Force sensing microsurgical robotic arm device

Abstract

The present application relates to the technical field of medical devices, and provides a force sensing microsurgery mechanical arm device, a surgical forceps including a fixed forceps, a movable forceps and a yaw rotating part, the yaw rotating part being connected to one end of the fixed forceps, the movable forceps being rotatably connected to the fixed forceps, and an opening and closing connecting piece being connected to the movable forceps; a spherical joint piece including a yaw accommodating part and a pitch rotating part connected to each other, the yaw rotating part being arranged in the yaw accommodating part, and a yaw connecting piece being connected to the fixed forceps; an adapter pipe being provided with a pitch accommodating part, the pitch rotating part being arranged in the pitch accommodating part, and a pitch connecting piece being connected to the yaw accommodating part; a force sensing optical fiber being arranged on one side of the fixed forceps facing the movable forceps; and an active end assembly being configured to control the opening and closing of the opening and closing connecting piece, the yaw connecting piece and the pitch connecting piece, so as to realize the opening and closing, yawing and pitching of the surgical forceps. Without arranging multiple groups of independent rotating shafts, bearings and complex supporting pieces at the distal end of the device, the present application is beneficial to simplifying the assembly and realizing the miniaturization of the microsurgery device.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a force-sensing microsurgical robotic arm device. Background Technology

[0002] With the development of microsurgery and surgical robotics, the use of robotic arms to assist surgeons in performing complex and delicate operations such as grasping, pulling, separating, and suturing tiny tissues has become an important means of improving the precision and stability of microsurgery. However, microsurgery has certain unique characteristics, and its surgical subjects often face objective challenges such as extremely small size, highly fragile tissues, and extremely limited clinical operating space. Therefore, existing microsurgical robotic arm systems still face certain limitations in meeting the needs of use and urgently require further improvement. Summary of the Invention

[0003] This invention provides a force-sensing microsurgical robotic arm device that enables each level of motion to revolve around a relatively stable center of sphere, reducing additional displacement and degree-of-freedom coupling caused by joint axis offset, assembly errors, and transmission clearances. This simplifies kinematic modeling, calibration, and control decoupling. Furthermore, it eliminates the need for multiple independent rotating shafts, bearings, and complex support components at the distal end of the instrument, simplifying assembly and enabling miniaturization of microsurgical instruments.

[0004] This invention provides a force-sensing microsurgical robotic arm device, comprising: A passive distal assembly includes surgical forceps, a spherical joint, an adapter tube, an opening / closing connector, a yaw connector, and a pitch connector. The surgical forceps include a fixed forceps, a movable forceps, and a yaw rotating part. The yaw rotating part is connected to one end of the fixed forceps, the movable forceps are rotatably connected to the fixed forceps, and the opening / closing connector is connected to the movable forceps. The spherical joint includes a connected yaw receiving part and a pitch rotating part. The yaw rotating part is disposed within the yaw receiving part, and the yaw connector is connected to the fixed forceps. The adapter tube has a pitch receiving part, the pitch rotating part is disposed within the pitch receiving part, and the pitch connector is connected to the yaw receiving part. A force sensing component, comprising a force sensing optical fiber and a transmission optical cable connected together, wherein the force sensing optical fiber is disposed on the side of the fixed clamp facing the movable clamp; An active end assembly is provided, wherein the opening / closing connector, the yaw connector, and the pitch connector are all connected to the active end assembly. The active end assembly is configured to control the opening / closing connector, the yaw connector, and the pitch connector to achieve the opening / closing, yaw, and pitch of the surgical forceps.

[0005] According to the present invention, a force-sensing microsurgical robotic arm device further includes a passive proximal end assembly. The passive proximal end assembly includes an adapter plate, a wire guide, an opening / closing driven ring gear, a pitch driven ring gear, and a yaw driven ring gear. The adapter plate has a storage space and a housing space connected to the storage space. The housing space is located outside the storage space, and the wire guide is disposed within the storage space. The opening / closing driven ring gear, the pitch driven ring gear, and the yaw driven ring gear are sequentially and rotatably arranged at intervals along the axial direction of the adapter plate. In the aforementioned assembly space, the opening / closing connector, the yaw connector, and the pitch connector are all disposed on the cable guide frame. The opening / closing connector is connected to the opening / closing driven ring gear, the yaw connector is connected to the yaw driven ring gear, and the pitch connector is connected to the pitch driven ring gear. The opening / closing driven ring gear, the pitch driven ring gear, and the yaw driven ring gear are all connected to the active end assembly. The active end assembly is configured to control the opening / closing driven ring gear, the pitch driven ring gear, and the yaw driven ring gear to rotate in the circumferential direction of the adapter plate.

[0006] According to a force-sensing microsurgical robotic arm device provided by the present invention, the passive proximal end assembly further includes a first winding member, a second winding member, and a third winding member. The first winding member, the second winding member, and the third winding member are all disposed within the storage space and located outside the wire guide frame. The opening and closing connector is wound around the first winding member, the yaw connector is wound around the second winding member, and the pitch connector is wound around the third winding member.

