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

Abstract

The application relates to a force detection device of a surgical robot, a surgical robot system and a surgical robot. The force detection device of the surgical robot comprises a sleeve body, a sealing element and a first detection element. The sealing element is arranged at the proximal end of the sleeve body and is in a sealed state when a surgical instrument is inserted into the sleeve body; the first detection element is arranged adjacent to the sealing element at the proximal end of the sleeve body and is used for detecting the force of the sealing element in the radial direction. By arranging the first detection element at the proximal end of the sleeve body, the force of the sealing element in the radial direction is detected, so that, compared with the prior art, the contact force between the sealing element and the surgical instrument is detected, 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.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a force detection device for a surgical robot, a surgical robot system, and a surgical robot. Background Technology

[0002] Surgical robots have rapidly become an important choice for surgical procedures due to their smaller incisions, less bleeding, and faster recovery. Compared to traditional minimally invasive surgery, robot-assisted surgery significantly improves the precision and safety of surgical procedures, greatly reducing patient pain. However, surgical robots lack tactile feedback, which can lead to tissue damage and poor performance of specific tasks (such as suturing and intraoperative decisions). For example, surgeons cannot feel the tension of sutures or the pressure applied to organs and tissues, potentially causing suture breakage or tissue damage during surgery.

[0003] Because the instrument rod is slender and has relatively low rigidity, and the cannula diameter is limited, the instrument can deform under the influence of forces during surgery. This can lead to unexpected contact points between the instrument and the cannula, affecting the accuracy of the force detection. Furthermore, since a seal needs to be installed at the end of the cannula to ensure airtightness of the patient's abdomen during surgery, the contact force between the seal and the instrument is significant in force detection. This force also impacts the accuracy of the force detection, and existing force detection cannulas fail to detect this force, resulting in low detection precision. Summary of the Invention

[0004] Therefore, it is necessary to address the technical problem of low accuracy in force detection between the instrument rod and the cannula in existing surgical robots by providing a force detection device, a surgical robot system, and a surgical robot.

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

[0006] Sleeve body;

[0007] A sealing element is disposed at the proximal end of the cannula body to maintain a sealed state when surgical instruments are inserted into the cannula body;

[0008] The first detection element is located near the seal at the proximal end of the sleeve body and is used to detect the force on the seal in the radial direction.

[0009] In one embodiment, the first detection element includes a plurality of first sensitive elements, which together form a detection circuit for detecting the force on the seal in the radial direction.

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

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

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

[0013] The second detection element is disposed at the distal end of the cannula body. The second detection element includes a plurality of second sensitive elements disposed on the outer peripheral surface of the distal end of the cannula body, and is used to detect the force on the distal end of the cannula body in the radial direction.

[0014] In one embodiment, the plurality of second sensitive elements are evenly distributed along the circumference of the sheath body, and the plurality of second sensitive elements form a detection circuit for detecting the force on the distal end of the sheath body in the radial direction.

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

[0016] The third detection element is disposed on the end face of the proximal end of the sleeve body. The third detection element includes a plurality of third sensitive elements, which form a detection circuit for detecting the force on the seal in the axial direction.

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

[0018] The mounting plate is installed on the linear slide of the surgical robot and connected to the surgical instruments through the instrument mounting interface;

[0019] A fourth detection element is disposed between the mounting plate and the linear slide, and the fourth detection element is used to detect the axial force on the surgical instrument.

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

[0021] The control unit is communicatively connected to the first detection element, the second detection element, the third detection element, and the fourth detection element. The control unit calculates the force on the distal end of the surgical instrument based on the detection results of the first detection element, the second detection element, the third detection element, and the fourth detection element.

[0022] In one embodiment, the sleeve body has a mounting groove that is recessed relative to the surface of the sleeve body at the position for mounting the second detection element. The second detection element is installed in the mounting groove and is fixed to the sleeve body by an encapsulating film.

[0023] A surgical robot force detection system includes a force detection device for the surgical robot as described above. When the surgical instrument is subjected to a force from the patient, the surgical instrument comes into contact with the cannula body. The control unit can calculate the force exerted on the surgical instrument based on the mapping relationship between force and signal values ​​in the first, second, and third detection elements, as well as the output signals of the first, second, and third detection elements.

