Force detection device for surgical robot, surgical robot system, and surgical robot

Abstract

The invention relates to a force detection device of a surgical robot, a surgical robot system and the surgical robot. The force detection device of the surgical robot comprises a cannula body, a sealing piece and a first detection piece. The sealing piece is arranged at the near end of the cannula body and used for being in a sealed state when the surgical instrument is inserted into the cannula body. The first detection piece is arranged at the near end of the sleeve body and close to the sealing piece and used for detecting the stress of the sealing piece in the radial direction. The first detection piece is arranged at the near end of the cannula body to detect the stress of the sealing piece in the radial direction, so that compared with the prior art, the contact force between the sealing piece and the surgical instrument is detected, and the contact force between the far end of the surgical instrument and tissue of a patient can be measured more accurately. Therefore, when a doctor performs an operation, the doctor can obtain interaction force between the surgical instrument and the human tissue more accurately, and then the doctor is helped to improve the operation effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a force detection device of a surgical robot, a surgical robot system and a surgical robot. BACKGROUND

[0002] Surgical robots have become an important choice for surgical operations due to their small incisions, less bleeding and fast recovery. Compared with traditional minimally invasive surgery, robot-assisted surgery mode greatly improves the execution precision and safety of surgery, greatly reducing the pain of patients. However, surgical robots lack tactile feedback, which may cause tissue damage and poor performance of specific tasks such as suturing and intraoperative decision-making. For example, surgeons cannot feel the tension of the suture or the pressure applied to organs and tissues, which may cause broken threads or tissue damage during surgical operations.

[0003] Since the instrument rod is an elongated rod with weak rigidity and limited sleeve diameter, the instrument will deform due to the action of force during the operation, resulting in unexpected contact points between the instrument and the sleeve and affecting the accuracy of force detection. At the same time, since the tail of the sleeve needs to be installed with a sealing element to ensure the airtightness of the patient's abdomen during the operation, the contact force between the sealing element and the instrument cannot be ignored in force detection, and this part of the force will affect the accuracy of force detection. The existing force detection sleeve does not identify this part of the force, resulting in low detection accuracy. SUMMARY

[0004] Therefore, it is necessary to provide a force detection device of a surgical robot, a surgical robot system and a surgical robot to solve the technical problem of low force detection accuracy between the instrument rod and the sleeve in the existing surgical robot.

[0005] A force detection device for a surgical robot comprises:

[0006] a sleeve body;

[0007] a sealing element arranged at the proximal end of the sleeve body and used to be in a sealed state when a surgical instrument is inserted into the sleeve body;

[0008] a first detection element arranged adjacent to the sealing element at the proximal end of the sleeve body and used to detect the force of the sealing element in the radial direction.

[0009] In one embodiment, the first detection element comprises a plurality of first sensitive elements, and the plurality of first sensitive elements form a detection circuit for detecting the force of the sealing element in the radial direction.

[0010] In one embodiment, the plurality of first sensitive elements forming a detection circuit comprises:

[0011] The first detection member includes an even number of first sensitive elements, which form two groups of full-bridge detection circuits for detecting the force of the sealing member in the radial direction.

[0012] In one of the embodiments, the force detection device for the surgical robot further includes:

[0013] A second detection member is arranged at the distal end of the sleeve body, and includes a plurality of second sensitive elements arranged on the outer circumferential surface of the distal end of the sleeve body for detecting the force of the distal end of the sleeve body in the radial direction.

[0014] In one of the embodiments, the plurality of second sensitive elements are uniformly distributed along the circumference of the sleeve body, and form detection circuits for detecting the force of the distal end of the sleeve body in the radial direction.

[0015] In one of the embodiments, the force detection device for the surgical robot further includes:

[0016] A third detection member is arranged on the end surface of the proximal end of the sleeve body, and includes a plurality of third sensitive elements forming detection circuits for detecting the force of the sealing member in the axial direction.

[0017] In one of the embodiments, the force detection device for the surgical robot further includes:

[0018] A mounting plate is mounted on the linear slide table of the surgical robot and connected with the surgical instrument through the instrument mounting interface.

[0019] A fourth detection member is arranged between the mounting plate and the linear slide table, and is used for detecting the axial force received by the surgical instrument.

[0020] In one of the embodiments, the surgical robot further includes:

[0021] A control unit is communicatively connected with the first detection member, the second detection member, the third detection member and the fourth detection member, and calculates the force received by the distal end of the surgical instrument according to the detection results of the first detection member, the second detection member, the third detection member and the fourth detection member.