[0007] According to the present invention, a force-sensing microsurgical robotic arm device includes an opening / closing connector comprising a first opening / closing drive wire and a second opening / closing drive wire; a yaw connector comprising a first yaw drive wire and a second yaw drive wire; a pitch connector comprising a first pitch drive wire and a second pitch drive wire; a first winding member comprising two first winding wheels, the two first winding wheels being configured one-to-one with the first opening / closing drive wire and the second opening / closing drive wire; a second winding member comprising two second winding wheels, the two second winding wheels being configured one-to-one with the first yaw drive wire and the second yaw drive wire; and a third winding member comprising two third winding wheels, the two third winding wheels being configured one-to-one with the first pitch drive wire and the second pitch drive wire.

[0008] According to the present invention, a force-sensing microsurgical robotic arm device further includes a connecting rod, the adapter tube is connected to the adapter plate through the connecting rod, and the opening / closing connector, the yaw connector and the pitch connector are all arranged inside the connecting rod.

[0009] According to a force-sensing microsurgical robotic arm device provided by the present invention, the active end component includes a housing, an opening / closing drive motor, a pitch drive motor, a yaw drive motor, an opening / closing drive gear, a pitch drive gear, and a yaw drive gear. The opening / closing drive motor, the pitch drive motor, and the yaw drive motor are all disposed in the housing. The opening / closing drive motor is connected to the opening / closing driven ring gear through the opening / closing drive gear. The pitch drive motor is connected to the pitch driven ring gear through the pitch drive gear. The yaw drive motor is connected to the yaw driven ring gear through the yaw drive gear.

[0010] According to a force-sensing microsurgical robotic arm device provided by the present invention, the outer periphery of the opening and closing driven ring gear is provided with a first clearance and a second clearance, the first clearance and the second clearance are spaced apart along the circumferential direction of the opening and closing driven ring gear, and the outer periphery of the pitch driven ring gear is provided with a third clearance.

[0011] According to a force-sensing microsurgical robotic arm device provided by the present invention, the active end assembly further includes a locking motor and a locking screw. The locking motor is disposed in the housing, the locking screw is connected to the locking motor, the adapter plate is provided with a threaded hole, and the locking screw is detachably connected to the threaded hole.

[0012] According to the force-sensing microsurgical robotic arm device provided by the present invention, the housing is provided with a positioning pin, the adapter plate is provided with a positioning hole, and the positioning pin is inserted into the positioning hole.

[0013] According to the force-sensing microsurgical robotic arm device provided by the present invention, the yaw rotation part is provided with a first guide groove, the yaw receiving part is provided with a first limiting member, and the first limiting member passes through the first guide groove; and / or, The pitch rotation part is provided with a second guide groove, and the pitch receiving part is provided with a second limiting member, which passes through the second guide groove.

[0014] The force-sensing microsurgical robotic arm device provided by this invention enables each level of motion to revolve around a relatively stable center of sphere, reducing additional displacement and degree-of-freedom coupling caused by joint axis offset, assembly errors, and transmission clearances. This facilitates simplified kinematic modeling, calibration, and control decoupling. Furthermore, it eliminates the need for multiple independent rotating shafts, bearings, and complex support components at the distal end of the instrument, simplifying assembly and enabling miniaturization of microsurgical instruments. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the force-sensing microsurgical robotic arm device provided by the present invention.

[0017] Figure 2 This is one of the structural schematic diagrams of the passive remote component provided by the present invention.

[0018] Figure 3 This is an exploded view of the passive remote component provided by the present invention.

[0019] Figure 4 This is the second schematic diagram of the passive remote component provided by the present invention.

[0020] Figure 5 This is the third schematic diagram of the passive remote component provided by the present invention.

[0021] Figure 6 This is a schematic diagram of the structure of the surgical forceps provided by the present invention.

[0022] Figure 7 This is an exploded view of the surgical forceps provided by the present invention.

[0023] Figure 8 This is one of the structural schematic diagrams of the fixing clamp provided by the present invention.

[0024] Figure 9 This is the second schematic diagram of the fixing clamp provided by the present invention.

[0025] Figure 10 This is a schematic diagram of the spherical joint component provided by the present invention.

[0026] Figure 11 This is a schematic diagram of the passive near-end component provided by the present invention.

[0027] Figure 12This is one of the structural schematic diagrams of the adapter plate provided by the present invention.

[0028] Figure 13 This is a schematic diagram of the cable tray provided by the present invention.

[0029] Figure 14 This is a schematic diagram of the structure of the opening and closing driven ring gear, the pitch driven ring gear, and the yaw driven ring gear provided by the present invention.

[0030] Figure 15 This is the second schematic diagram of the adapter plate provided by the present invention.

[0031] Figure 16 This is one of the structural schematic diagrams of the active terminal component provided by the present invention.

[0032] Figure 17 This is the second schematic diagram of the active terminal component provided by the present invention.

[0033] Figure 18 This is a schematic diagram illustrating the interaction between the passive near-end component and the active end component provided by the present invention.

