A drive-sensation integrated modular surgical robot

Abstract

This invention belongs to the field of medical device technology and discloses a modular surgical robot integrating drive and sensing, including a continuum, an actuator, a support rod, a first drive mechanism, a first sensing optical fiber, and three second sensing optical fibers. The support rod extends along the axial direction of the continuum and passes through the continuum. The first drive mechanism includes three first flexible shafts and three first drive components corresponding to them. The first flexible shafts pass through the continuum and are connected to the actuator. The first drive components drive the first flexible shafts to move and rotate, and the movement of the first flexible shafts causes the continuum to bend. The rotation of the first flexible shafts causes the actuator to move. The first sensing optical fiber includes a multi-core optical fiber with multiple fiber Bragg gratings and is embedded in the support rod. The second sensing optical fibers include three single-core optical fibers with fiber Bragg gratings. The second sensing optical fibers are corresponding to the first flexible shafts to realize synchronous perception of form and force, establish the basis for the correlation calculation of form and force, and improve compliant control.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a modular surgical robot with integrated drive and sensing. Background Technology

[0002] High-degree-of-freedom (DOF) sensor-integrated modular surgical robots are the core foundation for ensuring the successful implementation of minimally invasive surgery, especially single-port minimally invasive surgery. They have irreplaceable application value in complex clinical environments such as unstructured human body cavities and narrow operating channels. During actual surgical operations, these robots inevitably experience passive contact and flexible interaction with surrounding human tissues, cavity walls, and obstacles. To ensure surgical safety, avoid tissue damage caused by rigid collisions, and achieve compliant robot motion control and precise end-effector positioning, it is crucial to perceive the robot's three-dimensional morphology and posture in real time, as well as the force information from its interaction with the external environment. Furthermore, it is essential to accurately identify the number of contact points, their spatial location, and the magnitude of the contact force at each point. This provides a reliable perceptual basis for closed-loop robot motion control, intraoperative obstacle avoidance planning, and safe and compliant human-machine interaction.

[0003] In existing related technologies, modular surgical robots with integrated drive and sensing generally adopt a combination of visual shape detection and external force sensors to achieve shape perception and force perception respectively. Specifically, image information is acquired by relying on visual means such as industrial cameras, binocular vision, and optical motion capture equipment. The robot's spatial contour is reconstructed through image algorithms to complete three-dimensional shape and pose perception. At the same time, discrete devices such as strain gauges, torque sensors, and thin-film pressure sensors are deployed separately at the robot's end effector or joint positions to realize the detection and perception of robot contact forces.

[0004] However, this solution has obvious technical defects: shape perception and force perception are independent of each other and the hardware system is separate. It can only obtain the robot's single shape information or the force information of a single point at the end in isolation. It cannot achieve coupled calculation of shape and force, and it is difficult to simultaneously calculate the number of contact points, contact space coordinates and contact force of multiple positions of the whole machine. This seriously restricts the improvement of the intraoperative compliant control, multi-point contact recognition and safe interaction capabilities of the integrated drive and sensing modular surgical robot. It is difficult to meet the high-precision perception and operation requirements of minimally invasive single-port surgery in narrow space and multi-tissue contact scenarios. Summary of the Invention

[0005] The purpose of this invention is to provide a modular surgical robot with integrated drive and sensing, which can realize simultaneous perception of form and force, establish a basis for the correlation calculation of form and force, and then identify the number of contact points, the spatial coordinates of contact and the magnitude of contact force. This improves the compliant control, multi-point contact identification, intraoperative obstacle avoidance and human-machine safe interaction capabilities of the modular surgical robot with integrated drive and sensing, thereby meeting the high-precision perception and operation requirements of minimally invasive single-port surgery in confined spaces and multi-tissue contact scenarios.

[0006] To achieve this objective, the present invention adopts the following technical solution: A modular surgical robot integrating drive and sensing, comprising: A continuum and an actuator disposed at one end of the continuum; A support rod is provided, extending along the axial direction of the continuous body, and the support rod passes through the continuous body; The first drive mechanism includes three first flexible shafts and three first drive assemblies, with each first drive assembly corresponding to one of the first flexible shafts. The three first flexible shafts are parallel to the support rod and arranged circumferentially along the support rod. The first flexible shafts pass through the continuous body and are connected to the actuator. The first drive assemblies drive the first flexible shafts to move and rotate. The movement of the first flexible shafts causes the continuous body to bend, and the support rod bends synchronously with the continuous body. The rotation of the first flexible shafts causes the actuator to move. The first sensing fiber includes a multi-core fiber with multiple fiber Bragg gratings; the first sensing fiber is embedded in the support rod; Three second sensing fibers, each comprising three single-core fibers with fiber Bragg gratings; the three second sensing fibers are arranged in a one-to-one correspondence with the three first flexible shafts, and the three single-core fibers are spirally wound around the first flexible shafts.

[0007] In some embodiments, the continuum is divided into a first flexible segment and a second flexible segment along the axial direction. The first flexible shaft passes through the first flexible segment and the second flexible segment. The first flexible shaft moves and causes the first flexible segment to bend. The integrated drive and sensing modular surgical robot also includes a second drive mechanism. The second drive mechanism includes three second flexible shafts and three second drive components. The second flexible shafts are parallel to the support rod and arranged circumferentially along the support rod. The second flexible shafts pass through the second flexible segment. The second drive components drive the second flexible shafts to move and cause the second flexible segment to bend.

[0008] In some embodiments, three first flexible shafts and three second flexible shafts are arranged alternately along the circumference of the support rod, and the first flexible shafts and three second flexible shafts are disposed on the same ring.

[0009] In some embodiments, the system further includes three third sensing optical fibers, each comprising a single-core optical fiber with a fiber Bragg grating. The three third sensing optical fibers are arranged in a one-to-one correspondence with the three second flexible shafts, and the third sensing optical fibers are arranged parallel to the second flexible shafts.

[0010] In some embodiments, a base assembly is further included, wherein the first drive mechanism and the second drive mechanism are both fixed to the base assembly and disposed at one end of the continuum away from the actuator, and the base assembly is used to connect to an external structure.

[0011] In some embodiments, the base assembly includes a first base, a second base, and a third base, the third base, the first base, and the second base being spaced apart along the axial direction of the continuum; the first drive assembly includes a first linear drive and a rotary drive, the first linear drive, the rotary drive, and the first flexible shaft being connected in sequence; the second drive assembly includes a second linear drive and a segmented shaft, the second linear drive, the segmented shaft, and the second flexible shaft being connected in sequence; the first linear drive and the second linear drive are arranged in parallel and one end is fixed to the third base, and the other end is fixed to the first base; the rotary drive and the segmented shaft are arranged in parallel and are slidably connected to the second base; the third base is used for connection with an external structure.

