Force detection member, drive unit, and surgical robot

Abstract

The utility model relates to the technical field of medical instruments, and discloses a force detection component, a driving part and a surgical robotic.The force detection component comprises a connecting base, a first detection assembly and a second detection assembly which are connected, the connecting base is used for being connected with a loading device, and the loading device is used for applying acting force in the first direction to the connecting base; the connecting seat comprises a connecting part; the first detection assembly comprises a first deformation body and a first detection piece which are connected, the first deformation body is provided with a first through hole, the second detection assembly comprises a second deformation body and a second detection piece which are connected, the second deformation body and the first deformation body are symmetrically arranged about the connecting part, and the second deformation body is provided with a second through hole. According to the force detection component, the driving part and the surgical robot provided by the invention, the problems that the detection precision of the force detection component is reduced and the subsequent force control judgment is influenced due to the machining size error of the connecting seat and the mounting position error of the sensor in the related technology can be solved.

Description

Technical Field

[0001] This application relates to the field of force detection components in medical devices, and more particularly to a force detection component, a drive unit, and a surgical robot. Background Technology

[0002] During surgery, in order to more accurately determine the magnitude of the force exerted by the surgical instruments on the patient's body tissues, it is necessary to set up force detection components to detect the contact force, squeezing force, or clamping force applied by the surgical instruments. This is to facilitate subsequent force control judgments and to perform operations such as cutting, clamping, and suturing of body tissues.

[0003] In related technologies, force detection components generally include a connector and a sensor mounted on the connector. When a surgical instrument comes into contact with the patient's body tissue, it will be subjected to a reaction force parallel to the axial direction of the surgical instrument. The reaction force is transmitted to the loading end of the connector, causing the connector to undergo elastic deformation in the axial direction of the surgical instrument. The magnitude of the reaction force is detected by the sensor, thereby detecting the magnitude of the force applied by the surgical instrument. However, under complex stress environments, due to dimensional errors in the manufacturing of the connector and errors in the installation position of the sensor, the detection accuracy of the force detection component will decrease, affecting subsequent force control judgment. Utility Model Content

[0004] This application provides a force detection component, a drive unit, and a surgical robot, which can improve the problem in related technologies where the detection accuracy of the force detection component decreases due to the machining dimensional error of the connector and the installation position error of the sensor, thus affecting the subsequent force control judgment.

[0005] In a first aspect, embodiments of this application provide a force detection component, including a connecting seat, a first detection component, and a second detection component connected together. The connecting seat is used to connect with a loading device, and the loading device is used to apply a force along a first direction to the connecting seat. The connecting seat includes a connecting portion. The first detection component includes a first deformable body and a first detection element connected together. The first deformable body has a first through hole, which is used to reduce the stiffness of the first deformable body in the first direction. The first detection element is used to detect the deformation of the first deformable body under the applied force. The second detection component includes a second deformable body and a second detection element connected together. The second deformable body and the first deformable body are symmetrically arranged about the connecting portion. The second deformable body has a second through hole, which is used to reduce the stiffness of the second deformable body in the first direction. The second detection element is used to detect the deformation of the second deformable body under the applied force.

[0006] In some embodiments, the connector further includes a first part and a second part, at least one of the first part, the connecting part, and the second part serving as a loading end for connection to the loading device; the first deformable shape is disposed between the first part and the connecting part, and both the first part and the connecting part are connected to the first deformable shape; the second deformable shape is disposed between the connecting part and the second part, and both the connecting part and the second part are connected to the second deformable shape.

[0007] In some embodiments, the force detection component has a loading surface, the first direction is perpendicular to the loading surface, and the first part, the connecting part, the second part, the first deformable part, and the second deformable part together define the loading surface.

[0008] In some embodiments, the loading surface defined by the first deformable is recessed from the loading surface defined by the loading end, the first detection element is disposed on the loading surface defined by the first deformable, and the first detection element is lower than the loading end;

[0009] And / or, the loading surface defined by the second deformation is recessed from the loading surface defined by the loading end, the second detection element is disposed on the loading surface defined by the second deformation, and the first detection element is lower than the loading end.

[0010] In some embodiments, the loading surface defined by the first part is flush with the loading surface defined by the second part, and the connecting part serves as the loading end.

[0011] In some embodiments, the extension direction of the first through hole is perpendicular to the arrangement direction of the first deformable shape and the second deformable shape, and the extension direction of the first through hole is parallel to the loading surface; and / or, the extension direction of the second through hole is perpendicular to the arrangement direction of the first deformable shape and the second deformable shape, and the extension direction of the second through hole is parallel to the loading surface.