[0034] Figure label: 1. Passive distal assembly; 11. Surgical forceps; 111. Fixed forceps; 112. Movable forceps; 113. Yaw rotation part; 1131. First guide groove; 114. Rotating shaft; 12. Spherical joint; 121. Yaw receiving part; 1211. First limiting member; 122. Pitch rotation part; 1221. Second guide groove; 13. Adaptor tube; 131. Pitch receiving part; 1311. Second limiting member; 14. Opening and closing connector; 141. First opening and closing drive wire; 142. Second opening and closing drive wire; 15. Yaw connection Components; 151, First yaw drive wire; 152, Second yaw drive wire; 16, Pitch connector; 161, First pitch drive wire; 162, Second pitch drive wire; 2, Force sensing component; 21, Force sensing optical fiber; 22, Transmission optical cable; 3, Active end component; 31, Housing; 311, Positioning pin; 32, Opening / closing drive motor; 33, Pitch drive motor; 34, Yaw drive motor; 35, Opening / closing drive gear; 36, Pitch drive gear; 37, Yaw drive gear; 38, Locking motor; 39, Locking screw; 4. Passive end near-end assembly; 41. Adapter plate; 411. Threaded hole; 412. Positioning hole; 42. Wire guide frame; 43. Opening / closing driven ring gear; 431. First clearance opening; 432. Second clearance opening; 44. Pitch driven ring gear; 441. Third clearance opening; 45. Yaw driven ring gear; 46. First winding component; 461. First winding wheel; 47. Second winding component; 471. Second winding wheel; 48. Third winding component; 481. Third winding wheel; 5. Connecting rod. Detailed Implementation

[0035] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0036] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly set on another component; when a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to another component.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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 application.

[0038] 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 one or more of that feature. In the description of this application, "a plurality of" or "several" means two or more, unless otherwise explicitly specified.

[0039] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce.

[0040] like Figures 1 to 10As shown, the force-sensing microsurgical robotic arm device of this invention includes: a passive distal assembly 1, a force-sensing assembly 2, and an active distal assembly 3. The passive distal assembly 1 includes surgical forceps 11, a spherical joint 12, an adapter tube 13, an opening / closing connector 14, a yaw connector 15, and a pitch connector 16. The surgical forceps 11 includes a fixed forceps 111, a movable forceps 112, and a yaw rotation part 113. The yaw rotation part 113 is connected to one end of the fixed forceps 111, the movable forceps 112 is rotatably connected to the fixed forceps 111, and the opening / closing connector 14 is connected to the movable forceps 112. The spherical joint 12 includes a connected yaw receiving part 121 and a pitch rotation part 122. The yaw rotation part 113 is disposed within the yaw receiving part 121. The yaw connector 15 is connected to the fixed forceps 11. 1. Connection; The adapter tube 13 is provided with a pitch receiving part 131, and the pitch rotation part 122 is provided in the pitch receiving part 131. The pitch connector 16 is connected to the yaw receiving part 121; The force sensing component 2 includes a force sensing optical fiber 21 and a transmission optical cable 22 connected to each other. The force sensing optical fiber 21 is provided on the side of the fixed clamp 111 facing the movable clamp 112; The opening and closing connector 14, the yaw connector 15 and the pitch connector 16 are all connected to the active end component 3. The active end component 3 is configured to control the opening and closing connector 14, the yaw connector 15 and the pitch connector 16 to realize the opening and closing, yaw and pitch of the surgical clamp 11.

[0041] It should be noted that the movable forceps 112 and the fixed forceps 111 are arranged opposite to each other, together forming the clamping end of the surgical forceps 11. Furthermore, the movable forceps 112 and the fixed forceps 111 can adopt an asymmetrical opening and closing configuration. Additionally, the root of the movable forceps 112 is connected to the fixed forceps 111 via a rotating shaft 114, allowing the movable forceps 112 to rotate relative to the fixed forceps 111 around the rotating shaft 114, thereby achieving the opening and closing of the jaws. The movable forceps 112 is connected to the opening and closing connector 14; by pulling and releasing the opening and closing connector 14, the opening and closing movement of the movable forceps 112 is controlled.

[0042] Understandably, the force-sensing component 2 is disposed within the clamping working surface of the clamping clamp 111, and includes two force-sensing optical fibers 21 and a transmission optical cable 22 connected to the force-sensing optical fibers 21. The clamping clamp 111 remains relatively fixed during the opening and closing of the jaws, providing a stable mounting reference and force carrier for the force-sensing optical fibers 21. The force generated by the contact between the instrument tip and the tissue is transmitted through the clamping clamp 111 to the force-sensing optical fibers 21, and the corresponding sensing signal is transmitted to an external signal processing device by the transmission optical cable 22.

[0043] In this embodiment, the yaw rotation part 113 is connected to one end of the fixing clamp 111. For example, the yaw rotation part 113 and the fixing clamp 111 are integrally formed, and the yaw rotation part 113 can be a yaw spherical joint part. The yaw spherical joint part has a first spherical mating surface. A first guide groove 1131, for example, a first arc-shaped guide groove, is provided on both sides of the yaw spherical joint part. The first arc-shaped guide groove extends along the predetermined yaw movement direction, and its two ends form yaw rotation limiting parts, which are used to limit the forward yaw limit position and the reverse yaw limit position of the instrument end. The yaw spherical joint part can also be provided with guide holes corresponding to the yaw connector 15 and the opening and closing connector 14. The yaw spherical joint is installed within the yaw receiving portion 121 of the spherical joint component 12, that is, the yaw spherical joint is installed within the first spherical receiving portion of the spherical joint component 12. The first spherical mating surface of the yaw spherical joint mates with the inner spherical surface of the first spherical receiving portion, together forming a yaw spherical hinge pair. A pair of first limiting members 1211, i.e., first limiting pins, are provided on the first spherical receiving portion and arranged radially opposite to each other. The pair of first limiting pins extend into the first arc-shaped guide grooves on both sides of the yaw spherical joint. The first limiting pins mate with the first arc-shaped guide grooves, causing the yaw spherical joint to rotate around its center in the direction defined by the first arc-shaped guide groove, while simultaneously restricting the yaw spherical joint from generating undesired roll around the longitudinal axis of the instrument. When the yaw spherical joint rotates to its limit position, the first limiting pins contact the yaw rotation limiting portion at the corresponding end of the first arc-shaped guide groove, thereby mechanically limiting the yaw range of motion.