[0024] In one embodiment, the surgical instrument is also subjected to a radial force from the instrument mounting interface. By calibrating the force on the actuating arm, a compensation factor can be obtained. Based on the detection results of the first, second, and third detection elements and the compensation factor, the force on the surgical instrument can be calculated.

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

[0026] The beneficial effects of this invention are:

[0027] This invention provides a force detection device for a surgical robot, used to detect the forces acting on surgical instruments. During surgery, a cannula is inserted into the patient's abdominal wall, with its distal end extending into the abdominal cavity to provide a surgical channel for the surgical instruments. A seal is connected to the proximal end of the cannula to ensure airtightness within the abdominal cavity during surgery. A first detection element is placed at the location of the seal at the proximal end of the cannula to detect the radial force acting on the seal. Thus, compared to existing technologies, this application detects the contact force between the seal and the surgical instruments, allowing for more accurate measurement of the contact force between the distal end of the surgical instruments and the patient's tissues. This enables surgeons to more accurately obtain the interaction forces between the surgical instruments and human tissues during surgery, thereby helping them improve surgical outcomes. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of a surgical robot system provided in an embodiment of the present invention;

[0029] Figure 2 This is a front view of a surgical robot provided in an embodiment of the present invention after the surgical instruments and the execution arm are connected;

[0030] Figure 3 This is a schematic diagram of the structure of the cannula body portion of a surgical robot provided in an embodiment of the present invention;

[0031] Figure 4 This is a schematic diagram of the connection between the cannula body and the detection component in a surgical robot according to an embodiment of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of a cannula body with a stiffness reduction region in a surgical robot according to an embodiment of the present invention.

[0033] Figure 6 This is a schematic diagram of the force model of the cannula body in a surgical robot according to an embodiment of the present invention;

[0034] Figure 7 This is a schematic diagram of the structure of a force calibration device connected to a surgical instrument according to an embodiment of the present invention;

[0035] Figure 8 This is another schematic diagram of the surgical robot provided in one embodiment of the present invention after the surgical instruments and the execution arm are connected.

[0036] Figure label:

[0037] Surgical robot 100; surgical instrument 110; cannula body 121; stiffness reduction hole 1211; seal 122; sealing ring 123; cannula mounting interface 124; first detection component 131; second detection component 132; third detection component 133; instrument mounting interface 140; actuator arm 150; linear slide 151; force calibration device 160; three-dimensional moving platform 161; calibration and detection component 162; docking component 163; mounting plate 170; power box 171. Detailed Implementation

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0042] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figures 1 to 7 An embodiment of the present invention provides a force testing device for a surgical robot 100. The force testing device for the surgical robot 100 includes a cannula body 121, a seal 122, and a first detection element 131. The seal 122 is disposed at the proximal end of the cannula body 121 and is used to maintain a sealed state when the surgical instrument 110 is inserted into the cannula body 121. The first detection element 131 is disposed at the proximal end of the cannula body 121 adjacent to the seal 122 and is used to detect the force on the seal 122 in the radial direction.

[0045] This invention provides a force detection device for a surgical robot 100, used to detect the force on a surgical instrument 110. During surgery, a cannula body 121 is inserted into the patient's abdominal wall, with its distal end extending into the abdominal cavity to provide a surgical channel for the surgical instrument 110. A seal 122 is connected to the proximal end of the cannula body 121 to ensure airtightness within the abdominal cavity during surgery. A first detection element 131 is provided at the proximal end of the cannula body 121 to detect the force on the seal 122 in the radial direction. Thus, compared to the prior art, this application detects the contact force between the seal 122 and the surgical instrument 110, allowing for more accurate measurement of the contact force between the distal end of the surgical instrument 110 and the patient's tissue. This enables surgeons to more accurately obtain the interaction force between the surgical instrument 110 and human tissue during surgery, thereby helping them improve surgical outcomes.

[0046] It should be noted that in this embodiment, the proximal end refers to the end near the execution arm 150, and the distal end refers to the end used to perform surgical operations. In addition, since the rigidity of the seal 122 is relatively small, a first detection element 131 for detecting the force at the contact point between the seal 122 and the surgical instrument 110 is set at the proximal end of the cannula body 121 to indirectly detect the force exerted on the seal 122 by the surgical instrument 110.