[0022] In one of the embodiments, the position of the sleeve body for mounting the second detection member is provided with a mounting groove sunken relative to the surface of the sleeve body, the second detection member is mounted in the mounting groove, and the second detection member is fixed to the sleeve body by encapsulation adhesive film.

[0023] A surgical robot force detection system, comprising the force detection device for a surgical robot as described above, when the surgical instrument is subjected to an action force of a patient, the surgical instrument is in contact with the sleeve body, and the control unit can calculate the action force of the surgical instrument according to the mapping relationship values between the forces and signals of the first detection piece, the second detection piece and the third detection piece, and the output signals of the first detection piece, the second detection piece and the third detection piece.

[0024] In one of the embodiments, the surgical instrument is also subjected to an action force of the instrument mounting interface in the radial direction, and by calibrating the force of the execution arm, a compensation factor can be obtained, and according to the detection results of the first detection piece, the second detection piece and the third detection piece combined with the compensation factor, the action force of the surgical instrument can be calculated.

[0025] A surgical robot, comprising the surgical robot force detection system as described above.

[0026] The beneficial effects of the present application are:

[0027] The present application provides a force detection device for a surgical robot, which is used for detecting the force on the surgical instrument. During the operation, the sleeve body is inserted into the abdominal wall of the patient, and the distal end of the sleeve body extends into the abdominal cavity to provide an operation channel for the surgical instrument. The sealing piece is connected to the proximal end of the sleeve body to ensure the airtightness of the abdominal cavity during the operation. The first detection piece is arranged at the position of the sealing piece on the proximal end of the sleeve body to detect the force of the sealing piece in the radial direction. In this way, compared with the prior art, the present application detects the contact force between the sealing piece and the surgical instrument, so that the contact force between the distal end of the surgical instrument and the tissue of the patient can be more accurately measured. In this way, the doctor can more accurately obtain the interaction force between the surgical instrument and the human tissue during the operation, thereby helping the doctor to improve the operation effect. BRIEF DESCRIPTION OF DRAWINGS

[0028] Figure 1 A structural schematic diagram of a surgical robot system provided by an embodiment of the present application;

[0029] Figure 2 A front view of the surgical instrument and the execution arm after being connected in the surgical robot provided by an embodiment of the present application;

[0030] Figure 3 A structural schematic diagram of the sleeve body part in the surgical robot provided by an embodiment of the present application;

[0031] Figure 4 A structural schematic diagram of the connection between the sleeve body and the detection piece in the surgical robot provided by an embodiment of the present application;

[0032] Figure 5 A structure schematic diagram of a sleeve body with a rigidity weakening area in a surgical robot according to an embodiment of the present application;

[0033] Figure 6 A force model schematic diagram of a sleeve body in a surgical robot according to an embodiment of the present application;

[0034] Figure 7 A structure schematic diagram of a force calibration device connected with a surgical instrument according to an embodiment of the present application;

[0035] Figure 8 Another structure schematic diagram of a surgical instrument of a surgical robot connected with an execution arm according to an embodiment of the present application.

[0036] Reference signs:

[0037] Surgical robot 100; surgical instrument 110; sleeve body 121; rigidity weakening hole 1211; sealing member 122; sealing ring 123; sleeve mounting interface 124; first detection member 131; second detection member 132; third detection member 133; instrument mounting interface 140; execution arm 150; linear slide 151; force calibration device 160; three-dimensional moving platform 161; calibration detection member 162; docking member 163; mounting plate 170; power box 171. DETAILED DESCRIPTION

[0038] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in a number of different ways beyond the specific embodiments described and it is to be understood that the present application is not limited in this regard. In other instances, well-known methods have not been described in detail in order to avoid unnecessarily obscuring the present application.

[0039] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0040] In addition, the terms "first", "second", etc. are used only for descriptive purposes and are not to be construed as indicating or implying relative importance or an ordered ranking of the indicated technical features. Thus, features defined with "first", "second" can include, explicitly or implicitly, at least one of such features. In the description of the present application, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise explicitly and specifically limited.

[0041] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0042] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0043] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there can be a mediating element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a mediating element. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation.