[0044] It should be noted that the spherical joint component 12 can be a one-piece joint component, with a first spherical receiving portion formed at its distal end and a pitch rotation portion 122 formed at its proximal end. The pitch rotation portion 122 can be a pitch spherical joint portion. The first spherical receiving portion is used to accommodate the yaw spherical joint portion, and the pitch spherical joint portion is used to form a pitch spherical hinge pair with the pitch receiving portion 131 at the distal end of the adapter tube 13. The first spherical receiving portion has an inner spherical surface adapted to the first spherical mating surface of the yaw spherical joint portion, and is provided with a first pin hole for installing the first limiting pin. After the yaw spherical joint portion is installed in the first spherical receiving portion, the first limiting pin extends through the first pin hole into the corresponding first arc-shaped guide groove, thereby forming a rotational guiding, roll constraint, and motion limiting structure for the yaw spherical hinge pair. The pitch spherical joint portion at the proximal end of the spherical joint component 12 has a second spherical mating surface. The pitch spherical joint is provided with second guide grooves 1221, i.e., second arc-shaped guide grooves, on both sides. The second arc-shaped guide grooves extend along the predetermined pitch movement direction, and their two ends form pitch rotation limiting parts. The pitch spherical joint is also provided with guide holes for the passage of each set of opening and closing connectors 14, yaw connectors 15, and pitch connectors 16. The distal end of the adapter pipe 13 forms a pitch receiving part 131, i.e., a second spherical receiving part, which has an inner spherical surface that is adapted to the second spherical mating surface of the pitch spherical joint. The pitch spherical joint is installed in the second spherical receiving part, so that the pitch spherical joint can rotate about its center relative to the second spherical receiving part, and the two together constitute a pitch spherical hinge pair. The second spherical receiving part is provided with a pair of second pin holes arranged radially opposite each other, and a pair of second limiting members 1311, i.e., second limiting pins, are respectively installed in the corresponding second pin holes and extend into the second arc-shaped guide grooves on both sides of the pitch spherical joint. The second limiting pin engages with the second arc-shaped guide groove, causing the pitch spherical joint to rotate around its center in the direction defined by the second arc-shaped guide groove, while simultaneously restricting the intermediate spherical joint 12 from generating undesirable roll around the longitudinal axis of the instrument. When the pitch spherical joint reaches its pitch limit position, the second limiting pin contacts the pitch rotation limiting part at the corresponding end of the second arc-shaped guide groove, thereby forming a mechanical limit on the pitch motion. The yaw spherical hinge pair and the pitch spherical hinge pair are sequentially connected in series along the longitudinal direction of the instrument. The extension directions of the first and second arc-shaped guide grooves are distinct, corresponding to the yaw and pitch directions at the end of the instrument, respectively, so that the two spherical hinge pairs form constrained single-degree-of-freedom spherical rotations. Through the above structure, the yaw and pitch motions occur around the center of the corresponding spherical joint, thereby reducing additional displacement and degree-of-freedom coupling caused by joint axis offset and assembly errors.

[0045] Compared with structures that use ordinary pins to form pitch and yaw motion, this embodiment enables each level of motion to revolve around a relatively stable center of sphere, reducing additional displacement and degree-of-freedom coupling caused by joint axis offset, assembly errors, and transmission clearances. This simplifies kinematic modeling, calibration, and control decoupling. In addition, it eliminates the need to arrange multiple independent shafts, bearings, and complex support components at the distal end of the instrument, which simplifies assembly and enables miniaturization of microsurgical instruments.

[0046] In optional embodiments, such as Figures 11 to 14 As shown, the force-sensing microsurgical robotic arm device also includes a passive proximal component 4. The passive proximal component 4 includes an adapter plate 41, a wire guide 42, an opening / closing driven ring gear 43, a pitch driven ring gear 44, and a yaw driven ring gear 45. The adapter plate 41 has a storage space and a housing space connected to the storage space. The housing space is located outside the storage space, and the wire guide 42 is located inside the storage space. The opening / closing driven ring gear 43, the pitch driven ring gear 44, and the yaw driven ring gear 45 are sequentially and alternately arranged in the housing space along the axial direction of the adapter plate 41. Connector 14, yaw connector 15, and pitch connector 16 are all mounted on cable tray 42. Connector 14 is connected to open / close driven ring gear 43, yaw connector 15 is connected to yaw driven ring gear 45, and pitch connector 16 is connected to pitch driven ring gear 44. Open / close driven ring gear 43, pitch driven ring gear 44, and yaw driven ring gear 45 are all connected to active terminal assembly 3. Active terminal assembly 3 is configured to control the opening / close driven ring gear 43, pitch driven ring gear 44, and yaw driven ring gear 45 to rotate in the circumferential direction of adapter plate 41.