[0012] In some embodiments, the continuum includes a body and a first interface component disposed at one end of the body. The first interface component includes three first connecting shafts, and the three first flexible shafts are connected to the three first connecting shafts in a one-to-one correspondence. The actuator includes an execution component, a transmission component, and a second interface component. The first interface component and the second interface component are detachably connected. The second interface component includes three second connecting shafts, and the three second connecting shafts are arranged in a one-to-one correspondence with the three first connecting shafts. One end of the second connecting shaft is axially connected to the first connecting shaft and the two are circumferentially limited. The other end is connected to the execution component through the transmission component to drive the execution component to move.

[0013] In some embodiments, the actuation component includes a base, a wrist joint, and a clamping jaw. The wrist joint is rotatably mounted on the base, and the clamping jaw is mounted on the wrist joint. The transmission component includes three ropes, three second connecting shafts, and three ropes arranged in a one-to-one correspondence. The second interface component is connected to the base, and one end of the second connecting shaft is configured as a winding rod. The winding rod extends into the base, and the rope is wound around the winding rod. The first flexible shaft rotates and drives the rope to wind and unwind through the winding rod, causing the rope to generate reciprocating traction displacement, pulling and driving the wrist joint to perform pitch and / or radial and ulnar deflection movements and / or driving the clamping jaw to perform opening and closing actions.

[0014] In some embodiments, the first interface component further includes a first base and an elastic buckle disposed on the first base, the first connecting shaft is embedded and rotatably connected to the first base, and the first base is connected to the body; the second interface component further includes a second base, the second connecting shaft is embedded in the second base, the second base is connected to the base, the second base is provided with a slot, and the elastic buckle engages with the slot.

[0015] In some embodiments, the first base body is provided with a first limiting groove and a communicating groove, the first limiting groove extending axially along the continuous body, and the hook of the elastic buckle passing through the communicating groove; the second interface assembly further includes a mounting shaft, one end of which is connected to the second base body and the base, and the other end is provided with the groove, the mounting shaft extending into and radially limited in the first limiting groove, and the hook engaging with the first limiting groove; and / or The first base is provided with a second limiting groove extending along the axial direction of the continuous body, and the end of the first connecting shaft is provided with a slot, which communicates with the second limiting groove; the other end of the second connecting shaft is provided as a plug-in end, which extends into and is radially limited in the second limiting groove; the slot is a polygonal slot, and the plug-in end is provided with a polygonal boss that matches the shape of the polygonal slot, which is inserted into the polygonal slot for circumferential limiting, and the three slots have different shapes.

[0016] The beneficial effects of this invention are: This invention provides a modular surgical robot with integrated drive and sensing. A first flexible shaft, driven by a first drive component, can both move and rotate. Employing a coaxial transmission method with tension and torque, the first flexible shaft can simultaneously transmit tension and torque. The tension force of the first flexible shaft causes the continuous body to bend, thus achieving posture adjustment control of the continuous body. The torsional power of the first flexible shaft drives the actuator, thereby simultaneously driving the continuous body and the actuator through the same first drive mechanism. This simplifies the structure and meets the clinical need for miniaturized modular surgical robots with integrated drive and sensing.

[0017] By inserting a support rod through a continuous body, and mounting a first sensing fiber on the support rod, when the continuous body bends, the support rod and the first sensing fiber bend synchronously with the continuous body. Based on the fiber Bragg grating (FBG) strain sensing principle, the first sensing fiber senses the bending shape of the continuous body. Three second sensing fibers are positioned correspondingly to three first flexible shafts. When the first driving component drives the first flexible shafts to move and rotate, causing deformation, the second sensing fibers deform synchronously with the first flexible shafts. Based on the fiber Bragg grating strain sensing principle, the tensile force and torque on the second flexible shafts are calculated. The combination of the second sensing fiber and the first flexible shaft enables the first flexible shaft, which transmits tensile and torsional forces, to have the ability to sense tension and torque. Combined with the support rod at the center of the continuum and the first sensing fiber, the shape of the continuum is perceived. This constructs a sensing layout structure that can simultaneously acquire the shape and force information of the continuum, realizing the correlation between shape and force perception. This provides the basis for the synchronous perception and correlation calculation of the shape and force of the continuum. Based on the shape and force information, the number, position and magnitude of contact points between the external environment and the continuum can be identified, realizing the continuum perception capability. This enhances the compliant control, multi-point contact identification, intraoperative obstacle avoidance and human-machine safe interaction capabilities of the integrated drive and sensing modular surgical robot, thereby meeting the high-precision perception and operation requirements of minimally invasive single-port surgery in confined spaces and multi-tissue contact scenarios. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a modular surgical robot with integrated drive and sensing provided in a specific embodiment of the present invention; Figure 2 yes Figure 1 Sectional view at point AA; Figure 3 This is a partial schematic diagram of the modular surgical robot with integrated drive and sensing provided in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of a continuum provided in a specific embodiment of the present invention; Figure 5 yes Figure 4 A magnified view of a portion at point L; Figure 6 This is a schematic diagram of the first driving mechanism and the second driving mechanism provided in a specific embodiment of the present invention; Figure 7 This is a schematic diagram of the connection between the continuum and the actuator provided in a specific embodiment of the present invention; Figure 8 yes Figure 7 A magnified view of a portion at point M; Figure 9 This is a cross-sectional view of the continuum and the actuator axis provided in a specific embodiment of the present invention; Figure 10 yes Figure 9 A magnified view of N local points; Figure 11 This is a schematic diagram of the end of the second interface component provided in a specific embodiment of the present invention; Figure 12 yes Figure 11 Sectional view at BB; Figure 13 This is a schematic diagram of an actuator provided in a specific embodiment of the present invention.