[0044] Referring to Figures 1 to 7 The embodiment of the present application provides a force checking device of a surgical robot 100, which comprises a sleeve body 121, a sealing element 122 and a first detection element 131. The sealing element 122 is arranged at the proximal end of the sleeve body 121 and is in a sealed state when the surgical instrument 110 is inserted into the sleeve body 121; the first detection element 131 is arranged adjacent to the sealing element 122 at the proximal end of the sleeve body 121 and is used to detect the force of the sealing element 122 in the radial direction.

[0045] The application provides a force detection device of a surgical robot 100, which is used for detecting the force on a surgical instrument 110. During surgery, a sleeve body 121 is inserted into the abdominal wall of a patient, and the distal end of the sleeve body 121 extends into the abdominal cavity to provide a surgical channel for the surgical instrument 110. A sealing member 122 is connected to the proximal end of the sleeve body 121 to ensure the airtightness of the abdominal cavity during surgery. A first detection member 131 is arranged at the proximal end of the sleeve body 121 to detect the force in the radial direction of the sealing member 122. Thus, compared with the prior art, the application detects the contact force between the sealing member 122 and the surgical instrument 110, so that the contact force between the distal end of the surgical instrument 110 and the tissue of the patient can be more accurately measured. In this way, the doctor can more accurately obtain the interaction force between the surgical instrument 110 and the human tissue during surgery, thereby helping the doctor to improve the surgical effect.

[0046] It should be noted that, in the embodiment, the proximal end refers to the end close to the execution arm 150, and the distal end refers to the end used for performing the surgical operation. In addition, since the sealing member 122 has small rigidity, the first detection member 131 for detecting the force at the contact point between the sealing member 122 and the surgical instrument 110 is arranged at the proximal end of the sleeve body 121 to indirectly detect the force of the surgical instrument 110 acting on the sealing member 122.

[0047] As shown in Figure 4 and Figure 5 , in one of the embodiments, the first detection member 131 includes a plurality of first sensitive elements, and the plurality of first sensitive elements form a detection circuit for detecting the force in the radial direction of the sealing member 122. Specifically, the plurality of first sensitive elements are uniformly distributed along the circumference of the sleeve body 121, so as to more accurately detect the radial force at the sealing member 122.

[0048] Further, the plurality of first sensitive elements forming the detection circuit include an even number of first sensitive elements, and the even number of first sensitive elements form two groups of full-bridge detection circuits for detecting the force in the radial direction of the sealing member 122. One group of full-bridge detection circuits is used for detecting the component force of the force acting on the sealing member 122 in a first direction, and the other group of full-bridge detection circuits is used for detecting the component force of the force acting on the sealing member 122 in a second direction. The first direction can be a direction along the horizontal direction in the radial direction of the surgical instrument 110; and the second direction can be a direction along the vertical direction in the radial direction of the surgical instrument 110.

[0049] As shown in Figure 4 and Figure 5As shown, in one embodiment, the force detection device for the surgical robot further includes a second detection element 132. The second detection element 132 is disposed at the distal end of the cannula body 121. The second detection element 132 includes a plurality of second sensitive elements disposed on the outer peripheral surface of the distal end of the cannula body 121, for detecting the force on the distal end of the cannula body 121 in the radial direction. By providing the second detection element 132 at the distal end of the cannula body 121, the force at the contact point between the surgical instrument 110 and the cannula body 121 at the distal end of the cannula body 121 is detected.

[0050] By detecting the contact force at two contact points between the distal and proximal ends of the cannula body 121 and the surgical instrument 110, a more accurate measurement of the force between the distal end of the surgical instrument 110 and the patient's tissue can be achieved. Furthermore, by controlling the deformation of the surgical instrument 110 through these two-point contact points between the two ends of the cannula body 121 and the surgical instrument 110, the surgical instrument 110 can avoid unexpected contact points with the cannula body 121, thereby improving the accuracy of force detection.

[0051] like Figure 4 and Figure 5 As shown, in one embodiment, a plurality of second sensitive elements are evenly distributed along the circumference of the cannula body 121. These multiple second sensitive elements form a detection circuit for detecting the radial force on the distal end of the cannula body 121. The even distribution of the multiple second sensitive elements along the circumference of the cannula body 121 facilitates more accurate detection of the radial force on the distal end of the cannula body 121. Specifically, the second detection element 132 includes an even number of second sensitive elements, which form two sets of full-bridge detection circuits. One set of full-bridge detection circuits detects the component of the force on the distal end of the cannula body 121 in the first direction, thus indirectly obtaining the component of the force between the surgical instrument 110 and the distal end of the cannula body 121 in the first direction. The other set of full-bridge detection circuits detects the component of the force on the distal end of the cannula body 121 in the second direction, thus indirectly obtaining the component of the force between the surgical instrument 110 and the distal end of the cannula body 121 in the second direction.

