Tail end mechanism, mechanical arm and surgical robot

Abstract

The invention relates to the technical field of surgical robots, and discloses a tail end mechanism, a mechanical arm and a surgical robot. The tail end mechanism comprises a shell, a sensor, a connecting assembly and a mounting frame. A button is arranged on one side of the shell; the sensor is arranged in the shell; the connecting assembly is located on the side, opposite to the button, of the shell and comprises a movably-arranged operation piece, and the operation piece can move towards the shell. The mounting frame is arranged in the shell and comprises a first connecting part, a second connecting part and a connecting base, one end of the first connecting part and the second connecting part are connected to the connecting base, the connecting base is connected to an external structure through an opening in one end of the shell, and the other end of the first connecting part is connected to the connecting assembly through an opening in the other end of the shell; the second connecting part is connected to the sensor, and the first connecting part and the second connecting part are arranged at intervals. According to the invention, wrong reading of the sensor caused by vibration and deformation on the first connecting part of the mounting rack is avoided, and the accuracy of an acquisition result of the sensor is ensured.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and more particularly to an end effector, a robotic arm, and a surgical robot. Background Technology

[0002] Surgical robots are widely used in the medical field. A surgical robot consists of a surgeon's control unit and a patient's surgical unit. The patient's surgical unit includes robotic arms for mounting surgical instruments. During surgery, the surgeon controls the surgical instruments via input handles on the surgeon's control unit.

[0003] The robotic arm includes an instrument slide, an end effector, and a connecting assembly. The instrument slide is used to mount surgical instruments, and the connecting assembly is used to mount a trocar assembly. The end effector is located between the instrument slide and the connecting assembly. The end effector includes a housing and a mounting bracket and a sensor housed inside the housing. The two ends of the mounting bracket are connected to the instrument slide and the connecting assembly respectively through openings at both ends of the housing. The housing, connecting assembly, instrument slide, and mounting bracket are spaced apart. The housing is fixedly connected to the sensor's detection end. A button is located on the side of the housing opposite to the wrench; when the button is pressed, the sensor collects force data on the housing, allowing control of the motors at various joints of the robotic arm based on this force data, thus enabling motor-assisted operation and facilitating changes in the robotic arm's posture according to the operator's wishes.

[0004] In some existing technologies, similar to those disclosed in Chinese patent CN223586022U, a wrench is provided on the connecting component. When assembling or disassembling the puncture device assembly, the operator needs to turn the wrench towards the housing. For comfortable operation, the operator holds the wrench on the housing with their fingers pressing the button. However, when turning the wrench, the force applied to the connecting component by the operator causes deformation of the mounting bracket, and the wrench vibrates due to collisions with other structures on the connecting component. This vibration is transmitted to the sensor through the mounting bracket. Both the deformation and vibration affect the sensor readings, reducing the accuracy of sensor detection and potentially causing malfunctions of the robotic arm. Furthermore, to avoid malfunctions, the operator needs to move away from the button when turning the wrench, preventing simultaneous movement of the robotic arm and assembly / disassembly of the puncture device assembly, thus affecting the efficiency of preoperative preparation and reducing operator comfort.

[0005] Therefore, there is an urgent need for an end effector, robotic arm, and surgical robot to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of this invention is to provide an end effector, robotic arm, and surgical robot that avoids sensor reading errors caused by vibration and deformation of the first connection part of the mounting frame, thereby ensuring the accuracy of the sensor acquisition results.

[0007] To achieve this objective, the present invention adopts the following technical solution: The end effector includes: The casing has a button on one side; A sensor is placed inside the housing, and when the button is configured to be pressed, the sensor is able to collect force data on the housing. A connecting assembly is located on the side of the housing opposite to the button. The connecting assembly includes a movable operating element that can move toward the housing to release or clamp the component to be installed. The mounting bracket is placed inside the housing. The mounting bracket includes a first connecting part, a second connecting part, and a connecting base. One end of the first connecting part and the second connecting part are respectively connected to the connecting base. The connecting base is connected to an external structure through an opening at one end of the housing. The other end of the first connecting part is connected to a connecting assembly through an opening at the other end of the housing. The second connecting part is connected to the sensor. The first connecting part and the second connecting part are spaced apart.

