Sensor for intelligent surgical robot

Abstract

The utility model discloses a sensor for intelligent surgical robot, including elastomer, strain circuit, flexible circuit board, Parylene protective layer, Pebax protective layer and FEP protective layer, elastomer is four prism structure, strain circuit is provided on four outer surface of elastomer, flexible circuit board is provided on the outer surface of strain circuit and is electrically connected with strain circuit. According to the utility model, the four Wheatstone bridges are arranged in total, so that the force values of the surgical instrument in four directions can be accurately measured. Each Wheatstone bridge shares one excitation power supply, and the output signal of each Wheatstone bridge is completely independent, so that the immeasurable surgical risk caused by the robot stop working due to the simultaneous damage of four bridge circuits of the sensor is greatly reduced. The protective layer greatly improves the resistance of the sensor in a high-temperature and high-pressure disinfection environment.

Description

Technical Field

[0001] The utility model belongs to the technical field of sensors, and in particular relates to a sensor for an intelligent surgical robot. Background Art

[0002] With the advent of the 5G era, intelligent robots have also emerged. In the field of medical surgery, the application of intelligent surgical robots is also particularly important. Surgical robots replacing manual surgery will avoid some human surgical risks, and the key component of the robot is the sensor that accurately measures the force of surgical instruments during operation. Intelligent surgical robot sensors can accurately measure the operating force of instruments such as scalpels and surgical forceps, provide surgeons with reliable parameters, greatly reduce surgical risks, and reduce the risk costs of patients and medical institutions.

[0003] The protective part of the sensor will lose its protective function after more than 50 steam high-pressure sterilizations and cannot be used any more. Therefore, a sensor for an intelligent surgical robot with a protective function is urgently needed. Utility Model Content

[0004] In order to solve the defects in the prior art, the utility model provides a sensor for an intelligent surgical robot.

[0005] In order to solve the above technical problems, the utility model provides the following technical solutions:

[0006] The utility model provides a sensor for an intelligent surgical robot, comprising an elastomer, a strain circuit, a flexible circuit board, a Parylene protective layer, a Pebax protective layer and a FEP protective layer, wherein the elastomer is a four-sided prism structure, the strain circuit is arranged on the four outer surfaces of the elastomer, the flexible circuit board is arranged on the outer surface of the strain circuit and is electrically connected to the strain circuit, and the Pebax protective layer, the FEP protective layer and the Parylene protective layer are arranged on the outer surface of the flexible circuit board in sequence from the inside to the outside.

[0007] Preferably, the strain circuit includes 4 substrates and 16 strain gauges, each substrate is provided with 4 strain gauges arranged in sequence along the length direction of the substrate, each substrate is arranged on each outer surface of the elastomer, the length direction of the substrate is consistent with the length direction of the elastomer, and the two strain gauges on any two opposite outer surfaces of the elastomer form a Wheatstone bridge.

[0008] Preferably, a ground terminal is further provided, and each of the Wheatstone bridges and the elastic body is respectively connected to the ground terminal.

[0009] Preferably, a loading part and a fixing part are respectively provided at two ends of the elastic body in the length direction, and the loading part and the fixing part are concentric cylindrical structures.

[0010] Preferably, at least one through hole is formed on the loading portion and the fixing portion.

[0011] Preferably, the elastomer is made of 17-4PH stainless steel.

[0012] Compared with the prior art, the utility model has the following beneficial effects:

[0013] The two strain gauges on any two opposite outer surfaces of the elastomer of the utility model form a Wheatstone bridge, so that each plane has two Wheatstone bridges with the opposite plane. The elastomer has four planes, with two Wheatstone bridges on the left and right sides and the upper and lower sides, for a total of four Wheatstone bridges, which can accurately measure the force values ​​of surgical instruments in four directions. Each Wheatstone bridge shares an excitation power supply, and the output signal of each Wheatstone bridge is completely independent, which greatly reduces the immeasurable surgical risk caused by the simultaneous damage of the four bridges of the sensor, causing the robot to stop working. The protective layer uses Parylene coating, Pebax material and FEP material protective layer, which greatly improves the resistance of the sensor in high temperature and high pressure disinfection environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the explosion structure of a sensor for an intelligent surgical robot of the utility model;

[0015] Figure 2 This is a schematic diagram of the assembly structure of a sensor for an intelligent surgical robot of the utility model;

[0016] Figure 3 The utility model discloses a circuit diagram of a Wheatstone bridge in a sensor for an intelligent surgical robot. DETAILED DESCRIPTION

[0017] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0018] In the description of the present invention, it should be understood that the terms "front", "rear", "left", "right" and the like indicate directions or positional relationships based on the drawings in the specification. Figure 1 The orientation or positional relationship shown is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0019] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0020] like Figure 1 to Figure 2 As shown, this embodiment provides a sensor for an intelligent surgical robot, including an elastomer 1, a strain circuit 2, a flexible circuit board 3, a Parylene protective layer 4, a Pebax protective layer 5 and a FEP protective layer 6. The elastomer 1 is made of 17-4PH stainless steel, which improves the strength and service life of the sensor. The elastomer 1 is a four-sided prism structure, and a loading part and a fixing part are respectively provided at both ends of the length direction of the elastomer 1, and the loading part and the fixing part are concentric cylindrical structures. The four planes of the sensor are in symmetrical positions, which can reduce the influence of eccentric load. The loading part and the fixing part of the sensor are concentric cylinders, which eliminates the interference of the installation stress on the output signal of the sensor and improves the accuracy. In addition, three through holes are respectively provided on the loading part and the fixing part for the passage of other communication lines of the surgical arm.