[0052] like Figure 4 and Figure 5 As shown, in one embodiment, the force detection device for the surgical robot 100 further includes a third detection element 133 disposed on the end face of the proximal end of the cannula body 121. The third detection element 133 includes a plurality of third sensitive elements, which form a detection circuit for detecting the force on the seal 122 in the axial direction.

[0053] The three-dimensional force of the interaction between the surgical instrument 110, the cannula body 121, and the seal 122 is detected by the first, second, and third sensitive elements, thereby the force between the surgical instrument 110 and the target tissue can be calculated.

[0054] In one embodiment, the force detection device for the surgical robot 100 further includes a mounting plate 170 and a fourth detection element. The mounting plate 170 is mounted on the linear slide 151 of the surgical robot 100 and connected to the surgical instrument 110 through the instrument mounting interface 140. The fourth detection element is disposed on the mounting plate 170 and is used to detect the axial force on the surgical instrument 110.

[0055] Understandably, the surgical robot 100 includes a cannula mounting port for securely mounting the cannula body 121 into the actuator arm 150. The cannula mounting port contains an electrical interface, allowing the connection and disconnection of circuits for different detection components on the cannula body 121 during installation and removal. The surgical robot 100 also includes an instrument mounting interface 140 and a linear slide 151. Surgical instruments 110 are fitted onto the instrument mounting interface 140, which is connected to the actuator arm 150. Figure 8 As shown, the mounting plate 170 is slidably connected to the linear slide 151. The power box 171 is connected to the mounting plate, and the mounting plate 170 is connected to the instrument mounting interface 140. The power box 171 is connected to the surgical instrument drive via the mounting plate 170 and the instrument mounting interface 140 to drive the distal end of the surgical instrument 110 to perform surgical tasks. A fourth detection element is provided on the mounting plate to detect the axial force between the surgical instrument 110 and the instrument mounting interface 140. Furthermore, a drive motor is provided on the linear slide, which can move under the drive of the drive motor, thereby moving the mounting plate and the surgical instrument together with the linear slide.

[0056] Specifically, the force detection device of the surgical robot 100 also includes a control unit. The control unit is communicatively connected to the first detection element 131, the second detection element 132, the third detection element 133, and the fourth detection element. The control unit calculates the force on the distal end of the surgical instrument 110 based on the detection results of the first detection element 131, the second detection element 132, the third detection element 133, and the fourth detection element. By calculating the force on the distal end of the surgical instrument 110, the interaction force between the surgical instrument 110 and the patient's tissue can be obtained, thereby enabling the surgeon to improve the surgical outcome by utilizing the interaction force between the surgical instrument 110 and the human tissue.

[0057] Reference Figure 6 To be understood, specifically, the control unit calculates the force on the distal end of the surgical instrument 110 using the following calculation model:

[0058] F z +F5+F6=0

[0059] F x *L+F1*L1+F3*L2=0

[0060] F y *L+F2*L1+F4*L2=0

[0061] where F x represents the force in the first direction on the distal end of the surgical instrument 110 in the radial direction; F y represents the force in the second direction on the distal end of the surgical instrument 110 in the radial direction; F z represents the force in the axial direction on the distal end of the surgical instrument 110; F1 represents the force in the first direction on the distal end of the cannula body 121; F2 represents the force in the second direction on the distal end of the cannula body 121; F3 represents the force in the first direction on the first seal 122; F4 represents the force in the second direction on the first seal 122; F5 represents the force in the axial direction on the seal 122; F6 represents the force in the axial direction on the instrument mounting interface 140; L represents the distance between the distal end of the surgical instrument 110 and the instrument mounting interface 140; L1 represents the distance between the distal end of the cannula body 121 and the instrument mounting interface 140; L2 represents the distance between the center of the first seal 122 and the instrument mounting interface 140.