[0047] Exemplarily, the force-sensing microsurgical robotic arm device also includes a connecting rod 5. An adapter tube 13 is connected to an adapter plate 41 via the connecting rod 5. The opening / closing connector 14, yaw connector 15, and pitch connector 16 are all disposed within the connecting rod 5. It should be noted that the adapter tube 13 is respectively provided with guide holes corresponding to the opening / closing connector 14, the yaw connector 15, and the pitch connector 16. The opening / closing connector 14, the yaw connector 15, and the pitch connector 16 enter the interior of the adapter tube 13 through their respective guide holes. The proximal end of the adapter tube 13 is fixedly connected to the connecting rod 5. The connecting rod 5 is a hollow tubular structure, with an axial channel extending longitudinally along the instrument inside, used to accommodate the opening / closing connector 14, the yaw connector 15, the pitch connector 16, and the transmission optical cable 22. The proximal end of the connecting rod 5 is connected to the adapter plate 41, thereby forming a support structure and a transmission path.

[0048] Understandably, the passive near-end assembly 4 also includes a first winding member 46, a second winding member 47, and a third winding member 48. The first winding member 46, the second winding member 47, and the third winding member 48 are all located in the storage space and outside the cable guide frame 42. The opening and closing connector 14 is wound around the first winding member 46, the yaw connector 15 is wound around the second winding member 47, and the pitch connector 16 is wound around the third winding member 48. For example, the opening / closing connector 14 includes a first opening / closing drive wire 141 and a second opening / closing drive wire 142; the yaw connector 15 includes a first yaw drive wire 151 and a second yaw drive wire 152; the pitch connector 16 includes a first pitch drive wire 161 and a second pitch drive wire 162; the first winding member 46 includes two first winding wheels 461, which are configured one-to-one with the first opening / closing drive wire 141 and the second opening / closing drive wire 142; the second winding member 47 includes two second winding wheels 471, which are configured one-to-one with the first yaw drive wire 151 and the second yaw drive wire 152; and the third winding member 48 includes two third winding wheels 481, which are configured one-to-one with the first pitch drive wire 161 and the second pitch drive wire 162.

[0049] Specifically, the first opening / closing drive wire 141, the second opening / closing drive wire 142, the first pitch drive wire 161, the second pitch drive wire 162, the first yaw drive wire 151, and the second yaw drive wire 152, all led out from the axial channel of the connecting rod 5, enter the adapter plate 41. The adapter plate 41 is provided with corresponding drive wire guide channels and provides installation positions and axial positioning references for the wire guide frame 42, the three sets of winding wheel groups, and the three sets of driven ring gears. The wire guide frame 42 is located at the near end of the adapter plate 41 and is used to group, reverse, and guide the yaw drive wire, pitch drive wire, and opening / closing drive wire. The three sets of drive wires reach the three sets of winding wheel groups through their corresponding wire guide channels. Each set of winding wheel groups includes two winding wheels symmetrically arranged around the central axis of the instrument. Each set of drive wires winds around the winding wheels on both sides of the corresponding set of winding wheel groups and connects to the corresponding driven ring gear.

[0050] Understandably, the wire guide 42 and the winding wheel assembly position the three sets of drive wires at different axial heights, forming independent yaw drive wire channels, pitch drive wire channels, and opening / closing drive wire channels. The yaw driven ring gear 45, pitch driven ring gear 44, and opening / closing driven ring gear 43 are all coaxially aligned with the instrument's longitudinal axis and arranged in a staggered manner along the axial direction. The yaw driven ring gear 45 is located at the farthest end, the pitch driven ring gear 44 in the middle, and the opening / closing driven ring gear 43 at the closest end. The three sets of driven ring gears are rotatably mounted on the adapter plate 41. Each set of driven ring gears has a drive wire connection portion on its inner circumference and an external tooth surface on its outer circumference for meshing with the driving gear corresponding to the active end assembly 3. When the corresponding driven ring gear rotates, the set of drive wires connected to it forms a differential transmission state where one side is pulled and the other side is released. By changing the rotation direction of the driven ring gear, the pull and release relationship of the drive wires on both sides can be changed, thereby realizing bidirectional control of yaw motion, pitch motion, and jaw opening and closing motion.

[0051] In optional embodiments, such as Figures 15 to 18 As shown, the active terminal component 3 includes a housing 31, an opening / closing drive motor 32, a pitch drive motor 33, a yaw drive motor 34, an opening / closing drive gear 35, a pitch drive gear 36, and a yaw drive gear 37. The opening / closing drive motor 32, the pitch drive motor 33, and the yaw drive motor 34 are all mounted on the housing 31. The opening / closing drive motor 32 is connected to the opening / closing driven ring gear 43 via the opening / closing drive gear 35. The pitch drive motor 33 is connected to the pitch driven ring gear 44 via the pitch drive gear 36. The yaw drive motor 34 is connected to the yaw driven ring gear 45 via the yaw drive gear 37.

[0052] Exemplarily, the active terminal component 3 also includes a locking motor 38 and a locking screw 39. The locking motor 38 is disposed in the housing 31, and the locking screw 39 is connected to the locking motor 38. The adapter plate 41 is provided with a threaded hole 411, and the locking screw 39 is detachably connected to the threaded hole 411. Exemplarily, the housing 31 is provided with a positioning pin 311, and the adapter plate 41 is provided with a positioning hole 412, into which the positioning pin 311 is inserted.

[0053] It should be noted that a threaded hole 411 is provided at the center of the side of the adapter plate 41 facing the housing 31, and a locking screw 39 forms a threaded connection. Four positioning holes 412 are also provided on the side of the adapter plate 41 facing the housing 31, evenly spaced around the central axis of the instrument. The four positioning holes 412 are used to cooperate with the positioning pin 311 to achieve circumferential orientation, radial positioning, and anti-rotation constraint between the passive end of the surgical instrument and the active end of the robotic arm.