[0019] In the picture: 1. Continuous body; 11. Body; 101. Connecting disc; 1011. First end disc; 1012. Middle disc; 1013. Spacer disc; 1014. Second end disc; 111. First flexible segment; 112. Second flexible segment; 12. First interface assembly; 121. First connecting shaft; 1211. Slot; 122. First base; 1221. First limiting groove; 1222. Connecting groove; 1223. Clearance groove; 1224. Second limiting groove; 123. Elastic buckle; 1231. Hook; 1232. Elastic arm; 12321. Pressing part; 124. Screw; 125. Pin; 126. Locking element; 2. Actuator; 21. Actuation component; 211. Base; 2111. Wire hole; 212. Wrist joint; 2121. Guide groove; 213. Gripping jaw; 2131. Finger gripper; 214. Guide pulley; 23. Second interface component; 231. Second connecting shaft; 2311. Winding rod; 23111. First limiting platform; 23112. Second limiting platform; 23113. Third limiting platform; 2312. Plug-in end; 23121. Polygonal boss; 232. Second seat; 233. Mounting shaft; 2331. Slot; 2332. Limiting flange; 3. First drive mechanism; 31. First flexible shaft; 32. First drive assembly; 321. First linear drive component; 322. Rotary drive component; 323. Adapter component; 4. Second drive mechanism; 41. Second flexible shaft; 42. Second drive assembly; 421. Second linear drive component; 422. Segmented shaft; 5. Base assembly; 51. First base; 52. Second base; 53. Third base; 54. Sleeve; 55. Extension tube; 56. Fixing plate; 6. Locking head; 7. Robotic arm; 8. Worktable; 9. Support rod; 10. First sensing fiber; 20. Second sensing fiber; 30. Third sensing fiber. Detailed Implementation

[0020] 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.

[0021] 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.

[0022] 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.

[0023] like Figures 1-13As shown, this embodiment provides a modular surgical robot integrating drive and sensing, which includes a continuum 1, an actuator 2, a support rod 9, a first drive mechanism 3, a first sensing fiber 10, and three second sensing fibers 20. The actuator 2 is located at one end of the continuum 1. The support rod 9 extends axially along the continuum 1 and passes through it. The first drive mechanism 3 includes three first flexible shafts 31 and three first drive components 32, with each first drive component 32 corresponding to one of the first flexible shafts 31. The three first flexible shafts 31 are parallel to the support rod 9 and arranged circumferentially along it. The first flexible shafts 31 pass through the support rod 9. The continuum 1 is connected to the actuator 2; the first drive assembly 32 drives the first flexible shaft 31 to move and rotate, the first flexible shaft 31 moves and causes the continuum 1 to bend, and the support rod 9 bends synchronously with the continuum 1; the first flexible shaft 31 rotates and causes the actuator 2 to move; the first sensing fiber 10 includes a multi-core fiber with multiple fiber Bragg gratings; the first sensing fiber 10 is embedded in the support rod 9; the second sensing fiber 20 includes three single-core fibers with fiber Bragg gratings; the three second sensing fibers 20 are arranged one-to-one with the three first flexible shafts 31, and the three single-core fibers are spirally wound around the first flexible shaft 31.

[0024] The first flexible shaft 31, driven by the first drive assembly 32, can both move and rotate. Employing a coaxial transmission method, it can simultaneously transmit tension and torque on the same first flexible shaft 31. Specifically, the first flexible shaft 31 passes through the continuous body 1. When the first drive assembly 32 drives the first flexible shaft 31 to move, the tension force of the first flexible shaft 31 causes the continuous body 1 to bend, thus achieving attitude adjustment control. By setting three first flexible shafts 31 with different tension ratios, the continuous body 1 can be controlled to bend and deflect in any direction, adjusting its attitude. This allows the continuous body 1 to flexibly change its attitude to avoid obstacles in space, adapting to the navigation and positioning requirements of unstructured body cavities and narrow operating spaces. When the first drive assembly 32 drives the first rotating shaft to rotate, the torsional force of the first flexible shaft 31 drives the actuator 2 to operate, such as performing precise end-effector operations like clamping, cutting, suturing, peeling, puncturing, and drug delivery. The first driving mechanism 3 can drive the continuum 1 and the actuator 2 simultaneously. Specifically, the bending of the continuum 1 is responsible for global path navigation and attitude positioning, while the movement of the actuator 2 is responsible for local fine surgical operations. The three work together to complete the minimally invasive surgery. Compared with driving the continuum and the actuator separately through different driving structures, the structure is simplified, which meets the clinical needs of miniaturized modular surgical robots with integrated drive and sensing.

[0025] By inserting a support rod 9 through the continuum 1 and mounting a first sensing fiber 10 on the support rod 9, when the continuum 1 bends, the support rod 9 and the first sensing fiber 10 bend synchronously with the continuum 1. Based on the fiber Bragg grating (FBG) strain sensing principle: externally applied strain causes geometric deformation of the fiber grating and generates an elastic-optical effect, resulting in synchronous changes in the grating period and the effective refractive index of the fiber, thus causing a drift in the Bragg reflection wavelength. This wavelength shift is accurately acquired using a high-precision fiber demodulator, allowing the calculation and deduction of the actual strain value of the structure under test, thereby enabling the first sensing fiber 10 to sense the bending shape of the continuum 1. Furthermore, the multi-core fiber combination uses the central core of the multi-core fiber as a reference calibration for environmental strain such as temperature and humidity during FBG sensing, eliminating environmental interference, compensating for measurement errors in the surrounding cores, improving the accuracy of FBG sensing, and consequently improving the accuracy of sensing the bending shape of the continuum 1.

[0026] Three second sensing optical fibers 20 are set one-to-one with the three first flexible shafts 31. When the first driving component 32 drives the first flexible shafts 31 to move and rotate, causing deformation, the second sensing optical fibers 20 synchronously deform with the first flexible shafts 31. Based on the fiber Bragg grating strain sensing principle, when the first flexible shaft 31 is deformed by external force, the comprehensive strain of the FBG at any measuring point of the second sensing optical fiber 20 is composed of the superposition of axial tensile strain and circumferential force strain. By deploying three helical single-core optical fibers, the multidimensional strain at the corresponding position can be calculated and measured, thereby converting the tensile force and torque on the second flexible shaft 41 into the magnitude of the strain.

[0027] The combination of the second sensing fiber 20 and the first flexible shaft 31 enables the first flexible shaft 31, which transmits tensile and torsional forces, to have the ability to sense tension and torque. Combined with the support rod 9 at the center of the continuum 1 and the first sensing fiber 10, the combination senses the shape of the continuum 1, constructing a sensing layout structure that can simultaneously acquire the shape and force information of the continuum 1, realizing the correlation between shape and force perception. This establishes the basis for the synchronous perception and correlation calculation of the shape and force of the continuum 1, thereby enabling the identification of the number, position, and magnitude of contact points between the external environment and the continuum 1 based on shape and force information. This enhances the compliant control, multi-point contact identification, intraoperative obstacle avoidance, and human-machine safe interaction capabilities of the integrated sensing and actuation modular surgical robot, ultimately meeting the high-precision perception and operational requirements of minimally invasive single-port surgery in confined spaces and multi-tissue contact scenarios. The specific calculation process employs existing conventional mechanical modeling and numerical calculation methods in this field. This invention does not involve improvements to the calculation algorithm itself and will not be elaborated further.