[0008] As an optional technical solution for the end mechanism, the first connecting part is provided with a receiving hole, the receiving hole extends to the connecting base, and the second connecting part is placed in the receiving hole.

[0009] As an optional technical solution for the end mechanism, the first connecting part and the second connecting part are connected to the first side of the connecting base along the first direction, and the thickness of the first connecting part along the first direction is smaller than the thickness of the second connecting part along the first direction.

[0010] As an optional technical solution for the end mechanism, the sidewall of the second connecting part facing the first side is flush with the sidewall of the first side of the connecting base.

[0011] As an optional technical solution for the end mechanism, the first connecting part and the second connecting part are flush with the sidewall of the second side facing the connecting base along the first direction; or, the sidewall of the second connecting part facing the second side protrudes from the sidewall of the first connecting part facing the second side. The sensor is connected to the sidewall of the second connection portion facing the second side.

[0012] As an optional technical solution for the end mechanism, the end mechanism further includes an adapter piece, which includes a piece body and a boss. The boss protrudes from one end face of the piece body and is connected to the second connecting part. The piece body is connected to the sensor at one end opposite to the boss.

[0013] As an optional technical solution for the end mechanism, the plate is connected to the sensor by a threaded fastener. An clearance hole is provided on the first connection part, and the screw head of the threaded fastener is at least partially placed in the clearance hole, and the screw head is spaced apart from the hole wall of the clearance hole.

[0014] As an optional technical solution for the end mechanism, a first reinforcing part is provided at the connection between the first connecting part and the connecting base; and / or, A second reinforcing part is provided at the connection between the second connecting part and the connecting base.

[0015] A robotic arm, including the end effector as described above.

[0016] Surgical robots, including the robotic arms described above.

[0017] The beneficial effects of this invention are: The end effector provided by this invention includes a housing, a sensor, a connecting assembly, and a mounting bracket. Because the first and second connecting portions are spaced apart, when the operator grips the housing, if the operator simultaneously presses a button and moves the operating component toward the housing, vibrations generated from the component to be mounted or from collisions between the operating component and other structures within the connecting assembly can only be directly transmitted to the connecting base through the first connecting portion, and cannot be directly transmitted to the second connecting portion. Furthermore, if the force applied to the connecting assembly by the operator when moving the operating component causes deformation of the first connecting portion, the aforementioned spacing will not cause deformation of the second connecting portion. This avoids vibrations and deformations on the first connecting portion that could lead to erroneous sensor readings, ensuring the accuracy of the sensor's data acquisition. This also ensures that the robotic arm can move in the correct direction, reducing the possibility of collisions or even damage between the robotic arm and the patient or other structures. This design improves surgical safety, avoids secondary harm to patients, and reduces maintenance costs. Secondly, while ensuring operational comfort, the operator can simultaneously press buttons and move the control component towards the housing, allowing for the simultaneous installation and removal of components while moving the robotic arm. This simplifies preoperative preparation and improves its efficiency. Furthermore, it avoids filtering the impact of vibration and deformation on sensor readings using control algorithms, reducing control complexity. In addition, the mounting bracket, while reliably mounting the sensors, prevents vibration and deformation from being directly transmitted to the second connection point, eliminating the need for additional structures for vibration isolation or deformation suppression. This simplifies the end-effector structure, facilitates miniaturization, and further reduces the likelihood of collisions between the end-effector and patients or other structures.

[0018] The robotic arm provided by this invention includes the aforementioned end effector. The sensor's acquisition results are highly accurate, ensuring that the robotic arm can move in the correct direction. This reduces the possibility of the robotic arm colliding with or being damaged by the patient or other structures, improving surgical safety, avoiding secondary injury to the patient, and reducing maintenance costs. Moreover, the operator can disassemble and assemble components to be installed while moving the robotic arm, simplifying the preoperative preparation process and improving its efficiency. At the same time, the structure of the robotic arm is simplified, which is conducive to miniaturization of the robotic arm.

[0019] The surgical robot provided by this invention includes the aforementioned robotic arm, which reduces the possibility of collision or even damage between the surgical robot and the patient or other structures, improves the safety of the surgery, avoids secondary injury to the patient, reduces maintenance costs, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and simplifies the structure of the robotic arm, which is conducive to the miniaturization of the surgical robot. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of the robotic arm provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the instrument sliding seat and end effector provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the end effector provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the mounting bracket, sensor, and adapter plate provided in an embodiment of the present invention; Figure 5 This is a first-view structural schematic diagram of the mounting bracket provided in an embodiment of the present invention; Figure 6 This is a second-view structural schematic diagram of the mounting bracket provided in an embodiment of the present invention.