[0054] Understandably, the housing 31 forms the main support structure, and a mounting groove, i.e., a mating end face, is formed on one side of the housing 31. The yaw driven ring gear 45, pitch driven ring gear 44, and opening driven ring gear 43 can all be located within the mounting groove; that is, the mating end face is used to mate with the adapter plate 41. The mating end face is provided with four locating pins 311 evenly spaced around the central axis, with each of the four locating pins 311 corresponding to one of the four locating holes 412. During mating, the locating pins 311 are inserted into their corresponding locating holes 412, enabling the passive end of the surgical instrument and the active end of the robotic arm to achieve circumferential orientation and radial positioning, and restricting relative rotation between them around the central axis. The engagement of the locating pins 311 and the locating holes 412 simultaneously determines the circumferential correspondence between the three sets of driving gears and the three sets of driven ring gears. The locking motor 38 is located at the center inside the housing 31, and its output end is connected to the locking screw 39. The locking screw 39 is coaxially arranged with the threaded hole 411. When the positioning pin 311 enters the corresponding positioning hole 412, the locking motor 38 drives the locking screw 39 to rotate, causing the locking screw 39 to be screwed axially into the threaded hole 411, thereby applying an axial locking force to the passive end of the surgical instrument and achieving automatic locking between the passive and active ends. When the locking motor 38 rotates in the opposite direction, the locking screw 39 exits the threaded hole 411, thereby unlocking the passive and active ends. The housing 31 is also provided with mounting cavities, positioning holes, and axial positioning steps for three sets of drive motors and corresponding drive gears to determine the circumferential position and axial height of each drive motor and drive gear.

[0055] In order to enable the driving gears located at different axial levels to enter the corresponding meshing positions respectively, in an optional embodiment, the outer periphery of the opening and closing driven ring gear 43 is provided with a first clearance opening 431 and a second clearance opening 432, the first clearance opening 431 and the second clearance opening 432 are spaced apart along the circumferential direction of the opening and closing driven ring gear 43, and the outer periphery of the pitch driven ring gear 44 is provided with a third clearance opening 441.

[0056] The first clearance opening 431 and the third clearance opening 441 are used to allow the yaw drive gear 37 to pass axially and to provide clearance space for the operation of the yaw drive gear 37. The second clearance opening 432 is used to allow the pitch drive gear 36 to pass axially and to provide clearance space for the operation of the pitch drive gear 36. In this way, the three sets of drive gears can mesh with their corresponding driven ring gears in a limited radial space, and structural interference between different transmission channels is avoided.

[0057] Three drive motors are arranged at equal intervals around the locking motor 38 along the circumference of the housing 31. The yaw drive gear 37, pitch drive gear 36, and opening / closing drive gear 35 are respectively positioned at different axial heights, corresponding to the yaw driven ring gear 45, pitch driven ring gear 44, and opening / closing driven ring gear 43. The yaw drive gear 37 is located in the axial level that matches the yaw driven ring gear 45. When the passive end connects to the active end, the yaw drive gear 37 sequentially passes through the first clearance port 431 of the opening / closing driven ring gear 43 and the third clearance port 441 on the pitch driven ring gear 44 to enter the position of the yaw driven ring gear 45 and mesh with it. The pitch drive gear 36 is located in the axial level that matches the pitch driven ring gear 44. When the passive end connects to the active end, the pitch drive gear 36 enters the position of the pitch driven ring gear 44 through the second clearance port 432 on the opening and closing driven ring gear 43, and meshes with the pitch driven ring gear 44. The opening and closing drive gear 35 is located in the axial level that matches the opening and closing driven ring gear 43, and meshes directly with the opening and closing driven ring gear 43. Thus, the yaw drive gear 37, the pitch drive gear 36, and the opening and closing drive gear 35 form three independent and non-interfering gear transmission channels with their corresponding driven ring gears. The yaw drive motor 34 drives the yaw driven ring gear 45 to rotate through the yaw drive gear 37, and pulls the yaw drive wire assembly to achieve the yaw motion of the instrument's end effector. The pitch drive motor 33 drives the pitch driven ring gear 44 to rotate through the pitch drive gear 36, and pulls the pitch drive wire assembly to achieve the pitch motion of the instrument's end effector. The opening and closing drive motor 32 drives the opening and closing driven ring gear 43 to rotate through the opening and closing drive gear 35, and pulls the opening and closing drive wire assembly to realize the opening and closing movement of the movable clamp 112 relative to the fixed clamp 111.

[0058] In use, the threaded hole 411 is aligned with the locking screw 39, and the locating pin 311 is initially aligned with the locating hole 412. After starting the locking motor 38, the locking motor 38 drives the locking screw 39 to rotate and form a threaded engagement with the threaded hole 411. As the locking screw 39 continues to screw in, the passive end moves towards the active end under the axial traction generated by the threaded drive. During this axial engagement process, the locating pin 311 of the active end is simultaneously inserted into the corresponding locating hole 412 of the passive end, realizing circumferential orientation, radial positioning, and anti-rotation constraint between the passive end and the active end. At the same time, the yaw drive gear 37 and the pitch drive gear 36 enter the corresponding axial level through the corresponding clearance openings, and the yaw drive gear 37, pitch drive gear 36, and jaw opening drive gear 35 simultaneously mesh with the corresponding driven ring gear. After the locking screw 39 is screwed in to the predetermined locking position, a stable axial connection is formed between the passive end and the active end, and the three gear transmission channels of yaw, pitch, and jaw opening are established simultaneously. The entire docking process is driven by the locking motor 38, eliminating the need for operators to push, tighten, or individually connect each transmission channel step by step.

