Force sensing type medical surgical knife

Abstract

The utility model belongs to the field of surgical instruments, and particularly relates to a force sensing type medical surgical knife which comprises a handle, a knife assembly, a motor, a pressure sensing assembly and a processor. The pressure sensing assembly comprises a pressure sensor fixedly arranged relative to the handle, a first magnet arranged on the far end side of the pressure sensor and a second magnet arranged on the far end side of the first magnet, and the first magnet moves in the axial direction relative to the handle and applies pressure to the pressure sensor. The second magnet synchronously moves at least along with the tool bit in the axial direction and generates repulsive force on the first magnet; the pressure sensor is used for acquiring real-time pressure information of the first magnet and feeding back the real-time pressure information to the processor; and the processor correspondingly obtains resistance information of the tool bit based on the real-time pressure information. A first magnet and a second magnet of the pressure sensing assembly do not need to make contact with each other, it can be avoided that the force sensing assembly interferes with axial movement and circumferential rotation of the tool bit and the tool handle relative to the handle, and detection is more accurate.

Description

TECHNICAL FIELD

[0001] The utility model relates to surgical instrument field especially is force perception formula medical operation cutter. BACKGROUND

[0002] Medical staffs usually use power cutter to assist in processing human tissue during operation, especially during orthopedic operation, the cutting ability of cutter assembly such as ring saw and drill bit is strong, when cutter assembly penetrates the moment of bone tissue, medical staffs cannot close power source in time due to hand error or operating inertia and the like, and it is easy to damage the rest of the body tissue around the bone tissue.

[0003] In the prior art, a force feedback assembly is usually arranged to detect the stress condition of the cutter assembly, and the opening and closing of the power source is controlled according to the stress condition, so as to avoid the cutter assembly from accidentally injuring the body tissue. However, the force feedback assembly in the prior art usually directly installs the sensor on the cutter assembly, and part of the components of the force feedback assembly will interfere with the movement of the cutter assembly, thereby causing poor detection accuracy of the sensor. SUMMARY

[0004] In order to accurately detect the stress condition of the cutter during operation, the utility model provides a force perception type medical operation cutter.

[0005] According to the force perception type medical operation cutter provided by the embodiment of the utility model, the cutter assembly is arranged in the handle, the motor is arranged in the handle, the pressure sensing assembly is arranged on the handle, and the processor is arranged on the handle.

[0006] The handle is cylindrical.

[0007] The motor is fixedly arranged in the handle, and the distal end of the motor is provided with an output shaft to transmit torque to the cutter assembly.

[0008] The cutter assembly is arranged in the handle, and the cutter assembly comprises a cutter sleeve, a cutter handle and a cutter head arranged in the inner side of the cutter sleeve, the cutter handle is connected with the output shaft and the cutter head, and the cutter head and the handle move relatively along the axial direction and rotate relatively along the circumferential direction.

[0009] The pressure sensing assembly comprises a pressure sensor fixedly arranged relative to the handle, a first magnet arranged on the distal side of the pressure sensor, and a second magnet arranged on the distal side of the first magnet, the first magnet moves along the axial direction relative to the handle and applies pressure to the pressure sensor, and the second magnet at least synchronously moves along the axial direction with the cutter head and generates repulsion to the first magnet.

[0010] The pressure sensor is used to obtain real-time pressure information of the first magnet and feed back to the processor, and the processor is based on real-time pressure information.

[0011] In some embodiments, a first seat body is arranged at the distal end of the motor, the inner peripheral wall of the handle forms a limiting ring table, the distal end of the first seat body abuts the end face of the proximal end of the limiting ring table; the output shaft of the motor passes through the first seat body and is connected with the tool holder;

[0012] The proximal end of the motor is sequentially provided with a check ring and a second seat body, the check ring is arranged in the handle, the second seat body is detachably connected to the proximal end of the handle, the proximal end of the second seat body forms a first accommodating groove to be sleeved on the outer peripheral wall of the distal end of the motor, and a bolt is arranged on the first seat body to fixedly connect the end face of the distal end of the motor.