[0021] In the picture: 1. Housing; 11. Button; 2. Sensor; 3. Connecting assembly; 31. Operating component; 32. Mounting base; 4. Mounting bracket; 41. First connecting part; 411. Receiving hole; 412. Clearance hole; 413. First reinforcing part; 42. Second connecting part; 421. Circular part; 422. Straight connecting part; 423. Second reinforcing part; 424. Positioning part; 43. Connecting base; 5. Adapter plate; 51. Plate body; 52. Boss; 521. Protrusion; 6. Threaded fastener; 8. Robotic arm; 81. Instrument sliding seat; 9. Components to be installed. Detailed Implementation

[0022] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0024] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0025] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0026] This embodiment provides a surgical robot. The surgical robot includes a doctor's control terminal and a patient's surgical terminal. The patient's surgical terminal includes, for example: Figure 1 The robotic arm 8 shown is used to mount surgical instruments in this embodiment. During surgery, the surgeon controls the surgical instruments via an input handle on the surgeon's control terminal.

[0027] Before surgery, the operator needs to manually move the robotic arm 8 to the appropriate position. Specifically, several joints of the robotic arm 8 have drive motors. The robotic arm 8 includes an end effector, which includes a button 11 and a sensor 2. When the operator holds the end effector and presses the button 11, the sensor 2 can detect the force on the end effector. Based on the detection value from the sensor 2, the drive motor actively drives the corresponding joint to rotate, thus providing assistance until the robotic arm 8 reaches the appropriate position.

[0028] In this embodiment, the patient's surgical end also includes a trolley, one end of the robotic arm 8 is connected to the trolley, and the end effector is located at the other end of the robotic arm 8.

[0029] Specifically, such as Figures 1-6 As shown, the end effector includes a housing 1, a sensor 2, a connecting assembly 3, and a mounting bracket 4. A button 11 is provided on one side of the housing 1. The sensor 2 is placed inside the housing 1. When the operator presses the button 11, the button 11 is pressed, and the sensor 2 can collect the force data of the housing 1. The connecting assembly 3 is located on the side of the housing 1 opposite to the button 11. The connecting assembly 3 includes a movable operating member 31, which can move toward the housing 1 to loosen or clamp the component 9 to be installed. The mounting bracket 4 is placed inside the housing 1. The mounting bracket 4 includes a first connecting part 41, a second connecting part 42, and a connecting base 43. One end of the first connecting part 41 and the second connecting part 42 are respectively connected to the connecting base 43. The connecting base 43 is connected to an external structure through an opening at one end of the housing 1. The other end of the first connecting part 41 is connected to the connecting assembly 3 through an opening at the other end of the housing 1. The second connecting part 42 is connected to the sensor 2. The first connecting part 41 and the second connecting part 42 are spaced apart.

[0030] The end effector provided in this embodiment includes a housing 1, a sensor 2, a connecting assembly 3, and a mounting bracket 4. Because the first connecting part 41 and the second connecting part 42 are spaced apart, when the operator grips the housing 1, if the operator simultaneously presses button 11 and moves the operating element 31 toward the housing 1, vibrations generated by the collision between the component to be installed 9 or other structures within the connecting assembly 3 and the operating element 31 can only be directly transmitted to the connecting base 43 through the first connecting part 41, and cannot be directly transmitted to the second connecting part 42. Furthermore, if the force applied to the connecting assembly 3 by the operator moving the operating element 31 causes deformation of the first connecting part 41, the aforementioned spaced arrangement will not cause deformation of the second connecting part 42. This avoids vibration and deformation on the first connecting part 41 causing erroneous readings of the sensor 2, ensuring the accuracy of the sensor 2's data acquisition results. This also ensures that the robotic arm 7 can move in the correct direction, reducing the risk of contact between the robotic arm 7 and the patient or... The reduced risk of collisions or even damage to other structures improves surgical safety, avoids secondary injuries to patients, and reduces maintenance costs. Secondly, while ensuring operational comfort, the operator can simultaneously press button 11 and move the operating component 31 toward the housing 1, allowing the operator to assemble and disassemble the component 9 to be installed while moving the robotic arm 7, simplifying the preoperative preparation process and improving its efficiency. Furthermore, it avoids filtering the impact of vibrations and deformations on sensor 2 readings using control algorithms, reducing control complexity. In addition, the mounting bracket 4, while reliably mounting sensor 2, also prevents vibrations and deformations on the first connecting part 41 from being directly transmitted to the second connecting part 42, thus eliminating the need for other structures to isolate vibrations or suppress deformation. This simplifies the end-effector structure, facilitates miniaturization, and further reduces the likelihood of collisions between the end-effector and the patient or other structures.