[0059] The yaw drive motor 34 drives the yaw drive gear 37 to rotate, which in turn drives the yaw driven ring gear 45 to rotate. The yaw driven ring gear 45 differentially pulls the yaw drive wires on both sides of the yaw spherical hinge joint through corresponding winding wheel sets, causing one side of the yaw drive wire to tighten and the other side to release. Under the action of the yaw drive wires, the yaw spherical joint portion, integrally formed with the fixing clamp 111, rotates around the center of the sphere in a predetermined yaw direction. The engagement of the first limiting pin and the first arc-shaped guide groove restricts the yaw spherical joint portion from generating undesired roll around the longitudinal axis of the instrument. When the yaw spherical joint portion moves to the set limit position, the first limiting pin contacts the yaw rotation limiting part at the end of the first arc-shaped guide groove, limiting the yaw movement range of the instrument end.

[0060] The pitch drive motor 33 drives the pitch drive gear 36 to rotate, which in turn drives the pitch driven ring gear 44 to rotate. The pitch driven ring gear 44 differentially pulls the pitch drive wires on both sides of the pitch spherical articulation joint through corresponding winding wheel sets. Under the action of the pitch drive wires, the pitch spherical joint portion near the proximal end of the spherical joint 12 rotates around the center of the sphere in a predetermined pitch direction. The engagement of the second limiting pin and the second arc-shaped guide groove restricts the spherical joint 12 from generating undesired roll around the longitudinal axis of the instrument. When the pitch spherical joint portion moves to the set limit position, the second limiting pin contacts the pitch rotation limiting portion at the end of the second arc-shaped guide groove, limiting the pitch movement range of the instrument's end.

[0061] The opening and closing drive motor 32 drives the opening and closing driven ring gear 43 to rotate through the opening and closing drive gear 35. The opening and closing driven ring gear 43 pulls the opening and closing drive wire through the corresponding winding wheel set, so that the movable clamp 112 rotates around the rotating shaft 114 relative to the fixed clamp 111, thereby realizing the opening or closing of the clamp jaws.

[0062] During the surgery, the robotic arm adjusts the position and orientation of the end of the microsurgical forceps 11 via yaw and pitch spherical hinges, and works in conjunction with the fixed forceps 111 via the movable forceps 112 to clamp, pull, and fix small tissues, needles, or sutures. The force generated by the contact between the instrument end and the tissue is transmitted to two force-sensing optical fibers 21 within the clamping working surface of the fixed forceps 111. The sensing signals generated by the optical fibers are transmitted via the transmission cable 22 to an external signal processing device to obtain contact force information between the instrument end and the tissue.

[0063] When the passive end of a surgical instrument needs to be replaced, cleaned, or disinfected, the locking motor 38 is rotated in reverse, causing the locking screw 39 to gradually disengage from the threaded hole 411. As the threaded connection is released, the axial locking force between the passive and active ends is released. During the disengagement of the passive end, the yaw drive gear 37, pitch drive gear 36, and opening drive gear 35 simultaneously disengage from their corresponding driven ring gears, and the positioning pin 311 simultaneously disengages from its corresponding positioning hole 412, thereby simultaneously releasing the three transmission channels, circumferential positioning, and axial connection.

[0064] Finally, it should be noted that the terms "parallel" and "perpendicular" in the embodiments of this invention should not be strictly limited to a geometric sense. At least manufacturing and installation errors should be considered. For example, an error of ±10° should be within the protection range of the embodiments of this invention. The above embodiments are only used to illustrate the technical solutions of this invention, and not to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this invention.

Claims

1. A force-sensing microsurgical robotic arm device, characterized in that, include: A passive distal assembly (1) includes surgical forceps (11), a spherical joint (12), an adapter (13), an opening / closing connector (14), a yaw connector (15), and a pitch connector (16). The surgical forceps (11) includes a fixed forceps (111), a movable forceps (112), and a yaw rotating part (113). The yaw rotating part (113) is connected to one end of the fixed forceps (111), and the movable forceps (112) is rotatably connected to the fixed forceps (111). The opening / closing connector (14) is connected to the yaw rotating part (15). 4) Connected to the movable clamp (112); the spherical joint (12) includes a yaw receiving part (121) and a pitch rotating part (122) connected to each other, the yaw rotating part (113) is disposed in the yaw receiving part (121), and the yaw connector (15) is connected to the fixed clamp (111); the adapter pipe (13) is provided with a pitch receiving part (131), the pitch rotating part (122) is disposed in the pitch receiving part (131), and the pitch connector (16) is connected to the yaw receiving part (121); Force sensing component (2), the force sensing component (2) includes a force sensing optical fiber (21) and a transmission optical cable (22) connected to each other, the force sensing optical fiber (21) is disposed on the side of the fixed clamp (111) facing the movable clamp (112); The active end assembly (3) is connected to the opening and closing connector (14), the yaw connector (15) and the pitch connector (16). The active end assembly (3) is configured to control the opening and closing of the opening and closing connector (14), the yaw connector (15) and the pitch connector (16) to realize the opening and closing, yaw and pitch of the surgical forceps (11).