[0028] like Figures 2-5 as well as Figure 7As shown, the continuum 1 is divided into a first flexible segment 111 and a second flexible segment 112 along the axial direction. A first flexible shaft 31 passes through the first flexible segment 111 and the second flexible segment 112. The first flexible shaft 31 moves and causes the first flexible segment 111 to bend. The integrated modular surgical robot also includes a second drive mechanism 4. The second drive mechanism 4 includes three second flexible shafts 41 and three second drive components 42. The second flexible shafts 41 are parallel to the support rod 9 and arranged circumferentially along the support rod 9. The second flexible shafts 41 pass through the second flexible segment 112. The second drive components 42 drive the second flexible shafts 41 to move and cause the second flexible segment 112 to bend.

[0029] When the pose change of the continuum 1 only requires the bending of the first flexible segment 111, the first drive component 32 drives the first flexible shaft 31 to perform a pulling motion. By setting three first flexible shafts 31 with different tension ratios, the first flexible segment 111 can be bent or deflected in any direction to adjust its posture. When the pose change of the continuum 1 only requires the bending of the second flexible segment 112, the second drive component 42 drives the second flexible shaft 41 to perform a pulling motion. By setting three second flexible shafts 41 with different tension ratios, the second flexible segment 112 can be bent or deflected in any direction to adjust its posture, thereby improving the overall flexibility and posture adjustment of the body 11. The deformation of the first flexible segment 111 and the deformation of the second flexible segment 112 are controlled independently and do not affect or interfere with each other.

[0030] Specifically, a third flexible segment is connected to the second flexible segment 112. The integrated sensor-drive modular surgical robot also includes a third drive mechanism, which only drives the bending of the third flexible segment. The design is based on the second flexible segment 112 and the second drive mechanism 4, and will not be elaborated further. Flexible segments and drive mechanisms for each segment are set according to requirements. By setting multiple flexible segments in the continuum 1, the flexibility of deformation and attitude adjustment of the continuum 1 is improved through segmented deformation and multi-directional bending, thereby further adapting to confined, unstructured internal spaces.

[0031] The integrated drive and sensing modular surgical robot also includes three third sensing optical fibers 30. Each third sensing optical fiber 30 comprises a single-core optical fiber with a fiber Bragg grating. The three third sensing optical fibers 30 are configured one-to-one with the three second flexible shafts 41. When the second drive assembly 42 drives the second flexible shaft 41 to move and generate deformation, the second flexible shaft 41 only bears axial tensile force. By arranging a single single-core optical fiber with a fiber Bragg grating parallel to the second flexible shaft 41, accurate detection of axial strain can be achieved. Through the strain data of the third sensing optical fiber 30, the magnitude of the tensile force and the extension displacement of the second flexible shaft 41 can be calculated, satisfying the single-dimensional motion state perception. Moreover, the structure is simple, the deployment is simple, and the cost is low.

[0032] like Figure 2As shown, three first flexible shafts 31 and three second flexible shafts 41 are arranged alternately along the circumference of the support rod 9, and the three first flexible shafts 31 and three second flexible shafts 41 are all set on the same ring, which facilitates the structural layout. Furthermore, the multiple first flexible shafts 31 and multiple second flexible shafts 41 are evenly distributed along the circumference of the continuous body 1. On the one hand, this allows the driving force to be applied symmetrically and evenly to the continuous body 1, resulting in uniform force distribution and avoiding skewing, local twisting, and irregular deformation caused by unilateral loading. This makes the bending, stretching, and other movements of the continuous body 1 smoother and more regular. On the other hand, by applying differentiated traction to each flexible shaft, multi-degree-of-freedom spatial bending and posture adjustment of the continuous body 1 can be achieved, greatly improving the flexibility of movement and the range of operational adaptability. Meanwhile, the uniformly distributed structure allows the load to be shared by multiple flexible shafts, reducing the stress on a single flexible shaft, effectively improving the overall structural load-bearing capacity and stability, and extending service life; and the symmetrical and regular arrangement makes the strain field distribution of the continuum 1 clear, which is convenient for strain calculation and pose sensing in conjunction with the fiber optic grating sensing structure, thus improving detection accuracy.

[0033] like Figure 7 As shown, optionally, the continuum 1 includes a body 11, which includes a plurality of spaced-apart connecting discs 101. The connecting discs 101 are connected by elastic supports, maintaining a coaxial distance between them and allowing for relative flexible deflection. A first flexible shaft 31 and a second flexible shaft 41 pass through the connecting discs 101 and are used to traction drive the body 11 to bend. The plurality of connecting discs 101 include a first end disc 1011, a middle disc 1012, and a second end disc 1014 arranged axially, and also include a plurality of spacer discs 1013. A portion of the spacer discs 1013 are disposed between the first end disc 1011 and the middle disc 1012, and another portion of the spacer discs 1013 are disposed between the middle disc 1012 and the second end disc 1014. The middle disc 1012 divides the body 11 into two segments: the first end disc 1011 to the middle disc 1012 forms a second flexible segment 112, and the middle disc 1012 to the second end disc 1014 forms a first flexible segment 111.

[0034] Each connecting disc 101 has axial through holes evenly distributed around its circumference; the first flexible shaft 31 and the second flexible shaft 41 are both inserted into the through holes of each connecting disc 101. The connection method between the flexible shaft and the connecting disc 101 is existing technology and will not be described in detail. The support rod 9 is a flexible or elastic rod, and multiple connecting discs 101 are supported and connected to the support rod 9. The support rod 9 keeps the connecting discs 101 in a relatively fixed position along the axial direction.

[0035] In one embodiment, three first flexible shafts 31 all penetrate multiple connecting disks 101 and are evenly distributed along the circumference of the connecting disks 101. Specifically, the first flexible shafts 31 are axially fixed and circumferentially rotatably connected only at their distal ends to the second end disks 1014. The first flexible shafts 31 and the other connecting disks 101 are all slidably clearance-fitted. By pulling different first flexible shafts 31, the second end disks 1014 at the traction end are swayed, thereby causing multiple connecting disks 101 to bend sequentially, realizing multi-directional flexible deformation of the first flexible segment 111.