[0031] The robotic arm provided in this embodiment includes the aforementioned end effector. The sensor 2 has high accuracy in collecting data, ensuring that the robotic arm 7 can move in the correct direction. This reduces the possibility of the robotic arm 7 colliding with or being damaged by the patient or other structures, improving the safety of the surgery, avoiding secondary injury to the patient, and reducing maintenance costs. Moreover, the operator can disassemble and assemble the component 9 to be installed while moving the robotic arm 7, simplifying the preoperative preparation process and improving the efficiency of preoperative preparation. At the same time, it simplifies the structure of the robotic arm, which is conducive to miniaturization of the robotic arm.

[0032] The surgical robot provided in this embodiment includes the aforementioned robotic arm, which reduces the possibility of collision or even damage between the surgical robot and the patient or other structures, improves the safety of the operation, avoids secondary injury to the patient, reduces maintenance costs, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and simplifies the structure of the robotic arm, which is conducive to the miniaturization of the surgical robot.

[0033] Specifically, the robotic arm 8 also includes an instrument slide seat 81. The aforementioned "external structure" is the instrument slide seat 81, on which a linear module is provided. Surgical instruments can be mounted on the linear module and driven by the linear module to reciprocate. The end effector's connecting base 43 is fixedly connected to the instrument slide seat 81.

[0034] Specifically, sensor 2 can be a three-dimensional force sensor or a six-dimensional force sensor, and the detection end of sensor 2 is fixedly connected to housing 1. The end of sensor 2 away from the second connection part 42 is the detection end. The surgical robot also includes a controller, and sensor 2, button 11, and drive motor are all communicatively connected to the controller. In this embodiment, when button 11 is pressed, sensor 2 is in a state capable of collecting force data, and sensor 2 can transmit the collected force data to the controller, which analyzes and calculates the force data and controls the corresponding drive motor to drive the rotating joint to rotate; when button 11 is not pressed, sensor 2 is in an idle state where it cannot collect force data. The controller can be a microcontroller or other control components. The structure of sensor 2, detection principle, connection method between sensor 2 and controller, principle of controller controlling drive motor operation, and principle of controller analyzing and calculating force data can all refer to existing technologies and are not the focus of this embodiment, and will not be elaborated here.

[0035] In other embodiments, regardless of whether button 11 is pressed, sensor 2 is always in a state capable of collecting force data. However, sensor 2 can only transmit the collected force data to the controller when button 11 is pressed. The controller analyzes and calculates the force data and controls the corresponding drive motor to drive the rotating joint to rotate. When button 11 is not pressed, sensor 2 cannot transmit the collected data to the controller, which is not limited here.

[0036] It is understandable that, in order to ensure that the sensor 2 can accurately collect the force data of the housing 1 and control the start and stop of the drive motor according to the force data, the housing 1 in this embodiment and the prior art is only connected to the detection end of the sensor 2. The button 1 is fixedly installed on the housing 1. The housing 1, the mounting bracket 4, the connecting component 3 and other structures of the robotic arm 8 are all spaced apart.

[0037] In this embodiment, the component to be installed, 9, is a trocar assembly. The trocar assembly is used to penetrate the patient's abdominal wall and establish a surgical channel for the end of a surgical instrument to enter the patient's abdominal cavity. When the operating member 31 moves towards the housing 1, the clamping structure in the connecting assembly 3 can release the component to be installed, 9. The connecting assembly 3 also includes a mounting base 32, to which the operating member 31 is rotatably connected. When the operator rotates the operating member 31 towards the housing 1, the operating member 31 may collide with the mounting base 32 or other structures within the connecting assembly 3. The specific structure of the connecting assembly 3 and the structure of the trocar assembly can be referenced from the disclosures in Chinese patents CN223586022U, CN119856981B, CN119856963A, CN117122389A, or other existing technologies. These are not the focus of this embodiment and will not be elaborated upon here.