[0012] In some embodiments, the first part and the second part are symmetrically arranged with respect to the connecting part.

[0013] In some embodiments, the first detection element includes a plurality of first sensitive elements for detecting the deformation of the first deformable shape under the applied force.

[0014] In some embodiments, the first sensing element is further configured to detect the deformation of the first deformable body during temperature changes; the first sensing element further includes a first temperature compensation element configured to detect the deformation of the first deformable body during the temperature changes.

[0015] Secondly, embodiments of this application provide a driving unit, including:

[0016] Force detection components as described in the first aspect;

[0017] A power mechanism for connecting to surgical instruments, the power mechanism serving as the loading device.

[0018] Thirdly, embodiments of this application provide a surgical robot, which includes surgical instruments and a drive unit as described in the second aspect.

[0019] The force detection component provided in this application has the following advantages: Since the force detection component includes a connecting seat, a first detection component, and a second detection component connected together, the connecting seat is used to connect with the loading device, and the first detection component includes a first deformable body and a first detection element connected together. The first deformable body has a first through hole used to reduce the stiffness of the first deformable body in a first direction. The second detection component includes a second deformable body and a second detection element connected together. The second deformable body and the first deformable body are symmetrically arranged about the connecting part. The second deformable body has a second through hole used to reduce the stiffness of the second deformable body in the first direction. Therefore, when the loading device applies a force along the first direction to the connecting seat, the deformation of the first deformable body under the force can be detected by the first detection element, and the deformation of the second deformable body under the force can be detected by the second detection element. Thus, a comprehensive judgment can be made based on the data of the first deformable body detected by the first detection element and the data of the second deformable body detected by the second detection element, ultimately obtaining the magnitude of the force. Compared to using only a single sensor for detection, the force detection component provided in this application can reduce detection errors, improve the detection accuracy of the force detection component, and ensure that subsequent force control judgments can be made more accurately.

[0020] The advantages of the drive unit provided in this application compared to the prior art, and the advantages of the surgical robot provided in this application compared to the prior art, can be found in the description of the advantages of the force detection component provided in this application compared to the prior art, and will not be repeated here. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram of the surgical robot in one embodiment of this application;

[0023] Figure 2 yes Figure 1 The diagram shows the structural schematic of the drive unit in the surgical robot.

[0024] Figure 3 yes Figure 2 The diagram shows the structure of the force detection component in the drive unit;

[0025] Figure 4 This is a partial structural diagram of the drive unit in a surgical robot according to another embodiment of this application.

[0026] The markings in the diagram mean:

[0027] 1000. Surgical robots;

[0028] 100. Drive unit;

[0029] 10. Force detection components;

[0030] 101. Loading surface;

[0031] 11. Connecting seat; 111. Connecting part; 1111. Mounting connection hole; 112. First part; 1121. First connection hole; 113. Second part; 1131. Second connection hole;

[0032] 12. First detection component; 121. First deformable shape; 1211. First through hole; 122. First detection element; 1221. First sensing element; 1222. First temperature compensation element;

[0033] 13. Second detection component; 131. Second deformable shape; 1311. Second through hole; 132. Second detection element; 1321. Second sensitive element; 1322. Second temperature compensation element;

[0034] 20. Shielding plate; 30. Drive motor; 40. Transmission plate; 50. Vertical plate; 51. Mounting block; 60. Quick-release interface for instruments; 70. Board holder; 80. Signal acquisition board; 90. Motor mounting assembly; 91. Mounting plate; 92. Fixing hole;

[0035] 200. Surgical instruments;

[0036] 300. Linear slide table;

[0037] 400, sleeve;

[0038] 500. Sterile adapter. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0040] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0041] 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, "multiple" means two or more, unless otherwise explicitly specified.

[0042] In this specification, references to "one embodiment," "some embodiments," or simply "embodiment" mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. Furthermore, in one or more embodiments, specific features, structures, or characteristics may be combined in any suitable manner.

[0043] To illustrate the technical solution of this application, the following description is provided in conjunction with specific accompanying drawings and embodiments.