[0013] In some embodiments, the first magnet is arranged on the first seat body, the distal end of the first seat body forms a second accommodating groove to accommodate the first magnet, a second shaft sleeve is arranged between the outer peripheral wall of the first magnet and the groove wall of the second accommodating groove, the distal end of the second shaft sleeve forms a retaining ring toward the inside to limit the first magnet from sliding out of the distal end, and the retaining ring abuts the end face of the proximal end of the limiting ring table; the proximal end of the pressure sensor is provided with a first buffer gasket, and a second buffer gasket is arranged between the pressure sensor and the first magnet.

[0014] In some embodiments, the second magnet is fixedly sleeved on the outer peripheral wall of the proximal end of the tool holder, and the second magnet is arranged on the inside of the limiting ring table.

[0015] In some embodiments, the outer peripheral wall of the tool holder is provided with a linear bearing connected with the handle, so that the tool holder can at least move axially relative to the handle; the outer peripheral walls of the tool holder and the tool bit are sleeved with bearings connected with the tool holder, so that the tool bit and the tool holder can at least rotate circumferentially relative to the tool holder.

[0016] In some embodiments, a tubular joint is arranged at the proximal end of the tool holder for the distal end of the output shaft to pass through, the proximal end of the joint is provided with a strip-shaped notch penetrating through the two radial sides thereof, the distal end of the output shaft is provided with a first pin shaft penetrating through the two radial sides thereof, and the first pin shaft protrudes from the two end portions of the output shaft and penetrates through the strip-shaped notch.

[0017] The distal end of the tool holder is sleeved on the outer peripheral wall of the proximal end of the tool bit, and the tool holder and the tool bit are connected through a second pin shaft arranged in the radial direction.

[0018] In some embodiments, a spring is further arranged in the joint, the two ends of the spring correspondingly abut the distal end of the output shaft and the proximal end of the tool holder, and the spring pushes the tool holder to protrude toward the distal end through the tool holder.

[0019] In some embodiments, a retainer is provided at the distal end of the handle to detachably connect the tool assembly, the proximal end of the retainer passing through the inner side of the distal end of the handle, and the retainer and the handle are connected by threads.

[0020] The outer peripheral wall of the distal end of the blade sleeve is provided with spaced-apart locking protrusions along the axial direction to form a locking groove between the spaced-apart locking protrusions. The inner peripheral wall of the distal end of the sleeve is provided with a retaining ring in the circumferential direction corresponding to the locking protrusions. The retaining ring is provided with an avoidance notch corresponding to the locking protrusions. The retaining ring can be locked in the locking groove between the locking protrusions.

[0021] In some embodiments, the first magnet is a ring-shaped integral structure and / or a circumferential array-shaped split structure, and the second magnet is a ring-shaped integral structure and / or a circumferential array-shaped split structure.

[0022] In some embodiments, a button is provided on the handle and electrically connected to the processor. The button is used to control the start / stop of the motor, the rotation mode of the motor, and the opening / closing of the pressure sensor.

[0023] The force-sensing medical surgical scalpel of this invention converts the displacement changes of the blade tip and handle when they encounter resistance into changes in the repulsive force between the first and second magnets. These changes in repulsive force are then converted into changes in the pressure exerted by the first magnet on a pressure sensor. The pressure sensor accurately detects the real-time pressure of the first magnet to obtain the resistance information of the blade tip. Since the first and second magnets do not need to be in contact, interference from the force-sensing component with the axial movement and circumferential rotation of the blade tip and handle relative to the handle is avoided, resulting in more accurate detection. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the force-sensing medical surgical instrument of this embodiment;

[0025] Figure 2 This is a cross-sectional structural diagram of the force-sensing medical surgical instrument in this embodiment;

[0026] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0027] Figure 4 This is a structural diagram illustrating the assembly process of the card holder and the knife set.