[0038] For ease of description, a first direction, a second direction, and a third direction are provided that are mutually perpendicular. The first connecting portion 41, the second connecting portion 42, and the connecting base 43 are generally plate-shaped. The first connecting portion 41 and the second connecting portion 42 are perpendicular to the first direction, and the connecting base 43 is perpendicular to the third direction; that is, the first connecting portion 41 and the second connecting portion 42 are perpendicularly connected to the connecting base 43, respectively. In this embodiment, the first connecting portion 41, the second connecting portion 42, and the connecting base 43 are integrally formed.

[0039] Preferably, the first connecting portion 41 has a receiving hole 411. The receiving hole 411 extends to the connecting base 43, and the second connecting portion 42 is placed inside the receiving hole 411. The outer side wall of the second connecting portion 42 and the side wall of the receiving hole 411 are spaced apart circumferentially. By providing the receiving hole 411, the structural compactness of the first connecting portion 41 and the second connecting portion 42 is improved, which helps to reduce the space occupied by the mounting bracket 4, thereby reducing the volume of the housing 1 and the end mechanism.

[0040] In this embodiment, the receiving hole 411 extends through the first connecting portion 41 along the first direction. While ensuring that the first connecting portion 41 and the second connecting portion 42 are spaced apart, the overlapping portion between the first connecting portion 41 and the second connecting portion 42 is minimal. That is, only the sidewall of the receiving hole 411 faces the sidewall of the second connecting portion 42. In other words, when the first connecting portion 41 vibrates or deforms, the small facing area between the first connecting portion 41 and the second connecting portion 42 reduces the possibility of the first connecting portion 41 deforming and contacting the second connecting portion 42, thereby causing the sensor 2 to move. This further reduces the possibility of erroneous readings from the sensor 2, ensuring the accuracy of the sensor 2's data acquisition results, and thus ensuring that the robotic arm 7 can move in the correct direction. In other embodiments, the receiving hole 411 may not extend through the first connecting portion 41; this is not a limitation here.

[0041] Specifically, the connecting component 3 and the button 11 are located on opposite sides of the housing 1 along the first direction. When the operator moves the operating component 31 toward the housing 1, the force applied by the operator to the connecting component 3 is approximately along the first direction, that is, the force transmitted from the connecting component 3 to the first connecting part 41 is also approximately along the first direction. Since the first connecting part 41 is plate-shaped and perpendicular to the first direction, if the first connecting part 41 bends after being subjected to the above-mentioned force, the bending axis is approximately perpendicular to the first direction (such as the second direction). Therefore, compared to the non-through setting of the receiving hole 411, the through setting of the receiving hole 411 in this embodiment (that is, the first connecting part 41 and the second connecting part 42 are not arranged along the first direction) can also reduce the possibility that the first connecting part 41 will approach and contact the second connecting part 42 when it is bent and deformed, further reducing the possibility of erroneous readings of the sensor 2 and ensuring the accuracy of the sensor 2's acquisition results.

[0042] Furthermore, the first connecting portion 41 and the second connecting portion 42 are connected to the same side of the connecting base 43. Both the first connecting portion 41 and the second connecting portion 42 are located on a first side of the connecting base 43 along a first direction. In other embodiments, the first connecting portion 41 and the second connecting portion 42 may also be connected to different sides of the connecting base 43, which is not limited here.

[0043] As a preferred embodiment, the first connecting portion 41 and the second connecting portion 42 are connected to the first side of the connecting base 43 along the first direction, and the thickness of the first connecting portion 41 along the first direction is smaller than the thickness of the second connecting portion 42 along the first direction. This configuration improves the structural strength of the second connecting portion 42 and further reduces the impact of deformation of the first connecting portion 41 on the second connecting portion 42, thereby reducing the possibility of deformation of the second connecting portion 42 and ensuring the accuracy of the sensor 2's acquisition results. Simultaneously, the smaller thickness of the first connecting portion 41 also reduces its rigidity, ensuring reliable deformation and vibration absorption, thus reducing the vibration and deformation transmitted to the connecting base 43 and further minimizing the impact of the aforementioned deformation and vibration on the second connecting portion 42.