[0036] All three second flexible shafts 41 pass through multiple connecting discs 101 of the second flexible segment 112, namely the first end disc 1011, the middle disc 1012, and multiple spacer discs 1013 between them, and the three second flexible shafts 41 connecting discs 101 are evenly distributed circumferentially; specifically, the second flexible shaft 41 is only fixedly connected to the middle disc 1012 at its far end, and the second flexible shaft 41 and other connecting discs 101 are in a sliding clearance fit. By pulling different second flexible shafts 41, the middle disc 1012 is pulled to swing, thereby causing multiple connecting discs 101 to bend in sequence, so as to realize the multi-directional flexible deformation of the second flexible segment 112.

[0037] like Figure 6 As shown, optionally, the first drive assembly 32 includes a first linear drive member 321 and a rotary drive member 322. The first linear drive member 321, the rotary drive member 322, and the first flexible shaft 31 are connected in sequence. The first linear drive member 321 can drive the rotary drive member 322 and the first flexible shaft 31 to move, and the rotary drive member 322 drives the first flexible shaft 31 to rotate. Exemplarily, the first linear drive member 321 is a linear drive motor or a linear actuator, and the rotary drive member 322 includes a rotary drive motor. Further, the rotary drive member 322 also includes an adapter 323, through which the linear drive motor and the rotary drive motor are connected, improving connection reliability.

[0038] Optionally, the second drive assembly 42 includes a second linear drive member 421, the second linear drive member 421, the segmented shaft 422, and the second flexible shaft 41 are connected in sequence, and the second linear drive member 421 drives the second flexible shaft 41 to move. Exemplarily, the second linear drive member 421 is a linear drive motor or a linear driver, and may have the same structure as or a different structure from the first linear drive member 321, without limitation.

[0039] like Figure 3 and Figure 6 As shown, optionally, the integrated drive and sensing modular surgical robot also includes a base assembly 5. The first drive mechanism 3 and the second drive mechanism 4 are both fixed to the base assembly 5 and located at the end of the continuum 1 away from the actuator 2. The base assembly 5 is used to connect with external structures.

[0040] The base assembly 5 includes a first base 51 and a second base 52, which are spaced apart along the axial direction of the continuous body 1. A first linear drive member 321 and a second linear drive member 421 are arranged in parallel and both are fixed to the first base 51. Optionally, the second drive assembly 42 further includes a segmented shaft 422. The second linear drive member 421 is connected to a second flexible shaft 41 via the segmented shaft 422. The rotary drive member 322 and the segmented shaft 422 are arranged in parallel and both are slidably connected to the second base 52. By providing the segmented shaft 422, it maintains the same structural form as the rotary drive member 322, facilitating simultaneous slidable connection to the second base 52, improving the assembly consistency of the first drive assembly 32 and the second drive assembly 42, and enhancing assembly stability. Specifically, the rotary drive motor is installed in the slot of the adapter 323, the first linear drive 321 drives the adapter 323 to slide on the second base 52, and the connection between the first flexible shaft 31 and the rotary drive motor passes through the adapter 323, such as the output shaft of the rotary drive motor passing through the adapter 323 to connect with the first flexible shaft 31.

[0041] The base assembly 5 also includes a third base 53. The third base 53, the first base 51 and the second base 52 are spaced apart along the axial direction of the continuous body 1. The first linear drive 321 and the second linear drive 421 are arranged in parallel and one end of each is fixed to the third base 53, and the other end of each is fixed to the first base 51. The third base 53 is used to connect with external structures such as the robotic arm 7.

[0042] Optionally, the base assembly 5 further includes a sleeve 54, an extension tube 55, and a fixing plate 56. The third base 53, the first base 51, the second base 52, and the fixing plate 56 are arranged sequentially. The first flexible shaft 31 and the second flexible shaft 41 both pass through the fixing plate 56 and slide or rotate relative to each other along the fixing plate 56. The fixing plate 56 constrains the first flexible shaft 31 and the second flexible shaft 41 to prevent deformation. The sleeve 54 is connected to the third base 53. The first base 51, the second base 52, and the fixing plate 56 are all fixed to the inner side of the sleeve 54. The sleeve 54 serves as an integral connection, further improving the overall structural reliability and protecting the internal first drive assembly 32 and the second drive assembly 42. The extension tube 55 is connected to the end of the sleeve 54 and extends to the end of the continuum 1 opposite to the actuator 2. The extension tube 55 is sleeved outside the first flexible shaft 31 and the second flexible shaft 41, constraining and protecting them.

[0043] Furthermore, the integrated drive and sensing modular surgical robot also includes locking heads 6. One end of each locking head 6 is fixed to the output shaft of the rotary drive motor and the segmented shaft 422, respectively, and the other end is fixed to the first flexible shaft 31 and the second flexible shaft 41, respectively. By setting the locking heads 6, the locking heads 6 are used to fix and lock the ends of the first flexible shaft 31 and the second flexible shaft 41, preventing the first flexible shaft 31 and the second flexible shaft 41 from loosening and slipping, and reliably transmitting traction driving force. The locking heads 6 are conventional standard structures in the field, and their specific construction and locking methods are existing technologies, which will not be described in detail here.

[0044] like Figure 3 , Figures 7-13 As shown, the continuum 1 also includes a first interface component 12 disposed at one end of the body 11. The first interface component 12 includes three first connecting shafts 121, and three first flexible shafts 31 are connected to the three first connecting shafts 121 in a one-to-one correspondence. The actuator 2 includes an actuator component 21, a transmission component, and a second interface component 23. The first interface component 12 and the second interface component 23 are detachably connected. The second interface component 23 includes three second connecting shafts 231, and the three second connecting shafts 231 are arranged in a one-to-one correspondence with the three first connecting shafts 121. One end of the second connecting shaft 231 is axially connected to the first connecting shaft 121 and the two are circumferentially limited. The other end is connected to the actuator component 21 through the transmission component, driving the actuator component 21 to move.

[0045] By providing a first interface component 12 at one end of the continuum 1 and a second interface component 23 at the other end of the actuator 2, and connecting the first interface component 12 and the second interface component 23, the actuator 2 is connected to the continuum 1. Through a modular design of the continuum 1 and the actuator 2, the first interface component 12 and the second interface component 23 are detachably connected, thus achieving a detachable connection between one end of the continuum 1 and the actuator 2. Compared to a one-piece connection between the continuum 1 and the actuator 2, this solution allows for the reuse of the continuum 1 and the optional attachment of the actuator 2, such as a needle holder, clamp, or scissors, enabling rapid intraoperative replacement of the actuator 2. This design offers high flexibility, ease of use, and low cost.

[0046] Specifically, the first interface component 12, the first flexible segment 111, the second flexible segment 112, and the first driving component 32 and the second driving component 42 arranged in parallel are sequentially arranged along the axial direction of the continuum 1.