[0028] In the diagram: Handle 100; Limiting ring platform 110; Button 120; Anti-slip groove 130; Motor 200; Output shaft 210; First base 220; Second base 230; Retaining ring 240; Protective sleeve 250; Tool sleeve 300; Snap-fit ​​protrusion 301; Slot 302; Tool handle 310; Connector 320; Strip notch 321; First pin 322; Tool head 330; Second pin 331; Linear bearing 340; First bearing 341; Second bearing 342; Third bearing 343; First bushing 344; Second bushing 345; Spring 350; Sleeve 400; Snap ring 410; Clearance notch 411; Pressure sensor 500; First magnet 510; Second magnet 520; First buffer pad 530; Second buffer pad 540. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0030] 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 utility model can be implemented. Any modifications to the structure, changes in the proportions, or adjustments to the size, without affecting the effects and purposes that this utility model can produce, should still fall within the scope of the technical content disclosed in this utility model.

[0031] The orientations or positional relationships indicated by terms such as "upper," "lower," "left," "right," "middle," "longitudinal," "transverse," "horizontal," "inner," "outer," "radial," and "circumferential" used in this specification are based on the orientations or positional relationships shown in the accompanying drawings and are only for the purpose of simplifying the description. They 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, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] like Figure 1 and Figure 2 As shown, this embodiment provides a force-sensing medical surgical tool, which includes a handle 100, a tool assembly, a motor 200, and a pressure sensing assembly.

[0033] In this embodiment, the handle 100 is cylindrical, and the motor 200 is fixedly mounted in the handle 100. The motor 200 has an output shaft 210 at its distal end to transmit torque to the tool assembly. Preferably, a first base 220 is located at the distal end of the motor 200. A limiting ring 110 is formed on the inner peripheral wall of the handle 100 corresponding to the front end of the first base 220. The proximal end face of the limiting ring 110 is used to restrict the axial movement of the first base 220 and the motor 200 towards the distal end. The output shaft 210 of the motor 200 passes through the first base 220 and connects to the tool assembly. Preferably, a first receiving groove 221 is formed at the proximal end of the first base 220 to fit onto the outer peripheral wall of the distal end of the motor 200. Bolts are passed through the first base 220 to fix the distal end face of the motor 200 to the first base 220.

[0034] In this embodiment, a retaining ring 240 and a second seat 230 are preferably sequentially arranged at the proximal end of the motor 200. The retaining ring 240 passes through the handle 100, and the second seat 230 is detachably connected to the proximal end of the handle 100. The second seat 230 and the retaining ring 240 are used to restrict the axial movement of the motor 200 toward the proximal end. The second seat 230 is preferably threaded to the inner peripheral wall of the handle 100. In some embodiments, conventional structures such as clips or bolts can also be selected to achieve detachability. Through holes are provided on the second seat 230 and the retaining ring 240 for cables to pass through. A cable protection sleeve 250 is also fitted on the second seat 230 to ensure the service life of the cable.

[0035] In this embodiment, the limiting ring platform 110 divides the inner side of the handle 100 into two parts, front and rear. The motor 200 and its assembly-related components are installed from the near end of the handle 100 into the interior of the handle 100, and the tool assembly and other related components are installed from the far end of the handle 100 into the interior of the handle 100, making assembly more convenient.

[0036] The tool assembly of this embodiment specifically includes a tool holder 300, a tool shank 310, and a tool head 330. The tool head 330 is axially movable and circumferentially rotated relative to the handle 100. Preferably, a linear bearing 340 is provided on the outer peripheral wall of the tool holder 300 to connect it to the handle 100, allowing the tool holder 300 to move axially relative to the handle 100. The tool shank 310 and the tool head 330 are rotatably inserted inside the tool holder 300, allowing both the tool head 330 and the tool shank 310 to rotate circumferentially relative to the tool holder 300 and the handle 100. The proximal end of the tool shank 310 extends beyond the proximal end of the tool holder 300 to connect to the output shaft 210, and the distal end of the tool shank 310 connects to the proximal end of the tool head 330, allowing the tool shank 310 and the tool head 330 to move synchronously axially and rotate synchronously circumferentially. The distal end of the tool head 330 extends beyond the distal ends of the tool holder 300 and the handle 100 to act on a target position.