2. The force-sensing microsurgical robotic arm device according to claim 1, characterized in that, The force-sensing microsurgical robotic arm device also includes a passive proximal component (4), which includes an adapter plate (41), a wire guide (42), an opening / closing driven ring gear (43), a pitch driven ring gear (44), and a yaw driven ring gear (45). The adapter plate (41) is provided with a storage space and a fitting space connected to the storage space. The fitting space is located outside the storage space. The wire guide (42) is located inside the storage space. The opening / closing driven ring gear (43), the pitch driven ring gear (44), and the yaw driven ring gear (45) are sequentially and intermittently rotated in the fitting space along the axial direction of the adapter plate (41). The opening / closing connector (14) and the yaw connector (15) are also connected to the yaw connector. The component (15) and the pitch connector (16) are both disposed on the cable guide (42), and the opening and closing connector (14) is connected to the opening and closing driven ring gear (43), the yaw connector (15) is connected to the yaw driven ring gear (45), and the pitch connector (16) is connected to the pitch driven ring gear (44); the opening and closing driven ring gear (43), the pitch driven ring gear (44), and the yaw driven ring gear (45) are all connected to the active end assembly (3), and the active end assembly (3) is configured to control the opening and closing driven ring gear (43), the pitch driven ring gear (44), and the yaw driven ring gear (45) to rotate in the circumferential direction of the adapter plate (41).

3. The force-sensing microsurgical robotic arm device according to claim 2, characterized in that, The passive end near-end assembly (4) further includes a first winding member (46), a second winding member (47), and a third winding member (48). The first winding member (46), the second winding member (47), and the third winding member (48) are all disposed in the storage space and located outside the cable guide frame (42). The opening and closing connector (14) is wound around the first winding member (46), the yaw connector (15) is wound around the second winding member (47), and the pitch connector (16) is wound around the third winding member (48).

4. The force-sensing microsurgical robotic arm device according to claim 3, characterized in that, The opening / closing connector (14) includes a first opening / closing drive wire (141) and a second opening / closing drive wire (142); the yaw connector (15) includes a first yaw drive wire (151) and a second yaw drive wire (152); the pitch connector (16) includes a first pitch drive wire (161) and a second pitch drive wire (162); the first winding member (46) includes two first winding wheels (461), the two first winding wheels (461) and the first opening / closing drive wire (141) and the... The second opening and closing drive wire (142) is arranged in a one-to-one correspondence. The second winding member (47) includes two second winding wheels (471), which are arranged in a one-to-one correspondence with the first yaw drive wire (151) and the second yaw drive wire (152). The third winding member (48) includes two third winding wheels (481), which are arranged in a one-to-one correspondence with the first pitch drive wire (161) and the second pitch drive wire (162).

5. The force-sensing microsurgical robotic arm device according to claim 2, characterized in that, The force-sensing microsurgical robotic arm device also includes a connecting rod (5), the adapter tube (13) is connected to the adapter plate (41) through the connecting rod (5), and the opening and closing connector (14), the yaw connector (15) and the pitch connector (16) are all arranged inside the connecting rod (5).

6. The force-sensing microsurgical robotic arm device according to claim 2, characterized in that, The active terminal component (3) includes a housing (31), an opening and closing drive motor (32), a pitch drive motor (33), a yaw drive motor (34), an opening and closing drive gear (35), a pitch drive gear (36), and a yaw drive gear (37). The opening and closing drive motor (32), the pitch drive motor (33), and the yaw drive motor (34) are all disposed in the housing (31). The opening and closing drive motor (32) is connected to the opening and closing driven ring gear (43) through the opening and closing drive gear (35). The pitch drive motor (33) is connected to the pitch driven ring gear (44) through the pitch drive gear (36). The yaw drive motor (34) is connected to the yaw driven ring gear (45) through the yaw drive gear (37).

7. The force-sensing microsurgical robotic arm device according to claim 6, characterized in that, The outer periphery of the opening and closing driven ring gear (43) is provided with a first clearance opening (431) and a second clearance opening (432), the first clearance opening (431) and the second clearance opening (432) are spaced apart along the circumferential direction of the opening and closing driven ring gear (43), and the outer periphery of the pitch driven ring gear (44) is provided with a third clearance opening (441).

8. The force-sensing microsurgical robotic arm device according to claim 6, characterized in that, The active end assembly (3) further includes a locking motor (38) and a locking screw (39). The locking motor (38) is disposed on the housing (31). The locking screw (39) is connected to the locking motor (38). The adapter plate (41) is provided with a threaded hole (411). The locking screw (39) is detachably connected to the threaded hole (411).

9. The force-sensing microsurgical robotic arm device according to claim 6, characterized in that, The housing (31) is provided with a positioning pin (311), and the adapter plate (41) is provided with a positioning hole (412). The positioning pin (311) is inserted into the positioning hole (412).

10. The force-sensing microsurgical robotic arm device according to any one of claims 1 to 9, characterized in that, The yaw rotation part (113) is provided with a first guide groove (1131), and the yaw receiving part (121) is provided with a first limiting member (1211), the first limiting member (1211) passing through the first guide groove (1131); and / or, The pitch rotation part (122) is provided with a second guide groove (1221), and the pitch receiving part (131) is provided with a second limiting member (1311), which passes through the second guide groove (1221).

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