[0044] Preferably, the sidewall of the second connecting part 42 facing the first side of the connecting base 43 is flush with the sidewall of the first side of the connecting base 43, which facilitates the production and processing of the mounting bracket 4.

[0045] Preferably, the sidewalls of the first connecting portion 41 and the second connecting portion 42 facing the second side of the connecting base 43 along the first direction are flush, which further facilitates the production and processing of the mounting bracket 4 and further improves the structural compactness of the first connecting portion 41 and the second connecting portion 42. It can be understood that since the sidewall of the second connecting portion 42 facing the first side is flush with the sidewall of the connecting base 43, the sidewalls of the first connecting portion 41 and the second connecting portion 42 facing the second side are flush, and the thickness of the first connecting portion 41 along the first direction is less than the thickness of the second connecting portion 42 along the first direction, that is, the first connecting portion 41 and the sidewall of the connecting base 43 are spaced apart.

[0046] As described above, both the first connecting part 41 and the second connecting part 42 are connected to the first side of the connecting base 43, that is, the first connecting part 41 and the second connecting part 42 are connected to the connecting base 43 to roughly form an "L"-shaped structure. Furthermore, the sensor 2 is connected to the side wall of the second connecting part 42 facing the second side, that is, the sensor 2 and the connecting base 43 are directly opposite each other along a third direction, which improves the structural compactness between the mounting bracket 4 and the sensor 2, helps to reduce the space occupied by the mounting bracket 4 and the sensor 2, reduces the volume of the housing 1 and the end mechanism, and achieves miniaturization of the end mechanism.

[0047] Button 11 is located on the second side near the connecting base 43, that is, sensor 2 and button 11 are both located on the same side of the second connecting part 42 along the first direction, and connecting component 3 is located on the side of the second connecting part 42 opposite to button 11.

[0048] As a preferred embodiment, the end effector also includes an adapter plate 5, which is perpendicular to the first direction. The adapter plate 5 includes a plate body 51 and a boss 52. The plate body 51 and the boss 52 are connected and integrally formed. The boss 52 protrudes from one end face of the plate body 51. The boss 52 is connected to the second connecting part 42, and the plate body 51 is connected to the sensor 2 at the end opposite to the boss 52. By setting the boss 52, the distance between the first connecting part 41 and the sensor 2 is increased. When the first connecting part 41 deforms, the possibility of the first connecting part 41 deforming and thus pushing against the sensor 2 is reduced, further reducing the possibility of incorrect readings from the sensor 2, ensuring the accuracy of the sensor 2's acquisition results, and thus ensuring that the robotic arm 8 can move in the correct direction. At the same time, the adapter plate 5 also protects the sensor 2, preventing damage to the sensor 2 caused by direct collision with the sensor 2 due to deformation of the first connecting part 41, thus reducing maintenance costs. The boss 52 can be fixedly connected to the second connecting part 42 through fasteners, buckles, or other structures, which are not limited here. It is understandable that the adapter piece 5 and the first connecting part 41 are spaced apart.

[0049] In some embodiments, the second connecting portion 42 protrudes from the sidewall of the first connecting portion 41 toward the second sidewall of the connecting base 43 along the first direction, further increasing the distance between the first connecting portion 41 and the sensor 2.

[0050] Preferably, the boss 52 is provided with a protrusion 521, and the second connecting part 42 is provided with a positioning part 424. The protrusion 521 can be placed in the positioning part 424 to limit the relative position between the adapter piece 5 and the second connecting part 42.

[0051] Specifically, the plate 51 is connected to the sensor 2 via a threaded fastener 6. As a preferred embodiment, the first connecting part 41 is provided with a clearance hole 412. By providing the clearance hole 412, the adapter plate 5 can be connected to the mounting bracket 4 first, and then the sensor can be connected to the adapter plate 5. When maintenance is required, only the sensor 2 needs to be disassembled and assembled, which simplifies the maintenance process.