[0047] like Figure 4 and Figure 5 As shown, in one embodiment, the first detection element 131 includes a plurality of first sensitive elements, which together form a detection circuit for detecting the force on the seal 122 in the radial direction. Specifically, the plurality of first sensitive elements are evenly distributed along the circumference of the sleeve body 121 to facilitate more accurate detection of the radial force on the seal 122.

[0048] Furthermore, the detection circuit comprises an even number of first sensitive elements, which together form two sets of full-bridge detection circuits for detecting the force on the seal 122 in the radial direction. One set of full-bridge detection circuits detects the component of the force on the seal 122 in the first direction, and the other set detects the component of the force on the seal 122 in the second direction. The first direction can be a horizontal direction along the radial direction of the surgical instrument 110; the second direction can be a vertical direction along the radial direction of the surgical instrument 110.

[0049] like 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] Among them, F x F represents the component of the force acting on the distal end of the surgical instrument 110 in the first direction in the radial direction; y This represents the component of the force acting on the distal end of the surgical instrument 110 in the radial direction in the second direction; F z F1 represents the force exerted on the distal end of the surgical instrument 110 in the axial direction; F2 represents the component of the force exerted on the distal end of the cannula body 121 in the first direction; F3 represents the component of the force exerted on the distal end of the cannula body 121 in the second direction; F4 represents the component of the force exerted on the first seal 122 in the second direction; F5 represents the force exerted on the seal 122 in the axial direction; F6 represents the force exerted on the instrument mounting interface 140 in the axial direction; 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 holds true under the condition that the surgical instrument 110 and the cannula body 121 only have two points of contact: the distal end of the cannula body 121 and the position of the seal 122. Simultaneously, the installation between the surgical instrument 110 and the instrument mounting interface 140 can be considered a hinged model. Based on the principle of action and reaction force balance, the axial force exerted on the surgical instrument 110 by the seal 122 and the instrument mounting interface 140 can be used to calculate the force between the surgical instrument 110 and the patient tissue along the axial direction of the surgical instrument 110. Since the surgical instrument 110 and the instrument mounting interface 140 are in a hinged model, the force exerted on the distal end of the surgical instrument 110 in the first direction and the torque between the surgical instrument 110 and the instrument mounting interface 140 should be equal to the sum of the component of the force exerted by the surgical instrument 110 on the cannula body 121 and the first seal 122 in the first direction and the torque between the surgical instrument 110 and the instrument mounting interface 140. Therefore, 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. Accordingly, the force exerted on the distal end of the surgical instrument 110 in the second direction and the torque between the instrument mounting interface 140 should be equal to the sum of the component of the force exerted by the surgical instrument 110 on the cannula body 121 and the first seal 122 in the second direction and the torque between the instrument mounting interface 140. 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] Furthermore, F1, F2, F3, F4, and F5 are calculated using the following calibration matrix:

[0064] F=K*U

[0065] Wherein, K represents the mapping relationship value between force and signal in the two sets of first sensitive elements, two sets of second sensitive elements, and one set of third sensitive elements calibrated, and K is a 5*5 matrix; U is the voltage signal output by the two sets of first sensitive elements, two sets of second sensitive elements, and one set of third sensitive elements on the sleeve body 121, and U is a 5*1 matrix; F is the force detected by the two sets of first sensitive elements, two sets of second sensitive elements, and one set of third sensitive elements. The mapping relationship between force and signal in different sensitive elements is obtained after calibrating the first, second, and third sensitive elements. Then, the corresponding force is calculated by detecting the voltage values ​​of the two sets of first sensitive elements of the first detection element 131, the voltage values ​​of the two sets 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. It can be understood that in this embodiment, the two sets of first sensitive elements, two sets of second sensitive elements, and third sensitive elements are interconnected.

[0066] In one embodiment, a mounting groove is provided on the sleeve body 121 at the position for mounting the second detection element 132, recessed relative to the surface of the sleeve body 121. The second detection element 132 is mounted in the mounting groove and fixed to the sleeve body 121 by an encapsulating film. Specifically, each second sensitive element corresponds to one mounting groove. By placing the second sensitive element in the mounting groove and fixing it to the sleeve body 121 by the encapsulating film, the sleeve body 121 has a flat appearance after the second sensitive element is encapsulated. Specifically, the encapsulating film can be insulating silicone, plastic, etc.

