covered, and the wire cover 134 is arranged around the cover. The signal transmission between the first friction nanogenerator 141, the second friction nanogenerator 142, and the electric signal receiving device and / or the processor can also be wireless transmission, so that there is no need for each wire.

[0051] The method for performing surgery by the surgical robot using the puncture device 13 of the two embodiments of the present application comprises: Puncturing the surgical position of the body using a puncture device 13 connected with a position sensor 14, the position sensor 14 is used to sense and output the position information of the puncture device 13; Using a processor 15 to receive the position information of the puncture device 13 output by the position sensor 14, and outputting the corresponding electric signal; and Using a robot manipulator 11 to drive the end effector of the surgical instrument 12 to perform surgery, the manipulator 11 receives the electric signal output by the processor 15 and moves to the position coupled with the puncture device 13 according to the electric signal, so that the end effector of the surgical instrument 12 is in the same horizontal line with the puncture device 13 to enter the body through the puncture device 13 to perform surgery.

[0052] The puncture device 13 of the embodiment of the present application is provided with a position sensor 14, so that the position of the puncture device 13 naturally falling after puncturing the skin of the human body can be obtained, so that the surgical robot can drive the manipulator 11 to move to the position coupled with the puncture device 13, so that the surgical robot manipulator 11 and the puncture device 13 are easily in the same horizontal line before the surgical instrument 12 is inserted into the body cavity, and then the surgeon inserts the surgical instrument 12 through the puncture device 13, and the manipulator 13 drives the surgical instrument 12 to perform surgery. The puncture device 13 of the present application shortens the adjustment period of the surgeon inserting the surgical instrument 12, reduces the time consumption of the surgeon and the patient in the early preparation, and improves the surgical experience.

[0053] The surgical robot involved in this application can be a single-port surgical robot for single-port surgery or a multi-port surgical robot for opening multiple surgical sites on the body. With respect to the trocars used in this application, the difference between single-port and multi-port surgical robots lies in the way they couple with the trocars. For example, after the robotic arm of a single-port surgical robot moves to a position ready for coupling with the trocar based on the position feedback signal of the trocar in this application, a snap-fit ​​structure on the surgical instrument manipulator of the robotic arm engages the trocar, which has been pre-inserted into the surgical site. For another example, after the robotic arm of a multi-port surgical robot moves to a position ready for coupling with the trocar based on the position feedback signal of the trocar in this application, a clamp on the surgical instrument manipulator of the robotic arm engages the trocar, which has been pre-inserted into the surgical site. A multi-port surgical robot has multiple such robotic arms and surgical instrument manipulators thereon, and therefore requires multiple trocars. Ultimately, the surgical instruments are all passed through the trocars to perform the surgery.

[0054] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0055] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A position sensor, characterized in that: The position sensor includes a first friction nanogenerator, a second friction nanogenerator and a sphere. A sphere falling track is provided between the first friction nanogenerator and the second friction nanogenerator. The sphere rolls along the sphere falling track. When the sphere falls, it pushes the first friction nanogenerator and the second friction nanogenerator to generate electricity respectively.

2. The position sensor according to claim 1, wherein Each of the first and second friction nanogenerators is composed of a first friction pair and a second friction pair, respectively. When the sphere falls along the sphere falling track, each of the first friction pair and the corresponding second friction pair generates electrical energy through friction.

3. The position sensor according to claim 2, wherein: The position sensor is provided with a first friction nanogenerator, which is ring-shaped. The sphere and the sphere falling track each include multiple spheres, each of which can trigger the first friction nanogenerator to generate electricity. There are multiple second friction nanogenerators, which are arranged at intervals.

4. The position sensor according to claim 2, wherein: The first and second friction nanogenerators include multiple ones respectively, the multiple first friction nanogenerators are arranged at intervals, and the multiple second friction nanogenerators are arranged at intervals. The spheres and the sphere falling tracks include multiple ones respectively, and one of the spheres, one of the sphere falling tracks, one first friction nanogenerator and one second friction nanogenerator form a working group.

5. The position sensor according to claim 4, wherein: In the initial position, the sphere is located between two adjacent first triboelectric nanogenerators, and the sphere is configured to push the first friction pair of the first triboelectric nanogenerator to rub against the second friction pair; When the first friction pair of the first triboelectric nanogenerator moves toward the second friction pair, a rolling window of the sphere is formed between two adjacent first triboelectric nanogenerators.

6. The position sensor according to claim 5, wherein: The position sensor further includes a sphere falling plane connected to the sphere falling track. When the sphere falls onto the sphere falling plane, the sphere falling plane pushes the first friction pair of the second friction nanogenerator to rub against the second friction pair through a connecting rod.

7. The position sensor according to claim 2, wherein: Each of the first friction pair and the second friction pair is respectively composed of a polymer film and a conductive metal layer. When each of the first friction pair and the corresponding second friction pair rubs against each other, the polymer film of the first friction pair and the polymer film of the corresponding second friction pair slide in friction.

8. The position sensor according to claim 7, wherein: The material of the polymer film includes a polymer material having a large difference in the ability to gain and lose electrons, and the material of the conductive metal layer is selected from metal materials.

9. The position sensor according to claim 8, wherein: The polymer material is selected from one or more of imide, polytetrafluoroethylene, polyethylene terephthalate and polydimethylsiloxane, and the metal of the conductive metal layer is selected from copper or aluminum or an alloy thereof.

10. The position sensor according to claim 1, wherein The track length of the ball falling track is between 10-30 mm.

11. The position sensor according to any one of claims 1 to 10, wherein: The sphere falling track is in a shape of radiating outwards from one end plane to the other end plane, and the angle θ of the outward radiation is an acute angle.

12. The position sensor according to claim 11, wherein: The outward radiation angle of the sphere falling track is between 3 and 10 degrees.

13. A trocar for puncturing a surgical site in the body, characterized in that: The trocar is connected to a position sensor according to any one of claims 1 to 12, and the position sensor is used to sense and output position information of the trocar.

14. A surgical robot, characterized in that: The surgical robot comprises a robotic arm, a surgical instrument driven by the robotic arm, and the puncture device according to claim 11, wherein the puncture device is used to puncture a surgical site in the body, and the surgical instrument has an end effector; The position sensor feeds back the acquired puncture point position information to a processor, and the processor outputs a corresponding electrical signal based on the position information and feeds back to the robotic arm. The robotic arm moves to a position coupled with the puncture point based on the feedback electrical signal so that the end effector of the surgical instrument is at the same horizontal line as the puncture point and passes through the puncture point into the body to perform surgery.

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