[0062] The above calculation model is established on the condition that the surgical instrument 110 and the cannula body 121 only have two-point contact at the position of the distal end of the cannula body 121 and the sealing element 122, and the installation between the surgical instrument 110 and the instrument mounting interface 140 is considered as a hinged model. Based on the principle of balance of action and reaction forces, the force between the surgical instrument 110 and the patient tissue in the axial direction of the surgical instrument 110 can be calculated through the axial force of the sealing element 122 and the instrument mounting interface 140 on the surgical instrument 110. Since the surgical instrument 110 and the instrument mounting interface 140 are in a hinged model, the moment between the force of the distal end of the surgical instrument 110 in the first direction and the instrument mounting interface 140 should be equal to the moment between the component of the force of the surgical instrument 110 acting on the cannula body 121 and the first sealing element 122 in the first direction and the instrument mounting interface 140, and thus the component of the force between the distal end of the surgical instrument 110 and the patient tissue in the first direction can be calculated. Correspondingly, the moment between the force of the distal end of the surgical instrument 110 in the second direction and the instrument mounting interface 140 should be equal to the moment between the component of the force of the surgical instrument 110 acting on the cannula body 121 and the first sealing element 122 in the second direction and the instrument mounting interface 140, and thus the component of the force between the distal end of the surgical instrument 110 and the patient tissue in the first direction can be calculated.

[0063] Further, F1, F2, F3, F4 and F5 are calculated through the calibration matrix as follows:

[0064] F=K*U

[0065] Wherein, K represents the mapping relationship value between the force and the signal in the first, second and third sensitive elements, and K is a 5*5 matrix; U is the voltage signal output by the first, second and third sensitive elements on the cannula body 121, and U is a 5*1 matrix; F is the force detected by the first, second and third sensitive elements. After the first, second and third sensitive elements are calibrated, the mapping relationship between the force and the signal in different sensitive elements is obtained, and then the voltage values of the two groups of first sensitive elements of the first detection element 131, the voltage values of the two groups of second sensitive elements of the second detection element 132 and the voltage value of the third sensitive element of the third detection element 133 are detected to calculate the corresponding force. It can be understood that in the embodiment, the two groups of first sensitive elements, the two groups of second sensitive elements and the third sensitive element are associated with each other.

[0066] In one of the embodiments, the position on the sleeve body 121 for mounting the second detection member 132 is provided with a mounting groove sunken relative to the surface of the sleeve body 121, the second detection member 132 is mounted in the mounting groove, and the second detection member 132 is fixed to the sleeve body 121 by the encapsulation adhesive film. Specifically, each second sensitive element corresponds to a mounting groove, and the second sensitive element is arranged in the mounting groove and fixed to the sleeve body 121 by the encapsulation adhesive film. In this way, the sleeve body 121 has a flat appearance after encapsulating the second sensitive elements. Specifically, the encapsulation adhesive film can be insulating silica gel, plastic, or the like.

[0067] The surgical robot force detection system according to one of the embodiments of the present application further comprises the force detection device for a surgical robot as above. When the surgical instrument 110 is subjected to the force of the patient, the surgical instrument 110 is in contact with the sleeve body 121, and the control unit can calculate the force subjected by the surgical instrument 110 according to the mapping relationship values between the force and the signal of the first detection member 131, the second detection member 132, and the third detection member 133, and the output signals of the first detection member 131, the second detection member 132, and the third detection member 133.

[0068] The first detection member 131 is used to detect the force in the radial direction of the contact point between the surgical instrument 110 and the sealing member 122; the second detection member 132 is arranged at the distal end of the sleeve body 121 to detect the force of the contact point between the surgical instrument 110 and the sleeve body 121 at the distal end of the sleeve body 121; and the third detection member 133 is used to detect the force in the axial direction between the surgical instrument 110 and the sealing member 122. In this way, the contact force between the distal end of the surgical instrument 110 and the tissue member of the patient can be more accurately measured. In this way, the doctor can more accurately obtain the interaction force between the surgical instrument 110 and the human tissue during the surgery, thereby helping the doctor to improve the surgical effect.

[0069] In one of the embodiments, the surgical instrument 110 is also subjected to the force in the radial direction of the instrument mounting interface 140, and the compensation factor can be obtained by calibrating the force of the execution arm 150. According to the detection results of the first detection member 131, the second detection member 132, and the third detection member 133 combined with the compensation factor, the force subjected by the surgical instrument 110 can be calculated.