[0047] The first flexible shaft 31, the first connecting shaft 121, the second connecting shaft 231, and the transmission assembly of the actuator 2 are connected in sequence. The torsional power of the first flexible shaft 31 is transmitted to the first connecting shaft 121, the second connecting shaft 231, and the transmission assembly of the actuator 2 in sequence after passing through the body 11, thereby driving the actuator 21 to move through the transmission assembly.

[0048] like Figures 9-13 As shown, in one embodiment, the execution component 21 includes a base 211, a wrist joint 212, and a clamping claw 213. The wrist joint 212 is rotatably mounted on the base 211, and the clamping claw 213 is mounted on the wrist joint 212. The transmission component includes a rope, a second interface component 23 is connected to the base 211, and one end of the second connecting shaft 231 is configured as a winding rod 2311. The winding rod 2311 extends into the base 211, and the rope is wound around the winding rod 2311. The first flexible shaft 31 rotates and drives the rope to wind and unwind through the winding rod 2311, causing the rope to generate reciprocating traction displacement, pulling and driving the wrist joint 212 to perform pitch and / or radial and ulnar deflection movements and / or driving the clamping claw 213 to perform opening and closing actions.

[0049] Optionally, the transmission assembly includes three ropes (not shown in the figure), three second connecting shafts 231, and three ropes arranged in a one-to-one correspondence. By setting three sets of first flexible shafts 31, first connecting shafts 121, second connecting shafts 231, and ropes, the three first drive assemblies 32 transmit power sequentially to the first connecting shafts 121, second connecting shafts 231, and ropes via the first flexible shafts 31. The rotation of the first flexible shafts 31 pulls the corresponding ropes to control the actuators 2 to perform wrist-like pitch, ulnar and radial deflection, and finger opening and closing movements.

[0050] In one embodiment, the base 211 has six threading holes 2111. The rope is wound around the winding rod 2311 at the middle position, and its two ends extend from two of the threading holes 2111 respectively. The three ropes have six ends, which extend from the six threading holes 2111 in a corresponding manner. All three ropes are closed traction ropes that can be pulled and driven at both ends. The wrist joint 212 is rotatably connected to the base 211, and the two gripping fingers 2131 of the gripping claw 213 are rotatably connected to the wrist joint 212. The wrist joint 212 has a guide groove 2121 and two guide pulleys 214 for guiding and changing the direction of the rope and adapting to the needs of wrist movement and gripper drive. For ease of description, the three ropes are named the first rope, the second rope, and the third rope, respectively. The clamping and opening / closing action of the gripper 213 is achieved through the cooperation of a first rope, a second rope, and two guide pulleys 214. The first rope is fixed at both ends to the sides of the first gripper finger 2131, with one guide pulley 214 winding around its middle section. The second rope is fixed at both ends to the sides of the second gripper finger 2131, with the other guide pulley 214 winding around its middle section. Both ropes run close to the surface of the wrist joint 212 without interference. Pulling the middle section or one end of the two ropes drives the gripper finger 2131 to rotate inward to clamp, while releasing it in the opposite direction utilizes the closed-loop constraint of the ropes to rotate the gripper finger 2131 outward to open. Adjusting the pulling stroke and tension controls the opening / closing angle and clamping force. The pitch and radial / ulnar deflection movements of the wrist joint 212 are achieved through the cooperation of a third rope and two guide pulleys 214. The wrist joint 212 has mutually orthogonal horizontal and vertical axes. The two ends of the third rope are fixed to the force points corresponding to the two movements on the outer periphery of the wrist joint 212. The middle section is arranged with two guide pulleys 214 to form a closed loop. The two pulleys are responsible for the reversal of the tension force for the two movements. Pulling the corresponding section of the third rope can generate a torque through the reversal of the pulleys, driving the wrist joint 212 to pitch up and down around the horizontal axis (pulling different ends to achieve pitch and ulnar deflection) and to ulnar / ulnar deflection left and right around the vertical axis (pulling different ends to achieve radial and ulnar deflection). Adjusting the traction stroke and tension ratio can achieve compound posture adjustment.

[0051] like Figure 3 , Figures 7-13 As shown, the first interface assembly 12 further includes a first base 122 and an elastic buckle 123 disposed on the first base 122. A first connecting shaft 121 is embedded in and rotatably connected to the first base 122, and the first base 122 is connected to the body 11. The second interface assembly 23 further includes a second base 232, a second connecting shaft 231 is embedded in the second base 232, and the second base 232 is connected to the base 211. The second base 232 is provided with a slot 2331, and the elastic buckle 123 and the slot 2331 engage, thereby realizing the engagement connection between the second interface assembly 23 and the first interface assembly 12, which is convenient for disassembly and assembly. Specifically, the first base 122 is connected to the second end disc 1014 by fasteners such as screws 124.

[0052] For example, the second end disc 1014 is provided with a locking member 126, and the first flexible shaft 31 is connected to the locking member 126, and the two are axially fixed and circumferentially rotatably connected. If the locking member 126 is a bushing or a bearing, the first flexible shaft 31 is rotatably connected to the second end disc 1014 through the bushing or bearing. One end of the first flexible shaft 31 is provided with a protrusion to restrict the locking member 126, and the other end is fixedly connected to the first connecting shaft 121. The first connecting shaft 121 is axially fixed to the first seat 122, thereby indirectly achieving axial fixation between the first flexible shaft 31 and the second end disc 1014.

[0053] In one embodiment, the first base 122 is provided with a first limiting groove 1221 and a connecting groove 1222 that are interconnected. The first limiting groove 1221 extends along the axial direction of the continuous body 1, and the hook 1231 of the elastic buckle 123 passes through the connecting groove 1222. The second interface assembly 23 also includes a mounting shaft 233. One end of the mounting shaft 233 is connected to the second base 232 and the base 211, and the other end is provided with a groove 2331. The mounting shaft 233 extends into and is radially limited in the first limiting groove 1221, and the hook 1231 is engaged with the first limiting groove 1221. For example, one end of the mounting shaft 233 is configured as a pin, which is sequentially connected to the base 211 and the second seat 232. The other end is provided with an annular groove 2331 along the circumference. The mounting shaft 233 extends into the first limiting groove 1221, and the mounting shaft 233 is radially limited by the lower limiting groove to ensure installation accuracy. The hook 1231 engages with the groove 2331 to achieve engagement, and the groove 2331 is annular, making the cooperation between the mounting shaft 233 and the hook 1231 more flexible. By setting the mounting shaft 233, the fixed connection between the base 211 and the second seat 232 and the detachable connection with the first interface assembly 12 are achieved.