[0037] In this embodiment, the outer peripheral walls of both the handle 310 and the cutter head 330 are connected to the cutter sleeve 300 via bearings. Preferably, the outer peripheral wall of the handle 310 is rotatably connected to the cutter sleeve 300 via a first bearing 341 and a second bearing 342. The outer peripheral wall of the cutter head 330 is provided with a third bearing 343 connecting to the inner peripheral wall of the cutter sleeve 300. The first bearing 341 is located near the proximal end of the handle 310, and the second bearing 342 is located at the distal end of the first bearing 341. The first bearing 341 and the second bearing 342 can be fitted with conventional structures such as flanges or retaining rings for positioning, depending on requirements. The outer peripheral wall of the cutter head 330 is fitted with the third bearing 343 and connected to the inner peripheral wall of the front end of the cutter sleeve 300. The distal end of the cutter head 330 extends through the third bearing 343 to the distal end of the cutter sleeve 300. It should be noted that the rotatable and movable connection method between the cutter assembly and the handle 100 in this embodiment can be achieved using other conventional means as needed, which will not be elaborated upon in this embodiment.

[0038] In this embodiment, the outer contour of the tool holder 310 preferably has a stepped shaft shape with a decreasing diameter from the proximal end to the distal end. A first bearing 341 is sleeved on the outer peripheral wall of the second stepped portion, and the distal end of the second bearing 342 abuts against a retaining ring 240 provided on the tool holder 310. The second bearing 342 is also sleeved on the outer peripheral wall of the third stepped portion. A first bushing 344 is also provided between the first bearing 341 and the tool sleeve 300. The proximal end of the first bushing 344 abuts against the distal end of the first stepped portion, and a retaining ring is provided at the distal end of the first bushing 344 for positioning, facilitating assembly. It should be noted that the number and arrangement of bearings between the tool holder 310 and the tool head 330 and the tool sleeve 300 can be set according to actual needs, and will not be elaborated upon in this embodiment.

[0039] In this embodiment, the output shaft 210 is connected to the proximal end of the tool holder 310, enabling the tool holder 310 and the output shaft 210 to move relative to each other axially and rotate synchronously circumferentially. Preferably, a tubular connector 320 is provided at the proximal end of the tool holder 310 for the distal end of the output shaft 210 to pass through. The proximal end of the connector 320 has a strip-shaped notch 321 extending radially through both sides. The distal end of the output shaft 210 has a first pin 322 extending radially through both sides. The two ends of the first pin 322 extending out of the output shaft 210 pass through the strip-shaped notch 321. The connection structure between the tool holder 310 and the output shaft 210 in this embodiment is simple and easy to assemble. A spring 350 is also provided in the connector 320 of this embodiment. The two ends of the spring 350 abut against the distal end of the output shaft 210 and the proximal end of the tool holder 310, respectively. The spring 350 applies a pushing force to the tool tip 330 through the tool holder 310, keeping the tool tip 330 extended towards the distal end.

[0040] In this embodiment, the distal end of the tool holder 310 is preferably sleeved on the outer side of the proximal end of the tool head 330. The tool holder 310 and the tool head 330 are connected by a radially arranged second pin 331. The second pin 331 passes through both sides of the tool holder 310 and the tool head 330 radially, so that the tool head 330 and the tool holder 310 can move and rotate synchronously in the axial direction. Its structure is simple and easy to assemble.

[0041] See details Figure 4 In this embodiment, the distal end of the handle 100 is provided with a detachable connecting blade assembly via a retainer 400, allowing for the replacement of the blade assembly to meet different surgical needs. Preferably, the proximal end of the retainer 400 is inserted into the inner side of the distal end of the handle 100, and the outer side of the proximal end of the retainer 400 is preferably threaded to connect with the handle 100. The distal end of the blade sheath 300 preferably has spaced-apart locking protrusions 301 on its outer peripheral wall, forming locking grooves 302 between the spaced-apart locking protrusions 301. A retaining ring 410 is provided on the inner peripheral wall of the distal end of the retainer 400, corresponding to the locking protrusions 301, and the retaining ring 410 has an avoidance notch 411 corresponding to the locking protrusions 301. The snap-fit ​​protrusion 301 near the proximal end first passes through the clearance notch 411, so that the snap ring 410 is aligned between the snap-fit ​​protrusions 301; then the tool sleeve 300 and the handle 100 are controlled to rotate relative to each other, so that the snap ring 410 is locked in the slot 302 between the snap-fit ​​protrusions 301. In this embodiment, the snap-fit ​​400 and the tool sleeve 300 are connected by snap-fit, which has a simple structure and is convenient for disassembling and assembling the tool assembly.