[0044] In related technologies, force detection components generally include a connector and a sensor mounted on the connector. When a surgical instrument comes into contact with the patient's body tissue, it experiences a reaction force parallel to the axial direction of the surgical instrument. This reaction force is transmitted to the loading end of the connector, causing elastic deformation of the connector in the axial direction of the surgical instrument. The magnitude of the reaction force is detected by the sensor, which measures the deformation of the connector, thereby detecting the magnitude of the force applied by the surgical instrument. Current structural forms of single-dimensional force detection components mainly include parallel beam and S-shaped types. Theoretically, the sensor has a certain anti-crosstalk capability. However, under complex stress environments, due to uncontrollable dimensional errors in the machining of the connector and errors in the installation position of the sensor in actual production, the detection accuracy of the force detection component decreases, affecting subsequent force control judgment.

[0045] In view of this, this application provides a force detection component, a drive unit, and a surgical robot. The force detection component includes a connecting base, a first detection component, and a second detection component. The connecting base is used to connect with a loading device. The first detection component includes a first deformable body and a first detection element. The first deformable body has a first through hole for reducing the stiffness of the first deformable body in a first direction. The second detection component includes a second deformable body and a second detection element connected to each other. The second deformable body and the first deformable body are symmetrically arranged about the connecting base. The second deformable body has a second through hole for reducing the stiffness of the second deformable body in the first direction. Therefore, when the loading device applies a force along the first direction to the connecting base, the deformation of the first deformable body under the force can be detected by the first detection element, and the deformation of the second deformable body under the force can be detected by the second detection element. Thus, a comprehensive judgment can be made based on the data of the first deformable body detected by the first detection element and the data of the second deformable body detected by the second detection element, ultimately obtaining the magnitude of the force. Compared to using only a single sensor for detection, the force detection component provided in this application can reduce detection errors, improve the detection accuracy of the force detection component, and ensure more accurate force control judgment in the subsequent process.

[0046] Please refer to Figure 1 , Figure 2 and Figure 3 In one aspect, embodiments of this application provide a force detection component 10, which can be used in the drive unit 100 of a surgical robot 1000. The surgical robot 1000 also includes a surgical instrument 200, a linear slide 300, a cannula 400, and a sterile adapter 500.

[0047] The linear slide 300 has a linear drive module that can drive the drive unit 100 connected thereto to reciprocate in a straight line relative to the linear slide 300.

[0048] The cannula 400 is detachably mounted on the linear slide 300 and is used to guide the surgical instruments 200 during preoperative puncture and intraoperative procedures. At the same time, with other mechanical structure designs, it can ensure that the contact point between the cannula 400 and the human body remains stationary during the operation, thus protecting the human wound from tearing.

[0049] The drive unit 100 is mounted on the linear slide 300. Driven by the linear slide 300, it drives the surgical instrument 200 to reciprocate along a straight line, such as in the directions indicated by arrows J and K on the drawing. The drive unit 100 also includes multiple drive motors 30, each corresponding to a different degree of freedom of the end effector of the surgical instrument 200, enabling independent control of different degrees of freedom of the end effector.

[0050] The sterile adapter 500 is mounted on the drive unit 100, which can transmit the motor torque of the drive unit 100 to the surgical instrument 200. During the operation, a sterile cover is used to cover the entire end effector unit to isolate the end effector unit from the surgical environment and ensure the sterility of the surgical environment. The sterile cover is fixed on the sterile adapter 500.

[0051] The drive unit 100 includes a shielding plate 20, a drive motor 30, a motor mounting assembly 90, a transmission plate 40, a vertical plate 50, a mounting block 51, a quick-release interface for instruments 60, a board holder 70, and a signal acquisition board 80.

[0052] The shielding plate 20 is mounted on the upright plate 50 to shield the drive motor 30 from electromagnetic interference, ensuring the stability of the drive motor 30 signal. It also serves to construct the structural frame of the drive unit 100. One end of the drive motor 30 is detachably mounted on the motor mounting assembly 90, while the other end has a slight gap with the shielding plate 20, ensuring that the drive motor 30 is only connected to the motor mounting assembly 90, resulting in a single force transmission link.

[0053] The output shaft of the drive motor 30 passes through the mounting assembly and is connected to the transmission disk 40, transmitting the output torque to the transmission disk 40. Then, through the transmission device on the sterile adapter 500, the drive torque of the drive motor 30 is transmitted to multiple instrument drive disks of the surgical instrument 200. The instrument drive disks then drive the steel wire rope assembly inside the surgical instrument 200 to move, thereby driving the end effector of the surgical instrument 200 to adjust its posture and open and close the clamps, thus completing the surgical action.