[0070] Based on the fact that the surgical instrument 110 and the instrument mounting interface 140 are not completely articulated, when the distal end of the surgical instrument 110 is subjected to a force, additional forces other than the axial force F6 will be generated at the instrument mounting interface 140, which will affect the radial force detection of the distal end of the sleeve body 121. In order to eliminate the influence of the additional forces other than the axial force at the instrument mounting interface 140 on the radial force detection of the distal end of the sleeve body 121, in the embodiment, the surgical execution arm 150 as a whole is calibrated for force to obtain a compensation factor, so as to improve the accuracy of force detection. By taking the component forces of the additional forces generated by the calibrated surgical execution arm 150 as a whole on the surgical instrument 110 in different directions as compensation factors, and considering the weight of the surgical instrument 110 itself as a gravity compensation factor, and through force and torque balance, the force acting on the distal end of the surgical instrument 110 is calculated. In this way, the interference of the first sealing element 122 and the surgical execution arm 150 and the like on the surgical instrument 110 is comprehensively considered, so as to improve the detection accuracy of the force between the surgical instrument 110 and the patient assembly, and thus improve the surgical quality.

[0071] Specifically, the surgical instrument 110 is also subjected to a force in the radial direction of the instrument mounting interface 140. By calibrating the force of the execution arm 150, a compensation factor can be obtained. In different position states of the execution arm 150 in the axial direction, the force acting on the surgical instrument 110 is calculated by the following formula:

[0072] F z +F5+F6+G z =0

[0073] F x *L+F1*L1+F3*L2+R x +G x =0

[0074] F y *L+F2*L1+F4*L2+R y +G y =0

[0075] Wherein, R x represents the component force of the force in the radial direction of the instrument mounting interface 140 in the first direction; R y represents the component force of the force in the radial direction of the instrument mounting interface 140 in the second direction; G x represents the component force of the weight of the surgical instrument 110 in the radial direction along the first direction; G y represents the component force of the weight of the surgical instrument 110 in the radial direction along the second direction; G z represents the component force of the weight of the surgical instrument 110 in the axial direction.

[0076] As shown in Figure 4 and Figure 5 In one embodiment, the surgical robot 100 system further comprises a sealing ring 123 sleeved on the surgical instrument 110 to seal the gap between the proximal end of the cannula body 121 and the instrument. By providing the sealing ring 123, the air tightness between the proximal end of the cannula body 121 and the surgical instrument 110 is improved to prevent gas leakage in the patient's abdominal cavity, thereby improving the air tightness of the pneumoperitoneum and facilitating the smooth execution of the operation

[0077] As shown in Figure 5 It should be noted that the positions of the first detection member 131, the second detection member 132 and the third detection member 133 on the cannula body 121 are set as the reduced rigidity area. Specifically, the thickness or width of the patch area at the positions of the first detection member 131, the second detection member 132 and the third detection member 133 can be reduced to increase the strain of the cannula body 121 under stress, thereby achieving more sensitive force detection function. For example, a reduced rigidity hole 1211 can be formed on the circumferential surface of the detection member on the cannula body 121, or the side wall at this position can be made thinner, etc.

[0078] As shown in Figure 7 An embodiment of the present application further provides a force calibration device 160 for calibrating the force on the connection between the surgical instrument 110 and the execution arm 150. The force calibration system comprises a three-dimensional moving platform 161, a calibration detection member 162 and a docking member 163. The calibration detection member 162 is arranged between the three-dimensional moving platform 161 and the docking member 163. The three-dimensional moving platform 161 can drive the docking member 163 to move to change the contact state between the surgical instrument 110 and the docking member 163. The calibration detection member 162 is used to detect the actual force on the distal end of the surgical instrument 110. According to the difference between the actual force and the first detection member 131, the second detection member 132, the third detection member 133 and the fourth detection member, the compensation factor of the force on the surgical instrument 110 is obtained.

[0079] In the embodiment, the three-dimensional moving platform 161 is used to change the contact state between the surgical instrument 110 and the docking piece 163, so that the surgical instrument 110 is detected by the calibration detection piece 162 in different contact states. Since the first detection piece 131, the second detection piece 132 and the third detection piece 133 on the sleeve body 121 can detect the force between the contact point of the surgical sleeve body 121 and the surgical instrument 110, and the theoretical force between the surgical instrument 110 and the patient tissue is obtained through the calculation model. By comparing the actual force of the distal end of the surgical instrument 110 detected by the calibration detection piece 162 with the calculated theoretical force, the force compensation factor of the surgical instrument 110 in different positions of the execution arm 150 can be obtained.