[0067] An embodiment of the present invention also provides a surgical robot force detection system. The surgical robot force detection system includes the force detection device for the surgical robot as described above. When the surgical instrument 110 is subjected to the force of the patient, the surgical instrument 110 comes into contact with the cannula body 121. The control unit can calculate the force subjected to the surgical instrument 110 based on the mapping relationship between force and signal in the first detection element 131, the second detection element 132 and the third detection element 133, as well as the output signals of the first detection element 131, the second detection element 132 and the third detection element 133.

[0068] The first detection element 131 detects the radial force at the contact point between the surgical instrument 110 and the seal 122; the second detection element 132, located at the distal end of the cannula body 121, detects 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; and the third detection element 133 detects the axial force between the surgical instrument 110 and the seal 122. This allows for more accurate measurement of the contact force between the distal end of the surgical instrument 110 and the patient's tissue. This enables surgeons to more accurately obtain the interaction force between the surgical instrument 110 and human tissue during surgery, thereby helping them improve surgical outcomes.

[0069] In one embodiment, the surgical instrument 110 is also subjected to a radial force from the instrument mounting interface 140. By calibrating the force on the actuator arm 150, a compensation factor can be obtained. Based on the detection results of the first detection element 131, the second detection element 132, and the third detection element 133, combined with the compensation factor, the force on the surgical instrument 110 can be calculated.

[0070] Since the surgical instrument 110 and the instrument mounting interface 140 are not completely hinged, when the distal end of the surgical instrument 110 is subjected to force, an additional force other than the axial force F6 will be generated at the instrument mounting interface 140. This additional force will affect the radial force detection at the distal end of the cannula body 121. In order to eliminate the influence of the additional force other than the axial force at the instrument mounting interface 140 on the radial force detection at the distal end of the cannula body 121, in this embodiment, the entire surgical execution arm 150 is calibrated to obtain a compensation factor, thereby improving the accuracy of force detection. By using the components of the additional force generated by the calibrated surgical execution arm 150 on the surgical instrument 110 in different directions as compensation factors, and considering the self-weight of the surgical instrument 110 as a gravity compensation factor, the force on the distal end of the surgical instrument 110 is calculated through the balance of force and torque. In this way, the interference of the additional forces exerted on the surgical instrument 110 by the first seal 122 and the surgical execution arm 150 is taken into account, thereby improving the detection accuracy of the force between the surgical instrument 110 and the patient component, which in turn helps to improve the quality of surgery.

[0071] Specifically, the surgical instrument 110 is also subjected to a radial force from the instrument mounting interface 140. By calibrating the force on the actuator arm 150, a compensation factor can be obtained. The force on the surgical instrument 110 in different axial positions of the actuator arm 150 is calculated using 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] Among them, R x This indicates the component of the force acting on the instrument mounting interface 140 in the radial direction in the first direction; R y This represents the component of the force acting on the instrument mounting interface 140 in the radial direction in the second direction; G x This represents the radial component of the weight of the surgical instrument 110 along the first direction; G y This represents the radial component of the weight of the surgical instrument 110 along the second direction; G z This represents the axial component of the weight of the surgical instrument 110.

[0076] like Figure 4 and Figure 5 As shown, in one embodiment, the surgical robot 100 system further includes a sealing ring 123, which is fitted onto 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 airtightness between the proximal end of the cannula body 121 and the surgical instrument 110 is improved, preventing gas leakage from the patient's abdominal cavity. This improves the airtightness of the pneumoperitoneum, thereby facilitating the smooth execution of the surgery.

[0077] like Figure 5 As shown. It should be noted that the locations on the sleeve body 121 where the first detection element 131, the second detection element 132, and the third detection element 133 are installed are designated as stiffness-reducing regions. Specifically, the thickness or width of the patch area at the locations where the first detection element 131, the second detection element 132, and the third detection element 133 are installed can be reduced to increase the strain generated by the sleeve body 121 under stress, thereby achieving a more sensitive force detection function. For example, stiffness-reducing holes 1211 can be opened on the circumferential surface of the detection element on the sleeve body 121, or the sidewall at that location can be made thinner, etc.