[0054] The motor mounting assembly 90 is the core component of the entire drive unit 100. The drive motor 30, which drives the surgical instrument 200, is detachably mounted on it. A force sensor for detecting the output torque of the drive motor 30 is mounted on it. A three-dimensional force sensor for detecting the contact between the end of the surgical instrument 200 and the tissue is mounted on or connected to it. Finally, the entire drive unit 100 is connected to the mounting block 51 via the connecting seat 11 through the motor mounting assembly 90. The mounting block 51 is mounted on the guide rail slider of the linear slide 300, thus realizing the connection between the drive unit 100 and the linear slide 300.

[0055] The column is mounted on the mounting plate 91, which has fixing holes 92 and connects the shielding plate 20 and the instrument quick-release interface 60, forming the structural frame of the drive unit 100 and ensuring its strength and rigidity. The instrument quick-release interface 60 is mounted on the column and has clips for easy detachment and connection of the sterile adapter 500. The plate holder 70 is mounted on the instrument quick-release interface 60 and has threaded holes or bosses for detachable mounting of the signal acquisition board 80. All force sensors on the motor mounting assembly 90 are connected to the signal acquisition board 80 via ribbon cables. The signal acquisition board 80 processes the force sensor signals and transmits them to the upper-level board.

[0056] The force detection component 10 includes a connecting seat 11, a first detection component 12, and a second detection component 13 connected together. The connecting seat 11 is used to connect with a loading device, and the loading device is used to apply a force along a first direction to the connecting seat 11. The connecting seat 11 includes a connecting portion 111.

[0057] The loading device may be the power mechanism of the drive unit 100, which may include a drive motor 30, a motor mounting assembly 90, a transmission disc 40, and a vertical plate 50, etc. The first direction may be the direction J indicated by the arrow in the drawing or the direction indicated by the arrow K.

[0058] The first detection component 12 includes a first deformable body 121 and a first detection element 122 connected to each other. The first deformable body 121 is provided with a first through hole 1211, which is used to reduce the stiffness of the first deformable body 121 in a first direction. The first detection element 122 is used to detect the deformation of the first deformable body 121 under the applied force.

[0059] The second detection component 13 includes a second deformable part 131 and a second detection element 132 connected to each other. The second deformable part 131 and the first deformable part 121 are symmetrically arranged about the connecting part 111. The second deformable part 131 is provided with a second through hole 1311. The second through hole 1311 is used to reduce the stiffness of the second deformable part 131 in the first direction. The second detection element 132 is used to detect the deformation of the second deformable part 131 under the applied force.

[0060] Both the first detection component 12 and the second detection component 13 may include a single-dimensional force sensor, etc. When the loading device applies a force in the first direction to the connecting seat 11, the first deformation type 121 and the second deformation type 131 will both undergo corresponding elastic deformation. Since the first detection element 122 detects the deformation of the first deformation type 121 under the applied force, and the second detection element 132 detects the deformation of the second deformation type 131 under the applied force, a comprehensive judgment can be made based on the data of the first deformation type 121 and the data of the second deformation type 131 detected by the first detection element 122, and the magnitude of the applied force can be obtained. Compared with using only a single sensor for detection, the force detection component 10 provided in this application embodiment can reduce the detection error caused by the machining dimension error of the connecting seat 11 and the installation position error of the first detection element 122, and improve the detection accuracy of the force detection component 10.

[0061] The data of the first deformation 121 and the second deformation 131 detected by the first detection element 122 are comprehensively judged. The magnitude of the force can be calculated based on the size of the connecting seat 11 and the data of the first deformation 121 and the second deformation 131 detected by the first detection element 122. Alternatively, after the force detection component 10 is manufactured, forces of different magnitudes along the first direction can be applied to the connecting seat 11, and the corresponding data detected by the first detection element 122 and the corresponding data detected by the second detection element 132 can be recorded. This yields the relationship between the data of the first deformation 121 detected by the first detection element 122 and the force, and the relationship between the data of the second deformation 131 detected by the second detection element 132 and the force. After subsequent installation on the drive unit 100, the magnitude of the force can be inferred from the data of the first deformation 121 detected by the first detection element 122 and the second deformation 131 detected by the second detection element 132. As long as the magnitude of the force obtained is within the allowable error range, this process can also be simulated in simulation software.