[0052] Furthermore, the threaded head of the threaded fastener 6 is attached to the plate 51. At least part of the threaded head of the threaded fastener 6 is placed within the clearance hole 412, and the threaded head is spaced apart from the wall of the clearance hole 412. The clearance hole 412 extends through the first connecting portion 41 in the first direction. This arrangement reduces the weight of the first connecting portion 41 and the mounting bracket 4, while further improving the structural compactness between the sensor 2 and the mounting bracket 4, reducing the space occupied by the sensor 2 and the mounting bracket 4, thus facilitating a reduction in the volume of the housing 1. Simultaneously, the spaced arrangement of the threaded head and the clearance hole 412 prevents deformation and vibration of the first connecting portion 41 from being transmitted to the sensor 2 through the threaded fastener 6. Four clearance holes 412 are provided, and the four clearance holes 412 are arranged at intervals along the circumference of the sensor 2.

[0053] Specifically, the second connecting portion 42 includes a circular portion 421 and a linear connecting portion 422. The circular portion 421 is connected to the sensor 2, and the linear connecting portion 422 is connected between the circular portion and the connecting base 43. The axis of the circular portion 421 extends along a first direction, and the width of the linear connecting portion 422 along a second direction is smaller than the diameter of the circular portion 421. The shape of the receiving hole 411 is adapted to the shape of the second connecting portion 42, and the distance between the second connecting portion 42 and the sidewall of the receiving hole 411 is the same everywhere along the circumference of the second connecting portion 42. That is, the receiving hole 411 opened on the first connecting portion 41 includes a circular hole segment and a linear hole segment. The circular portion 421 is located within the circular hole segment, and the linear connecting portion 422 is located within the linear hole segment. The axis of the circular hole segment is set along the first direction, and the width of the linear hole segment along the second direction is smaller than the diameter of the circular hole segment.

[0054] In some embodiments, such as Figures 4-6As shown, the clearance holes 412 are located on both sides of the circular hole segment along the third direction, and two clearance holes 412 are provided on each side of the circular hole segment. The two clearance holes 412 on the side of the circular hole segment closer to the connecting base 43 along the third direction are directly opposite to the straight hole segment. Therefore, the cross-sectional area of ​​the first connecting part 41 is the smallest at this point, that is, the rigidity and structural strength of the first connecting part 41 are weaker at this point, and the possibility of bending deformation of the first connecting part 41 is the greatest. This makes the bending deformation position of the first connecting part 41 more certain, improves the controllability when the first connecting part 41 bends, and facilitates the arrangement of the position of the sensor 2 and the position of other structures inside the housing 1 according to the bending position of the first connecting part 41. At the same time, the weaker structural strength position can also play a vibration absorption role, further preventing the vibration from the connecting component 3 from being transmitted to the second connecting part 42 through the first connecting part 41 and the connecting base 43. This avoids the vibration on the first connecting part 41 causing incorrect readings of the sensor 2, ensuring the accuracy of the sensor 2's acquisition results, and thus ensuring that the robotic arm 7 can move in the correct direction.

[0055] Understandably, to ensure the durability of the mounting bracket 4 and prevent irreversible damage caused by excessive deformation of the first connecting portion 41, a reinforcing rib is provided on the first connecting portion 41. The reinforcing rib is located at the edge of the first connecting portion 41 and extends circumferentially along the first connecting portion 41, preventing damage to the first connecting portion 41 caused by the clearance hole 412 being too close to the edge of the first connecting portion 41. In other embodiments, the reinforcing rib may also be provided at other locations on the first connecting portion 41, which is not limited here.

[0056] In some embodiments, without the clearance hole 412, the adapter piece 5 can be assembled with the sensor 2 first, and then the adapter piece 5 can be connected to the second connecting part 42 by fasteners. In this case, the first connecting part 41 has the smallest cross-sectional area at the circular hole segment. Specifically, at the position where the circular hole segment has the largest dimension along the second direction, the cross-sectional area of ​​the first connecting part 41 is the smallest, and the first connecting part 41 is most likely to bend and deform at this location, making the position where the first connecting part 41 bends and deforms more certain, and also having a vibration absorption effect.

[0057] In some embodiments, a weakening hole is formed through the first connecting portion 41. The position of the weakening hole can be adaptively adjusted according to the actual situation so that the cross-sectional area of ​​the first connecting portion 41 is minimized at the position where the weakening hole is formed. This is not limited here. In this case, the clearance hole 412 is not formed.