[0078] like Figure 7 As shown, an embodiment of the present invention also provides a force calibration device 160. The force calibration device 160 is used to calibrate the force at the connection between the surgical instrument 110 and the actuator arm 150. The force calibration system includes a three-dimensional moving platform 161, a calibration detection element 162, and a docking element 163. The calibration detection element 162 is disposed between the three-dimensional moving platform 161 and the docking element 163. The three-dimensional moving platform 161 can drive the docking element 163 to move, thereby changing the contact state between the surgical instrument 110 and the docking element 163. The calibration detection element 162 is used to detect the actual force on the distal end of the surgical instrument 110. Based on the difference between the actual force and the first detection element 131, the second detection element 132, the third detection element 133, and the fourth detection element, a compensation factor for the force on the surgical instrument 110 is obtained.

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

[0080] An embodiment of the present invention also provides a surgical robot 100, which includes a surgical robot force detection system. By applying the above-described 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 seal 122, thereby reducing interference with the detection of forces at the distal end of the surgical instrument 110, thus improving the accuracy of the force between the surgical instrument 110 and the patient's tissue, and thus contributing to improved surgical quality.

[0081] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0082] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A force detection device for a surgical robot, characterized in that, include: Sleeve body; A sealing element is disposed at the proximal end of the cannula body to maintain a sealed state when surgical instruments are inserted into the cannula body; A first detection element is disposed near the seal at the proximal end of the sleeve body. The first detection element includes a plurality of first sensitive elements, which are arranged circumferentially along the sleeve body. The plurality of first sensitive elements form a detection circuit for detecting the force on the seal in the radial direction. The second detection element is disposed at the distal end of the cannula body. The second detection element includes a plurality of second sensitive elements disposed on the outer peripheral surface of the distal end of the cannula body, and is used to detect the force on the distal end of the cannula body in the radial direction.

2. The force detection device for a surgical robot according to claim 1, characterized in that, The detection circuit composed of the plurality of first sensitive elements includes: The first detection element includes an even number of first sensitive elements, which form two sets of full-bridge detection circuits for detecting the force on the seal in the radial direction.

3. The force detection device for a surgical robot according to claim 1, characterized in that, The plurality of second sensitive elements are evenly distributed along the circumference of the sleeve body, and the plurality of second sensitive elements form a detection circuit for detecting the force on the distal end of the sleeve body in the radial direction.

4. The force detection device for a surgical robot according to claim 1, characterized in that, The force detection device for the surgical robot also includes: The third detection element is disposed on the end face of the proximal end of the sleeve body. The third detection element includes a plurality of third sensitive elements, which form a detection circuit for detecting the force on the seal in the axial direction.

5. The force detection device for a surgical robot according to claim 4, characterized in that, The force detection device for the surgical robot also includes: The mounting plate is installed on the linear slide of the surgical robot and connected to the surgical instruments through the instrument mounting interface; A fourth detection element is disposed between the mounting plate and the linear slide, and the fourth detection element is used to detect the axial force on the surgical instrument.

6. The force detection device for a surgical robot according to claim 5, characterized in that, The force detection device of the surgical robot also includes: The control unit is communicatively connected to the first detection element, the second detection element, the third detection element, and the fourth detection element. The control unit calculates the force on the distal end of the surgical instrument based on the detection results of the first detection element, the second detection element, the third detection element, and the fourth detection element.

7. The force detection device for a surgical robot according to claim 5, characterized in that, The sleeve body has a mounting groove that is recessed relative to the surface of the sleeve body at the position for installing the second detection element. The second detection element is installed in the mounting groove and is fixed to the sleeve body by a sealing film.

8. A surgical robot force detection system, characterized in that, The surgical robot force detection system includes a force detection device for a surgical robot as described in any one of claims 1-7. When the surgical instrument is subjected to a force from the patient, the surgical instrument comes into contact with the cannula body. The control unit can calculate the force exerted on the surgical instrument based on the mapping relationship between force and signal in the first, second, and third detection elements, as well as the output signals of the first, second, and third detection elements.

9. The surgical robot force detection system according to claim 8, characterized in that, The surgical instrument is also subjected to a radial force from the instrument mounting interface. By calibrating the force on the actuator arm, a compensation factor can be obtained. Based on the detection results of the first, second, and third detection components and the compensation factor, the force exerted on the surgical instrument can be calculated.

10. A surgical robot, characterized in that, The surgical robot includes the surgical robot force detection system as described in claim 8 or 9.

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