[0062] As can be seen from the above, the force detection component 10 provided in this application embodiment includes a connecting seat 11, a first detection component 12, and a second detection component 13 connected together. The connecting seat 11 is used to connect with the loading device, and the first detection component 12 includes a first deformable part 121 and a first detection element 122 connected together. The first deformable part 121 is provided with a first through hole 1211, which is used to reduce the stiffness of the first deformable part 121 in the first direction. The second detection component 13 includes a second deformable part 131 and a second detection element 132 connected together. The second deformable part 131 and the first deformable part 121 are symmetrically arranged about the connecting part 111. The second deformable part 131 is provided with a second through hole 1311, which is used to reduce the stiffness of the first deformable part 121 in the first direction. To reduce the stiffness of the second deformation 131 in the first direction, when the loading device applies a force along the first direction to the connecting seat 11, the deformation of the first deformation 121 under the force can be detected by the first detection element 122, and the deformation of the second deformation 131 under the force can be detected by the second detection element 132. Thus, a comprehensive judgment can be made based on the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132, and the magnitude of the force can be obtained. Compared with using only a single sensor for detection, the force detection component 10 provided in this application embodiment can reduce detection error, improve the detection accuracy of the force detection component 10, and ensure that a more accurate force control judgment can be made subsequently.

[0063] The force detection component 10 provided in this application embodiment is flexible in its installation method, has good resistance to inter-dimensional crosstalk, and improves detection accuracy.

[0064] The connecting seat 11 further includes a first part 112 and a second part 113. At least one of the first part 112, the connecting part 111, and the second part 113 serves as a loading end, which is used to connect to the loading device. A first shape 121 is disposed between the first part 112 and the connecting part 111, and both the first part 112 and the connecting part 111 are connected to the first shape 121. A second shape 131 is disposed between the connecting part 111 and the second part 113, and both the connecting part 111 and the second part 113 are connected to the second shape 131.

[0065] By adopting the above scheme, when the loading device applies a force along the first direction to the connecting seat 11, a comprehensive judgment can be made based on the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132, and the magnitude of the force can be obtained. This improves the detection accuracy of the force detection component 10 and ensures that a more accurate force control judgment can be made subsequently.

[0066] It should be noted that the first part 112, the connecting part 111, the second part 113, the first shape variant 121 and the second shape variant 131 can be integrally formed, such as integrally machined, etc. The first shape variant 121 and the second shape variant 131 can be arranged in a direction perpendicular to the first direction, such as in the direction indicated by arrow L in the figure.

[0067] Optionally, the force detection component 10 has a loading surface 101, a first direction perpendicular to the loading surface 101, and a first part 112, a connecting part 111, a second part 113, a first shape 121 and a second shape 131 together defining the loading surface 101.

[0068] This design makes it easy to manufacture the connector 11 and facilitates the detection of the magnitude of the applied force.

[0069] For example, the connecting part 111 serves as the loading end, the loading surface 101 defined by the connecting part 111 is connected to the motor mounting assembly 90, and the first part 112 and the second part 113 are both connected to the mounting block 51.

[0070] Please refer to Figure 3 In this embodiment, the loading surface 101 defined by the first deformation 121 is concave to the loading surface 101 defined by the loading end, and the first detection element 122 is disposed on the loading surface 101 defined by the first deformation 121, and the first detection element 122 is lower than the loading end.

[0071] And / or, the loading surface 101 defined by the second shape 131 is recessed from the loading surface 101 defined by the loading end, and the second detection element 132 is disposed on the loading surface 101 defined by the second shape 131, and the second detection element 132 is lower than the loading end.

[0072] By adopting the above solution, the loading end can be made higher than the first detection element 122 and / or the second detection element 132, so as to apply adhesive to protect the first detection element 122 and / or the second detection element 132 and avoid the first detection element 122 and / or the second detection element 132 from being damaged by collision with other components.

[0073] Optionally, the loading surface 101 defined by the first part 112 and the loading surface 101 defined by the second part 113 are flush, and the connecting part 111 serves as the loading end.

[0074] This configuration facilitates the connection of the first part 112 and the connecting part 111 with other components, and makes it easier to control the tolerance of the loading surface 101 defined by the first part 112 and the second part 113.

[0075] It should be noted that the first part 112, the connecting part 111, and the second part 113 can be installed together with other components using screws for easy disassembly, or they can be permanently fixed using welding or other methods. At least one of the first part 112, the connecting part 111, and the second part 113 serves as the loading end. The Wheatstone bridge configuration and the sensitivity of the first detection element 122 will differ depending on the loading end used. When the force detection component 10 is manufactured, the Wheatstone bridge configuration and the sensitivity of the first detection element 122 can be provided separately for the user to set according to the actual installation method.