[0058] Among them, the mounting bracket 4 is made of metal, and the above-mentioned "bending deformation" is all elastic deformation.

[0059] Furthermore, a first reinforcing part 413 is provided at the connection between the first connecting part 41 and the connecting base 43, which avoids deformation and stress concentration at the connection between the first connecting part 41 and the connecting base 43, ensuring that bending deformation occurs at the location where the structural strength is weaker, making the location of bending deformation of the first connecting part 41 more certain, and improving the controllability of bending deformation of the first connecting part 41; at the same time, it also reduces the possibility of deformation of the connecting base 43, ensuring that the connecting base 43 is reliably fixed to the external structure, improving the reliability of the robotic arm 8 during use, and improving the safety of the operation.

[0060] Preferably, a second reinforcing part 423 is provided at the connection between the second connecting part 42 and the connecting base 43. When the operator presses the button 11 and holds it on the housing 1, if a force is applied to the housing 1 to control the movement of the robotic arm 8, the second reinforcing part 423 can improve the connection strength between the second connecting part 42 and the connecting base 43, reduce the possibility of relative deformation between the second connecting part 42 and the connecting base 43, prevent the sensor 2 as a whole and the second connecting part 42 from moving with the housing 1, and further improve the accuracy of the sensor 2 detection results.

[0061] Preferably, the end mechanism further includes a vibration damping pad (not shown in the figure), which is made of an elastic material such as rubber. The vibration damping pad is sandwiched between the connecting base 43 and the instrument slide seat 81, so that vibrations from the connecting assembly 3 cannot be transmitted to the instrument slide seat 81 through the connecting base 43, thereby reducing the possibility of surgical instrument vibration and ensuring the safety of the operation.

[0062] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A terminal mechanism, characterized by, include: The casing has a button on one side; A sensor is placed inside the housing, and when the button is configured to be pressed, the sensor is able to collect force data on the housing. A connecting assembly is located on the side of the housing opposite to the button. The connecting assembly includes a movable operating element that can move toward the housing to release or clamp the component to be installed. The mounting bracket is placed inside the housing. The mounting bracket includes a first connecting part, a second connecting part, and a connecting base. One end of the first connecting part and the second connecting part are respectively connected to the connecting base. The connecting base is connected to an external structure through an opening at one end of the housing. The other end of the first connecting part is connected to a connecting assembly through an opening at the other end of the housing. The second connecting part is connected to the sensor. The first connecting part and the second connecting part are spaced apart.

2. The end effector of claim 1, wherein, The first connecting part has a receiving hole that extends to the connecting base, and the second connecting part is placed inside the receiving hole.

3. The tip mechanism of claim 2, wherein, The first connecting portion and the second connecting portion are connected to the first side of the connecting base along the first direction, and the thickness of the first connecting portion along the first direction is smaller than the thickness of the second connecting portion along the first direction.

4. The tip mechanism of claim 3, wherein, The sidewall of the second connecting part facing the first side is flush with the sidewall of the first side of the connecting base.

5. The tip mechanism of claim 2, wherein, The first connecting portion and the second connecting portion are flush with the sidewalls of the second connecting portion on the second side of the connecting base along the first direction; or, the sidewall of the second connecting portion on the second side protrudes from the sidewall of the first connecting portion on the second side. The sensor is connected to the sidewall of the second connection portion facing the second side.

6. The tip mechanism of claim 5, wherein, The end mechanism further includes an adapter piece, which includes a body and a boss. The boss protrudes from one end face of the body and is connected to the second connecting part. The end of the body opposite to the boss is connected to the sensor.

7. The tip mechanism of claim 6, wherein, The plate is connected to the sensor by a threaded fastener. An clearance hole is provided on the first connection part. At least part of the screw head of the threaded fastener is placed in the clearance hole, and the screw head is spaced apart from the hole wall of the clearance hole.

8. The terminal according to any one of claims 1 to 7, wherein A first reinforcing part is provided at the connection between the first connecting part and the connecting base; and / or, A second reinforcing part is provided at the connection between the second connecting part and the connecting base.

9. A robot arm, characterized by Includes the end-effector as described in any one of claims 1-8.

10. A surgical robot, characterised in that, Including the robotic arm as described in claim 9.

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