[0080] The embodiment of the present application also provides a surgical robot 100 comprising the surgical robot force detection system. By applying the surgical robot force detection system to the surgical robot, the surgical robot force calibration device 160 comprehensively considers the additional force between the surgical instrument 110 and the sealing piece 122, so as to reduce the detection interference of the force of the distal end of the surgical instrument 110, thereby improving the force precision between the surgical instrument 110 and the patient tissue of the surgical robot 100, and facilitating the improvement of the surgical quality.

[0081] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above-mentioned embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, it should be considered that the combinations are within the scope of the present application.

[0082] The above-mentioned embodiments only express several embodiments of the present application, the description is more specific and detailed, but it cannot be understood as the limitation of the patent scope of the present application. It should be pointed out that for ordinary skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A force detecting device for a surgical robot, characterized by, The utility model relates to a force detection device for surgical robot, which comprises a sleeve body, a sealing element arranged at the proximal end of the sleeve body for sealing when a surgical instrument is inserted into the sleeve body, a first detection element arranged at the proximal end of the sleeve body adjacent to the sealing element for detecting the force in the radial direction of the sealing element. The first detection element comprises a plurality of first sensitive elements, which form a detection circuit for detecting the force in the radial direction of the sealing element. The plurality of first sensitive elements form a detection circuit, which comprises: The first detection element comprises an even number of first sensitive elements, which form two full-bridge detection circuits for detecting the force in the radial direction of the sealing element.

2. The force detection device for a surgical robot according to claim 1, characterized by, The force detection device for surgical robot further comprises:

3. The force detection device for a surgical robot according to claim 2, characterized by, A second detection element arranged at the distal end of the sleeve body, which comprises a plurality of second sensitive elements arranged on the outer circumferential surface of the distal end of the sleeve body for detecting the force in the radial direction of the distal end of the sleeve body. The plurality of second sensitive elements are uniformly distributed along the circumference of the sleeve body, and form a detection circuit for detecting the force in the radial direction of the distal end of the sleeve body.

4. The force detection device for a surgical robot according to claim 1, characterized by, The force detection device for surgical robot further comprises: A third detection element arranged on the end face of the proximal end of the sleeve body, which comprises a plurality of third sensitive elements forming a detection circuit for detecting the force in the axial direction of the sealing element.

5. The force detection device for a surgical robot according to claim 4, characterized by, The force detection device for surgical robot further comprises:

6. The force detection device for a surgical robot according to claim 4, characterized by, A mounting plate mounted on the linear slide table of the surgical robot and connected with the surgical instrument through an instrument mounting interface; A fourth detection element arranged between the mounting plate and the linear slide table, which is used for detecting the axial force received by the surgical instrument.

7. The force detection device for a surgical robot according to claim 6, wherein The force detection device for surgical robot further comprises: A control unit communicatively connected with the first detection element, the second detection element, the third detection element, and the fourth detection element, which calculates the force received by the distal end of the surgical instrument according to the detection results of the first detection element, the second detection element, the third detection element, and the fourth detection element. The position on the sleeve body for mounting the second detection element is provided with a mounting groove sunken relative to the surface of the sleeve body, the second detection element is mounted in the mounting groove, and the second detection element is fixed to the sleeve body through an encapsulation film.

8. The force detection device for a surgical robot according to claim 7, characterized by, The surgical robot force detection system comprises the force detection device for surgical robot according to any one of claims 1-9, when the surgical instrument receives the force from the patient, the surgical instrument is in contact with the sleeve body, and the control unit can calculate the force received by the surgical instrument according to the mapping relationship value between the force and the signal in the first detection element, the second detection element, and the third detection element, and the output signal of the first detection element, the second detection element, and the third detection element. ​ 9. The force detection device for a surgical robot according to claim 7, characterized by, ​ 10. A surgical robotic force sensing system, characterized by, ​ 11. The surgical robotic force sensing system of claim 10, wherein, The surgical instrument is also subjected to a force in a radial direction by the instrument mounting interface, a compensation factor is obtained by calibrating the force of the execution arm, and the force subjected by the surgical instrument can be calculated according to the detection results of the first detection member, the second detection member and the third detection member in combination with the compensation factor.

12. A surgical robot, characterized in that, The surgical robot comprises the surgical robot force detection system according to claim 10 or 11.

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