[0042] See details Figure 3 In this embodiment, the pressure sensing component is preferably disposed between the motor 200 and the cutting tool. The pressure sensing component includes a pressure sensor 500, a first magnet 510, and a second magnet 520. The pressure sensor 500 is fixedly disposed relative to the handle 100. The first magnet 510 is disposed at the distal end of the pressure sensor 500, and the second magnet 520 is disposed at the distal end of the first magnet 510. The first magnet 510 moves axially relative to the handle 100 and applies pressure to the pressure sensor 500. The second magnet 520 can move synchronously axially with the cutting head 330 and generate a repulsive force against the first magnet 510. The pressure sensor 500 is used to acquire real-time pressure information of the first magnet 510 and feed it back to the processor. The processor determines the resistance experienced by the cutting head 330 based on the real-time pressure information. It should be noted that, since the processor is an existing component in the surgical instrument, the processor is electrically connected to the motor 200 and the pressure sensor 500. The resistance of the blade 330 corresponds to the real-time pressure information of the pressure sensor 500. The specific mapping relationship between the real-time pressure information and the resistance of the blade 330 is derived from experiments, so it will not be described in detail in this embodiment.

[0043] In this embodiment, the first magnet 510 is preferably disposed on the first base 220, and the distal end of the first base 220 preferably forms a second receiving groove 222 to accommodate the first magnet 510. A second bushing 345 is disposed between the outer peripheral wall of the first magnet 510 and the groove wall of the second receiving groove 222. The second bushing 345 can ensure that the first magnet 510 moves stably along the axial direction, so that the first magnet 510 can apply pressure to the pressure sensor 500. The distal end of the second bushing 345 forms a retaining ring facing inward to restrict the first magnet 510 from sliding out of the second bushing 345 along the distal end. The retaining ring abuts against the end face of the proximal end of the limiting ring platform 110 to restrict the second bushing 345 from sliding out of the second receiving groove 222 along the distal end.

[0044] In this embodiment, a first buffer pad 530 is preferably provided near the pressure sensor 500, and the first buffer pad 530 is disposed between the bottom of the second receiving groove 222 and the pressure sensor 500. A second buffer pad 540 is preferably provided between the pressure sensor 500 and the first magnet 510 to prevent the first magnet 510 from directly colliding with the pressure sensor 500 during axial movement. The first buffer pad 530 and the second buffer pad 540 can buffer the pressure sensor 500, thereby extending the service life of the pressure sensor 500.

[0045] In this embodiment, the second magnet 520 is preferably fixedly sleeved on the outer peripheral wall of the proximal end of the handle 310, specifically on the outer peripheral wall of the first stepped portion of the handle 310, so that the second magnet 520 can move axially and rotate circumferentially relative to the handle 100 with the handle 310. In this embodiment, the second magnet 520 is preferably disposed inside the limiting ring platform 110 to make full use of the space inside the handle 100. It should be noted that some embodiments may also use a conventional connection method so that the second magnet 520 can only move axially relative to the handle 100 with the handle 310.

[0046] In this embodiment, both the first magnet 510 and the second magnet 520 are preferably integral ring-shaped structures to ensure that the repulsive force can be uniformly transmitted between the first magnet 510 and the second magnet. In some embodiments, the first magnet 510 and / or the second magnet 520 can be designed as a split structure in a circular array, depending on the requirements. The split first magnet 510 and / or the second magnet 520 consists of multiple ring-shaped magnetic blocks. Integral and split structures are conventional methods for those skilled in the art, and will not be described in detail in this embodiment.