[0054] Optionally, such as Figure 10 As shown, a limiting flange 2332 is provided on the outer periphery of the mounting shaft 233. The limiting flange 2332 and the second seat 232 are axially limited to ensure the distance between the slot 2331 and the end face of the second seat 232, thereby ensuring the fitting accuracy with the elastic buckle 123.

[0055] Optionally, three mounting shafts 233 are provided circumferentially, and three elastic clips 123 are provided. The three elastic clips 123 and the three mounting shafts 233 are provided in a one-to-one correspondence, thereby improving the connection reliability.

[0056] The connecting groove 1222 extends inward from the outer periphery of the first base 122. The elastic buckle 123 also includes an elastic arm 1232 connected to the hook 1231. The elastic buckle 123 is located on the outer periphery of the first base 122, with one end away from the hook 1231 connected to the first base 122. For example, the elastic arm 1232 is connected to the first base 122 by a pin 125. The first base 122 is provided with a relief groove 1223, and the elastic arm 1232 is provided with a pressing part 12321. The pressing part 12321 is correspondingly provided with the relief groove 1223. The pressing part 12321 can be pressed into the relief groove 1223 so that the hook 1231 rotates outward from the first limiting groove 1221. In the initial state, the hook 1231 is engaged with the slot 2331, connecting the first interface component 12 and the second interface component 23. When the pressing part 12321 is pressed, the hook 1231 rotates outward from the first limiting groove 1221. If the hook 1231 disengages from the slot 2331, the first interface component 12 and the second interface component 23 can be disassembled. Alternatively, before installing the first interface component 12 and the second interface component 23, the pressing part 12321 is pressed, causing the hook 1231 to rotate outward so that the mounting shaft 233 can be inserted into the first limiting groove 1221, preventing the hook 1231 from interfering. When the mounting shaft 233 is inserted into place, the pressing part 12321 is released, and the hook 1231 resets and engages with the slot 2331. By placing the elastic buckle 123 on the outer periphery of the first base 122 and providing a pressing part 12321 to control the rotation of the hook 1231, it is convenient to repeatedly disassemble and assemble the first interface assembly 12 and the second interface assembly 23.

[0057] The first base 122 is provided with a second limiting groove 1224 extending axially along the continuous body 1. The end of the first connecting shaft 121 is provided with a slot 1211, which communicates with the second limiting groove 1224. The other end of the second connecting shaft 231 is provided as a plug-in end 2312. The second connecting shaft 231 extends into and is radially limited in the second limiting groove 1224, and the plug-in end 2312 is plugged into the slot 1211, with both being circumferentially limited. By inserting the second connecting shaft 231 into the first base 122, the second connecting shaft 231 and the first interface assembly 12 are radially limited. The second connecting shaft 231 and the second limiting groove 1224 are radially limited to ensure installation accuracy, and the plug-in end 2312 and the slot 1211 are circumferentially limited to ensure the transmission of torque between them. Optionally, the second connecting shaft 231 includes two parts: a winding rod 2311 and a plug end 2312, with the plug end 2312 fixed to one end of the winding rod 2311.

[0058] Furthermore, the slot 1211 is a polygonal slot, and the insertion end 2312 is provided with a polygonal boss 23121 that matches the shape of the polygonal slot. The polygonal boss 23121 is placed inside the polygonal slot for circumferential limiting. The polygon can be a regular shape or an irregular shape such as a rectangle, triangle, semicircle, or cross, and is not limited, as long as it can achieve circumferential limiting of the polygonal slot and the polygonal boss 23121. The cross-sectional area of ​​the insertion end 2312 is larger than the cross-sectional area of ​​the polygonal boss 23121, so that the insertion end 2312 can abut against the end of the first connecting shaft 121 to achieve axial limiting.

[0059] The slots 1211 of the three first connecting shafts 121 have different cross-sectional shapes, and the polygonal bosses 23121 of the three second connecting shafts 231 have different shapes. The three polygonal bosses 23121 and the three slots 1211 are matched one-to-one to distinguish the corresponding first connecting shafts 121 and second connecting shafts 231, and thus distinguish the corresponding ropes. This ensures that the relevant structure of the actuator 21 corresponds one-to-one with the power of the first flexible shaft 31, preventing errors when controlling the actuator 2 to move.

[0060] like Figure 8 and Figure 10 As shown, optionally, the winding rod 2311 is provided with a first limiting platform 23111, a second limiting platform 23112 and a third limiting platform 23113. The first limiting platform 23111 abuts against the end face of the base 211 and cooperates with the groove of the second seat 232 to achieve axial limiting, thereby ensuring the axial position accuracy of the insertion end 2312 and improving the cooperation accuracy with the slot 1211.

[0061] like Figure 1 As shown, optionally, the integrated sensor-driven modular surgical robot also includes a robotic arm 7. The continuum 1 is installed at the end of the robotic arm 7. The robotic arm 7 can adopt a multi-degree-of-freedom robotic arm structure such as a four-axis robotic arm or a six-axis robotic arm to improve the overall motion adjustment and operational flexibility. Four-axis robotic arms and six-axis robotic arms are conventional configurations in this field and will not be described in detail.

[0062] Optionally, the integrated sensor-driven modular surgical robot is also equipped with a worktable 8, on which the robotic arm 7 is fixed. The worktable 8 adopts a conventional support and load-bearing structure in the field, which will not be described in detail here.

[0063] In the specific implementation of the above embodiments, the technical features can be combined in any non-contradictory way. For the sake of brevity, not all possible combinations of the above technical features are described. However, as long as the combination of these technical features is not contradictory, it should be considered to be within the scope of this specification.

[0064] 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 drive-sensation integrated modular surgical robot, characterized by, include: A continuum (1) and an actuator (2) disposed at one end of the continuum (1); A support rod (9) is provided to extend along the axial direction of the continuous body (1) and the support rod (9) passes through the continuous body (1); The first drive mechanism (3) includes three first flexible shafts (31) and three first drive components (32). The first drive components (32) are arranged one-to-one with the first flexible shafts (31). The three first flexible shafts (31) are parallel to the support rod (9) and arranged circumferentially along the support rod (9). The first flexible shafts (31) pass through the continuous body (1) and are connected to the actuator (2). The first drive components (32) drive the first flexible shafts (31) to move and rotate. The first flexible shafts (31) move and cause the continuous body (1) to bend. The support rod (9) bends synchronously with the continuous body (1). The first flexible shafts (31) rotate and cause the actuator (2) to move. The first sensing fiber (10) includes a multi-core fiber with multiple fiber Bragg gratings; the first sensing fiber (10) is embedded in the support rod (9); Three second sensing optical fibers (20) are provided, each comprising three single-core optical fibers with fiber Bragg gratings. The three second sensing optical fibers (20) are arranged in a one-to-one correspondence with the three first flexible shafts (31), and the three single-core optical fibers are spirally wound around the first flexible shafts (31).