[0076] The first part 112 may be provided with a first connecting hole 1121, the connecting part 111 may be provided with a mounting connecting hole 1111, and the second part 113 may be provided with a second connecting hole 1131. The first part 112 is connected to the mounting block 51 by screws or bolts passing through the first connecting hole 1121, the connecting part 111 is connected to the motor mounting assembly 90 by screws or bolts passing through the mounting connecting hole 1111, and the second part 113 is connected to the mounting block 51 by screws or bolts passing through the second connecting hole 1131.

[0077] This configuration facilitates the connection of the force detection component 10 with other components of the drive unit 100.

[0078] Optionally, the extension direction of the first through hole 1211 is perpendicular to the arrangement direction of the first deformable shape 121 and the second deformable shape 131, and the extension direction of the first through hole 1211 is parallel to the loading surface 101; and / or, the extension direction of the second through hole 1311 is perpendicular to the arrangement direction of the first deformable shape 121 and the second deformable shape 131, and the extension direction of the second through hole 1311 is parallel to the loading surface 101.

[0079] This configuration makes it easier for the first variant 121 and / or the second variant 131 to deform.

[0080] Please refer to Figure 1 , Figure 2 and 3 In this embodiment, the first part 112 and the second part 113 are symmetrically arranged with respect to the connecting part 111.

[0081] By adopting the above scheme, it is relatively convenient to make a comprehensive judgment based on the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132, and finally obtain the magnitude of the force.

[0082] It is understandable that the first detection element 122 and the second detection element 132 may also be symmetrically arranged about the connecting part 111, and the first through hole 1211 and the second through hole 1311 may also be symmetrically arranged about the connecting part 111.

[0083] Please refer to Figure 3 In this embodiment, the first detection element 122 includes a plurality of first sensitive elements 1221, which are used to detect the deformation of the first deformation element 121 under the applied force.

[0084] By adopting the above scheme, the deformation of the first deformable part 121 can be detected more accurately by the first detection element 122.

[0085] Understandably, the first sensitive element 1221 detects the deformation of the first deformable body 121 under the applied force, outputs an electrical signal through a Wheatstone bridge, realizes the conversion of force signal to electrical signal, and performs force detection function. The first sensitive element 1221 can be a strain gauge or a fiber optic grating or other element that has the property of changing physical properties (such as resistance, refractive index, etc.) when the surface of the elastic body is deformed.

[0086] Similarly, the second detection element 132 includes a plurality of second sensitive elements 1321, which are used to detect the deformation of the second deformation element 131 under the applied force.

[0087] For example, some of the first sensitive elements 1221 are disposed on the loading surface 101, and some of the first sensitive elements 1221 are disposed on the surface of the connecting seat 11 opposite to the loading surface 101.

[0088] Optionally, the first sensing element 1221 is also used to detect the deformation of the first deformable body 121 when the temperature changes; the first detection element 122 also includes a first temperature compensation element 1222, which is used to detect the deformation of the first deformable body 121 when the temperature changes.

[0089] This configuration effectively reduces the no-load output deviation of the first detection element 122 at different temperatures through the first temperature compensation element 1222, exhibiting good temperature drift performance and improving the detection accuracy of the force detection component 10 at different temperatures.

[0090] It is understood that the second sensitive element 1321 is also used to detect the deformation of the second deformable body 131 when the temperature changes; the second detection element 132 also includes a second temperature compensation element 1322, which is used to detect the deformation of the second deformable body 131 when the temperature changes.

[0091] It should be noted that common single-dimensional force sensors typically consist of only four sensing elements forming a Wheatstone bridge. In this case, the no-load output of the first sensing element 122 generally varies significantly at different temperatures, causing the measured values ​​to change with temperature and affecting the testing accuracy. The force detection component 10 provided in this application embodiment uses eight sensing elements forming a Wheatstone bridge for the first sensing element 122 and the second sensing element 132. Two sensing elements are connected in series or parallel in the four bridge arms, and a temperature compensation element is also provided. This effectively reduces the no-load output deviation of the first sensing element 122 and the second sensing element 132 at different temperatures, improving the user's testing accuracy at different temperatures.

[0092] Optionally, the first sensing element 1221 includes a strain gauge or a fiber optic grating.

[0093] This configuration simplifies the structure of the first sensitive element 1221.

[0094] It should be noted that the first temperature compensation element 1222 may also include a strain gauge or a fiber Bragg grating, and the first temperature compensation element 1222 is disposed at a position where the first deformable body 121 and the second deformable body 131 do not deform. The second sensing element 1321 and the second temperature compensation element 1322 may also include a strain gauge or a fiber Bragg grating.