[0047] In this embodiment, the outer peripheral wall of the handle 100 has a grip portion on the proximal side. This grip portion includes spaced anti-slip grooves 130 to ensure that the medical personnel can stably grip the handle 100, thus providing an anti-slip function. A button 120 is located near the distal end of the outer peripheral wall of the handle 100. The button 120 and the anti-slip grooves 130 are formed on opposite sides of the handle 100, allowing the medical personnel to easily operate the button 120 with their thumb after gripping the handle 100. Preferably, three buttons 120 are provided on the handle 100 in this embodiment, electrically connected to the processor. The first button 120 controls the start and stop of the motor 200, the second button 120 controls the rotation mode of the motor 200, and the third button 120 controls the opening and closing of the pressure sensor 500. It should be noted that the number and function of the buttons 120 can be set according to actual needs, and will not be elaborated upon in this embodiment.

[0048] In the force-sensing surgical scalpel of this embodiment, when the distal end of the blade 330 encounters resistance, the blade 330 and the handle 310 move synchronously along the axial direction. When the second magnet 520 on the handle 310 moves synchronously along the axial direction with the handle 310, the repulsive force between the moving second magnet 520 and the first magnet 510 changes. The first magnet 510 moves axially based on the changing repulsive force and applies pressure to the pressure sensor 500. The pressure sensor 500 converts the acquired real-time pressure information into an electrical signal and feeds it back to the processor. The processor then acquires the resistance information of the blade 330 based on the real-time pressure information. In this embodiment, the displacement change caused by the resistance of the blade 330 and the handle 310 is first converted into a change in the repulsive force between the first magnet 510 and the second magnet 520, and then the change in the repulsive force between the first magnet 510 and the second magnet 520 is converted into a change in the pressure exerted by the first magnet 510 on the pressure sensor 500. The pressure sensor 500 obtains the resistance information of the cutter head 330 by accurately detecting the real-time pressure of the first magnet 510. The first magnet 510 and the second magnet 520 do not need to contact each other, which can avoid the force sensing component from interfering with the axial movement and circumferential rotation of the cutter head 330 and the handle 310 relative to the handle 100, making the detected information more accurate.

[0049] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0050] The embodiments described above are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A force-sensing medical surgical instrument, characterized in that: Includes a handle (100), a cutting tool assembly, a motor (200), a pressure sensing assembly, and a processor; The handle (100) is cylindrical; The motor (200) is fixedly mounted in the handle (100), and an output shaft (210) is provided at the distal end of the motor (200) to transmit torque to the tool assembly; The cutting tool assembly is inserted into the handle (100). The cutting tool assembly includes a tool sleeve (300), a tool holder (310) and a cutting head (330) inserted inside the tool sleeve (300). The tool holder (310) connects the output shaft (210) and the cutting head (330). The cutting head (330) and the handle (100) can move relative to each other in the axial direction and rotate relative to each other in the circumferential direction. The pressure sensing component includes a pressure sensor (500) fixedly disposed relative to the handle (100), a first magnet (510) disposed on the distal side of the pressure sensor (500), and a second magnet (520) disposed on the distal side of the first magnet (510). The first magnet (510) moves axially relative to the handle (100) and applies pressure to the pressure sensor (500). The second magnet (520) moves synchronously axially with at least the cutter head (330) and generates a repulsive force against the first magnet (510). The pressure sensor (500) is used to acquire real-time pressure information of the first magnet (510) and feed it back to the processor; The processor obtains the resistance information of the cutter head (330) based on the real-time pressure information.

2. The force-sensing medical surgical instrument according to claim 1, characterized in that: The motor (200) has a first base (220) at its distal end, and the inner peripheral wall of the handle (100) forms a limiting ring platform (110). The distal end of the first base (220) abuts against the end face of the proximal end of the limiting ring platform (110). The output shaft (210) of the motor (200) passes through the first base (220) and is connected to the tool holder (310). A retaining ring (240) and a second seat (230) are sequentially provided at the proximal end of the motor (200). The retaining ring (240) passes through the handle (100). The second seat (230) is detachably connected to the proximal end of the handle (100). The proximal end of the second seat (230) forms a first receiving groove (221) to be fitted onto the outer peripheral wall of the distal end of the motor (200). Bolts are passed through the first seat (220) to fix and connect the distal end face of the motor (200).