2. The drive-sensation integrated modular surgical robot according to claim 1, wherein, The continuum (1) is divided into a first flexible segment (111) and a second flexible segment (112) along the axial direction. The first flexible shaft (31) passes through the first flexible segment (111) and the second flexible segment (112). The first flexible shaft (31) moves and causes the first flexible segment (111) to bend. The integrated modular surgical robot also includes a second drive mechanism (4). The second drive mechanism (4) includes three second flexible shafts (41) and three second drive components (42). The second flexible shafts (41) are parallel to the support rod (9) and arranged circumferentially along the support rod (9). The second flexible shafts (41) pass through the second flexible segment (112). The second drive components (42) drive the second flexible shafts (41) to move and cause the second flexible segment (112) to bend.

3. The drive-sensation integrated modular surgical robot according to claim 2, wherein, Three first flexible shafts (31) and three second flexible shafts (41) are arranged alternately along the circumference of the support rod (9), and the first flexible shafts (31) and the three second flexible shafts (41) are located on the same ring.

4. The modular surgical robot with integrated drive and sensing according to claim 2, characterized in that, It also includes three third sensing optical fibers (30), each of which is a single-core optical fiber with a fiber Bragg grating. The three third sensing optical fibers (30) are arranged in a one-to-one correspondence with the three second flexible shafts (41), and the third sensing optical fibers (30) are arranged parallel to the second flexible shafts (41).

5. The modular surgical robot with integrated drive and sensing according to claim 2, characterized in that, It also includes a base assembly (5), wherein the first drive mechanism (3) and the second drive mechanism (4) are both fixed to the base assembly (5) and are located at one end of the continuum (1) away from the actuator (2). The base assembly (5) is used to connect with an external structure.

6. The modular surgical robot with integrated drive and sensing according to claim 5, characterized in that, The base assembly (5) includes a first base (51), a second base (52), and a third base (53), wherein the third base (53), the first base (51), and the second base (52) are spaced apart along the axial direction of the continuum (1); the first drive assembly (32) includes a first linear drive member (321) and a rotary drive member (322), wherein the first linear drive member (321), the rotary drive member (322), and the first flexible shaft (31) are connected in sequence; the second drive assembly (42) includes a second linear drive member ( The second linear drive (421), the segmented shaft (422), and the second flexible shaft (41) are connected in sequence; the first linear drive (321) and the second linear drive (421) are arranged in parallel and one end of each is fixed to the third base (53), and the other end of each is fixed to the first base (51); the rotary drive (322) and the segmented shaft (422) are arranged in parallel and are slidably connected to the second base (52); the third base (53) is used to connect with the external structure.

7. The modular surgical robot with integrated drive and sensing according to claim 1, characterized in that, The continuum (1) includes a body (11) and a first interface component (12) disposed at one end of the body (11). The first interface component (12) includes three first connecting shafts (121), and the three first flexible shafts (31) and the three first connecting shafts (121) are connected one-to-one. The actuator (2) includes an execution component (21), a transmission component, and a second interface component (23). The first interface component (12) and the second interface component (23) are detachably connected. The second interface component (23) includes three second connecting shafts (231), and the three second connecting shafts (231) and the three first connecting shafts (121) are arranged one-to-one. One end of the second connecting shaft (231) is axially connected to the first connecting shaft (121) and the two are circumferentially limited. The other end is connected to the execution component (21) through the transmission component to drive the execution component (21) to move.

8. The modular surgical robot with integrated drive and sensing according to claim 7, characterized in that, The execution component (21) includes a base (211), a wrist joint (212), and a clamping jaw (213). The wrist joint (212) is rotatably mounted on the base (211), and the clamping jaw (213) is mounted on the wrist joint (212). The transmission component includes three ropes, three second connecting shafts (231), and the three ropes are arranged in a one-to-one correspondence. The second interface component (23) is connected to the base (211), and the second connecting shafts (231) are connected to the second connecting shafts (231). One end is configured as a winding rod (2311), which extends into the base (211), and the rope is wound around the winding rod (2311); the first flexible shaft (31) rotates and drives the rope to wind and unwind through the winding rod (2311), so that the rope generates reciprocating traction displacement, pulling and driving the wrist joint (212) to perform pitch and / or ulnar and radial deflection and / or driving the clamping claw (213) to perform opening and closing actions.

9. The modular surgical robot with integrated drive and sensing according to claim 8, characterized in that, The first interface component (12) further includes a first base (122) and an elastic buckle (123) disposed on the first base (122). The first connecting shaft (121) is embedded and rotatably connected to the first base (122), and the first base (122) is connected to the body (11). The second interface component (23) further includes a second base (232). The second connecting shaft (231) is embedded in the second base (232), and the second base (232) is connected to the base (211). The second base (232) is provided with a slot (2331), and the elastic buckle (123) and the slot (2331) are engaged.

10. The modular surgical robot with integrated drive and sensing according to claim 9, characterized in that, The first seat (122) is provided with a first limiting groove (1221) and a connecting groove (1222) that communicate with each other. The first limiting groove (1221) extends along the axial direction of the continuous body (1), and the hook (1231) of the elastic buckle (123) passes through the connecting groove (1222). The second interface assembly (23) further includes a mounting shaft (233). One end of the mounting shaft (233) is connected to the second seat (232) and the base (211), and the other end is provided with the groove (2331). The mounting shaft (233) extends into and is radially limited in the first limiting groove (1221), and the hook (1231) engages with the first limiting groove (1221). and / or The first base (122) is provided with a second limiting groove (1224) extending along the axial direction of the continuous body (1). The end of the first connecting shaft (121) is provided with a slot (1211), and the slot (1211) and the second limiting groove (1224) are connected. The other end of the second connecting shaft (231) is provided as a plug-in end (2312), and the second connecting shaft (231) extends into and is radially limited in the second limiting groove (1224). The slot (1211) is a polygonal groove, and the plug-in end (2312) is provided with a polygonal boss (23121) that matches the shape of the polygonal groove. The polygonal boss (23121) is inserted into the polygonal groove for circumferential limiting, and the three slots (1211) have different shapes.

Images