[0095] Please refer to Figure 4 Unlike the above embodiments, in another embodiment, the loading surface 101 defined by the first variant 121 and the loading surface 101 defined by the connecting portion 111 and the loading surface 101 defined by the second variant 131 are flush and recessed from the loading surface 101 defined by the first portion 112. The loading surface 101 defined by the first portion 112 and the loading surface 101 defined by the connecting portion 111 are flush. The surface of the connecting seat 11 adjacent to the loading surface 101 is connected to the motor mounting assembly 90.

[0096] The motor mounting assembly 90 includes a mounting plate 91, which serves as the base for the entire assembly. The mounting plate 91 has multiple sets of fixing holes 92 for fixing the drive motor 30 that drives the end of the surgical instrument 200. In this embodiment, five drive motors 30 are included; however, in other embodiments, multiple motors may be used, depending on the degrees of freedom of the surgical instrument 200. The surface of the connecting seat 11 adjacent to the loading surface 101 is connected to the mounting plate 91.

[0097] Because there is a deviation between the center of the surgical instrument 200 and the first connecting hole 1121 and the mounting connecting hole 1111, the connecting seat 11 is subjected to an additional bending moment in addition to the force along the axial direction of the surgical instrument 200. The force detection component 10 provided in this application embodiment can effectively reduce the output of the first detection element 122 and the second detection element 132 caused by the additional bending moment, so that the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132 are closer to the actual magnitude of the force along the axial direction of the surgical instrument 200, thereby improving the detection accuracy of the force along the axial direction of the surgical instrument 200. The deformation of the first deformation 121 and the deformation of the second deformation 131 are detected by the first sensitive element 1221 and the second sensitive element 1321 respectively. The first sensitive element 1221 is formed into a Wheatstone bridge to realize the conversion of force signal to electrical signal, thereby detecting the axial force between the surgical instrument 200 and human tissue.

[0098] Secondly, embodiments of this application provide a drive unit 100, including a force detection component 10 as described in the first aspect and a power mechanism, for connection with a surgical instrument 200, wherein the power mechanism serves as a loading device.

[0099] The driving unit 100 provided in this embodiment includes a force detection component 10 comprising a connecting seat 11, a first detection component 12, and a second detection component 13. The connecting seat 11 is used to connect to a loading device, and the first detection component 12 includes a first deformation 121 and a first detection element 122 connected to each other. The first deformation 121 is provided with a first through hole 1211, which is used to reduce the stiffness of the first deformation 121 in a first direction. The second detection component 13 includes a second deformation 131 and a second detection element 132 connected to each other. The second deformation 131 and the first deformation 121 are symmetrically arranged about the connecting portion 111. The second deformation 131 is provided with a second through hole 1311, which is used to reduce the stiffness of the first deformation 121 in a first direction. The first deformation of the second deformation 131 is determined by the stiffness of the second deformation 131 in the first direction. Therefore, when the loading device applies a force along the first direction to the connecting seat 11, the deformation of the first deformation 121 under the force can be detected by the first detection element 122, and the deformation of the second deformation 131 under the force can be detected by the second detection element 132. Thus, a comprehensive judgment can be made based on the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132, and the magnitude of the force can be obtained. Compared with using only a single sensor for detection, the force detection component 10 provided in this application embodiment can reduce detection error, improve the detection accuracy of the force detection component 10, and ensure that a more accurate force control judgment can be made subsequently.

[0100] In this embodiment, the power mechanism may include a drive motor 30, a motor mounting assembly 90, a transmission disc 40, and a vertical plate 50, etc.

[0101] Thirdly, embodiments of this application provide a surgical robot 1000, which includes surgical instruments 200 and a drive unit 100 as described in the second aspect.

[0102] The surgical robot 1000 provided in this application embodiment includes a force detection component 10 comprising a connecting seat 11, a first detection component 12, and a second detection component 13. The connecting seat 11 is used to connect to a loading device, and the first detection component 12 includes a first deformable part 121 and a first detection element 122 connected to each other. The first deformable part 121 is provided with a first through hole 1211, which is used to reduce the stiffness of the first deformable part 121 in a first direction. The second detection component 13 includes a second deformable part 131 and a second detection element 132 connected to each other. The second deformable part 131 and the first deformable part 121 are symmetrically arranged about the connecting portion 111. The second deformable part 131 is provided with a second through hole 1311, which is used to reduce the stiffness of the first deformable part 121 in a first direction. The first direction stiffness of the small second deformation 131 means that when the loading device applies a force along the first direction to the connecting seat 11, the deformation of the first deformation 121 under the force can be detected by the first detection element 122, and the deformation of the second deformation 131 under the force can be detected by the second detection element 132. Thus, a comprehensive judgment can be made based on the data of the first deformation 121 detected by the first detection element 122 and the data of the second deformation 131 detected by the second detection element 132, and the magnitude of the force can be obtained. Compared with using only a single sensor for detection, the force detection component 10 provided in this application embodiment can reduce detection error, improve the detection accuracy of the force detection component 10, and ensure that a more accurate force control judgment can be made subsequently.