3. The force-sensing medical surgical instrument according to claim 2, characterized in that: The first magnet (510) is disposed on the first base (220). The distal end of the first base (220) forms a second receiving groove (222) to receive the first magnet (510). A second bushing (345) is disposed between the outer peripheral wall of the first magnet (510) and the groove wall of the second receiving groove (222). The distal end of the second bushing (345) forms a retaining ring facing inward to restrict the first magnet (510) from sliding out along the distal end. The retaining ring abuts against the end face of the proximal end of the limiting ring platform (110). A first buffer pad (530) is disposed at the proximal end of the pressure sensor (500). A second buffer pad (540) is disposed between the pressure sensor (500) and the first magnet (510).

4. The force-sensing medical surgical instrument according to claim 3, characterized in that: The second magnet (520) is fixedly sleeved on the outer peripheral wall of the near end of the knife handle (310), and the second magnet (520) is disposed on the inner side of the limiting ring platform (110).

5. The force-sensing medical surgical instrument according to any one of claims 1-4, characterized in that: The outer peripheral wall of the cutter sleeve (300) is provided with a linear bearing (340) connected to the handle (100), so that the cutter sleeve (300) can move axially relative to the handle (100); the outer peripheral walls of the cutter handle (310) and the cutter head (330) are both fitted with bearings and connected to the cutter sleeve (300), so that the cutter head (330) and the cutter handle (310) can rotate circumferentially relative to the cutter sleeve (300).

6. The force-sensing medical surgical instrument according to claim 5, characterized in that: The proximal end of the handle (310) is provided with a tubular connector (320) for the distal end of the output shaft (210) to pass through. The proximal end of the connector (320) is provided with a strip-shaped notch (321) that passes through both radial sides. The distal end of the output shaft (210) is provided with a first pin (322) that passes through both radial sides. The two ends of the first pin (322) that extend out of the output shaft (210) pass through the strip-shaped notch (321). The distal end of the handle (310) is sleeved on the outer peripheral wall of the proximal end of the cutter head (330), and the handle (310) and the cutter head (330) are connected by a second pin (331) arranged radially.

7. The force-sensing medical surgical instrument according to claim 6, characterized in that: A spring (350) is also inserted in the connector (320). The two ends of the spring (350) abut against the far end of the output shaft (210) and the near end of the handle (310). The spring (350) pushes the blade sleeve (300) to extend toward the far end through the handle (310).

8. The force-sensing medical surgical instrument according to claim 5, characterized in that: The distal end of the handle (100) is provided with a retainer (400) for detachable connection to the tool assembly. The proximal end of the retainer (400) passes through the inner side of the distal end of the handle (100), and the retainer (400) and the handle (100) are connected by threads. The outer peripheral wall of the distal end of the blade sleeve (300) is provided with spaced-apart locking protrusions (301) along the axial direction to form a locking groove (302) between the spaced-apart locking protrusions (301). The inner peripheral wall of the distal end of the sleeve (400) is provided with a retaining ring (410) in the circumferential direction corresponding to the locking protrusions (301). The retaining ring (410) is provided with an avoidance notch (411) corresponding to the locking protrusions (301). The retaining ring (410) can be locked in the locking groove (302) between the locking protrusions (301).

9. The force-sensing medical surgical instrument according to any one of claims 1-4, characterized in that: The first magnet (510) is a ring-shaped integral structure and / or a circumferential array-shaped split structure, and the second magnet (520) is a ring-shaped integral structure and / or a circumferential array-shaped split structure.

10. The force-sensing medical surgical instrument according to any one of claims 1-4, characterized in that: The handle (100) is provided with a button (120) which is electrically connected to the processor. The button (120) is used to control the start and stop of the motor (200), the rotation mode of the motor (200), and the opening and closing of the pressure sensor (500).

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