[0021] Specifically, the strain circuit 2 includes 4 substrates 20 and 16 strain gauges 21. Each substrate 20 is provided with 4 strain gauges 21 in sequence along the length direction of the substrate. Each substrate 20 is provided on each outer surface of the elastic body 1. The length direction of the substrate 20 is consistent with the length direction of the elastic body 1. Two strain gauges 21 on any two opposite outer surfaces of the elastic body 1 form a Wheatstone bridge, so that each plane has two Wheatstone bridges with the opposite plane. The elastic body has four planes, and there are two Wheatstone bridges on the left and right sides and the upper and lower sides, for a total of four Wheatstone bridges (such as Figure 3 As shown in the figure, it can accurately measure the force of surgical instruments in four directions. Each Wheatstone bridge shares an excitation power supply, and the output signal of each Wheatstone bridge is completely independent, which greatly reduces the risk of the robot stopping working due to simultaneous damage of the four bridges of the sensor, causing immeasurable surgical risks.

[0022] Specifically, the flexible circuit board 3 is arranged on the outer surface of the strain circuit 2 and is electrically connected to the strain circuit 2, and the Pebax protective layer 5, the FEP protective layer 6 and the Parylene protective layer 4 are arranged on the outer surface of the flexible circuit board 3 in sequence from the inside to the outside. The sensor protective layer uses the Parylene coating, Pebax material and FEP material protective layer, which greatly improves the resistance of the sensor in a high temperature and high pressure sterilization environment.

[0023] As a preferred embodiment, the rest is the same as the previous embodiment, except that a ground terminal 7 is further provided, and each of the Wheatstone bridges and the elastic body is respectively connected to the ground terminal 7. The sensor elastic body is grounded to the Wheatstone bridge, which can effectively reduce the interference of other electrical components on the sensor signal.

[0024] The working principle of this embodiment is further explained below: the sensor is installed inside the surgical arm of the intelligent surgical robot. The surgical arm will be subjected to force during the operation. The sensor elastomer is deformed due to the force on the surgical arm, the strain gauge on the elastomer is deformed, the resistance changes, and the bridge circuit converts it into a sensor voltage change and outputs an analog signal. The subsequent circuit of the surgical robot then converts the voltage output into a weight output.

[0025] Finally, it should be noted that the above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Although the utility model is described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions recorded in the above embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the utility model shall be included in the protection scope of the utility model.

Claims

1. A sensor for an intelligent surgical robot, characterized in that: The invention comprises an elastomer (1), a strain circuit (2), a flexible circuit board (3), a Parylene protective layer (4), a Pebax protective layer (5) and a FEP protective layer (6), wherein the elastomer (1) is a four-sided prism structure, the strain circuit (2) is arranged on four outer surfaces of the elastomer (1), the flexible circuit board (3) is arranged on the outer surface of the strain circuit (2) and is electrically connected to the strain circuit (2), and the Pebax protective layer (5), the FEP protective layer (6) and the Parylene protective layer (4) are arranged on the outer surface of the flexible circuit board (3) in sequence from the inside to the outside.

2. The sensor for an intelligent surgical robot according to claim 1, characterized in that: The strain circuit (2) comprises four substrates (20) and 16 strain gauges (21), four strain gauges (21) being arranged in sequence along the length direction of each substrate (20), each substrate (20) being arranged on each outer surface of the elastic body (1), the length direction of the substrate (20) being consistent with the length direction of the elastic body (1), and two strain gauges (21) on any two opposite outer surfaces of the elastic body (1) forming a Wheatstone bridge.

3. The sensor for an intelligent surgical robot according to claim 2, characterized in that: A grounding terminal (7) is also provided, and each of the Wheatstone bridges and the elastic body is respectively connected to the grounding terminal (7).

4. The sensor for an intelligent surgical robot according to claim 1, characterized in that: The elastic body (1) is provided with a loading portion and a fixing portion at both ends in the length direction, respectively, and the loading portion and the fixing portion are concentric cylindrical structures.

5. The sensor for an intelligent surgical robot according to claim 4, characterized in that: At least one through hole is formed on the loading part and the fixing part.

6. The sensor for an intelligent surgical robot according to claim 1, characterized in that: The elastomer (1) is made of 17-4PH stainless steel.

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