[0103] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application 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. Such 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 application, and should all be included within the protection scope of this application.

Claims

1. A force detecting member characterized by comprising: The force detection component (10) comprises a connecting seat (11), a first detection assembly (12) and a second detection assembly (13), the connecting seat (11) is used for being connected with a loading device, the loading device is used for applying an action force in a first direction to the connecting seat (11), the connecting seat (11) comprises a connecting part (111); the first detection assembly (12) comprises a first deformation body (121) and a first detection piece (122) connected with each other, the first deformation body (121) is provided with a first through hole (1211) for reducing the rigidity of the first deformation body (121) in the first direction, and the first detection piece (122) is used for detecting the deformation of the first deformation body (121) under the action force; the second detection assembly (13) comprises a second deformation body (131) and a second detection piece (132) connected with each other, the second deformation body (131) and the first deformation body (121) are symmetrically arranged about the connecting part (111), the second deformation body (131) is provided with a second through hole (1311) for reducing the rigidity of the second deformation body (131) in the first direction, and the second detection piece (132) is used for detecting the deformation of the second deformation body (131) under the action force.

2. The force detecting member according to claim 1, characterized by The connecting seat (11) further comprises a first part (112) and a second part (113), at least one of the first part (112), the connecting part (111) and the second part (113) serves as a loading end for being connected with the loading device; the first deformation body (121) is arranged between the first part (112) and the connecting part (111), and the first part (112) and the connecting part (111) are connected with the first deformation body (121), and the second deformation body (131) is arranged between the connecting part (111) and the second part (113), and the connecting part (111) and the second part (113) are connected with the second deformation body (131).

3. The force detecting member according to claim 2, characterized by The force detection component (10) has a loading surface (101), the first direction is perpendicular to the loading surface (101), and the first part (112), the connecting part (111), the second part (113), the first deformation body (121) and the second deformation body (131) jointly define the loading surface (101).

4. The force detecting member according to claim 3, characterized by The loading surface (101) defined by the first deformation body (121) is concave to the loading surface (101) defined by the loading end, the first detection piece (122) is arranged on the loading surface (101) defined by the first deformation body (121), and the first detection piece (122) is lower than the loading end; And / or, the loading surface (101) defined by the second deformation body (131) is concave to the loading surface (101) defined by the loading end, the second detection member (132) is arranged on the loading surface (101) defined by the second deformation body (131), and the second detection member (132) is lower than the loading end.

5. The force detecting member according to claim 3, characterized by The extending direction of the first through hole (1211) is perpendicular to the arrangement direction of the first deformation body (121) and the second deformation body (131), and the extending direction of the first through hole (1211) is parallel to the loading surface (101); and / or, the extending direction of the second through hole (1311) is perpendicular to the arrangement direction of the first deformation body (121) and the second deformation body (131), and the extending direction of the second through hole (1311) is parallel to the loading surface (101).

6. The force detecting member according to claim 2, wherein The first part (112) and the second part (113) are symmetrically arranged about the connecting part (111).

7. The force detecting member according to any one of claims 1 to 6, characterized in that, The first detection member includes a plurality of first sensitive elements (1221), and the first sensitive elements (1221) are used for detecting the deformation of the first deformation body (121) under the action force.

8. The force detecting member according to claim 7, characterized by The first sensitive elements (1221) are also used for detecting the deformation of the first deformation body (121) when the temperature changes; and the first detection member (122) further includes a first temperature compensation element (1222) used for detecting the deformation of the first deformation body (121) when the temperature changes.

9. A drive unit characterized by comprising: The force detection component (10) according to any one of claims 1 to 8; The force detection component (10) according to any one of claims 1 to 8; The power mechanism is connected with a surgical instrument (200), and the power mechanism serves as the loading device.

10. A surgical robot, characterized by The surgical robot (1000) includes a surgical instrument (200) and the driving part (100) according to claim 9.

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