Force detection mechanism and surgical robot

Abstract

The utility model discloses a force detection mechanism and a surgical robot. The force detection mechanism comprises a sleeve assembly and a sensing assembly. The sleeve assembly comprises an inner sleeve, an outer sleeve and a buffer part, the rigidity of the outer sleeve is larger than that of the inner sleeve, the rigidity of the inner sleeve is larger than that of the buffer part, the inner sleeve is arranged on the surgical instrument in a sleeving mode, a mounting groove is formed in the outer ring face of the inner sleeve, the groove bottom face of the mounting groove is provided with a mounting area, and the near end of the outer sleeve is connected to the inner sleeve. The far end of the outer sleeve is connected to the inner sleeve through a buffer piece, and the outer sleeve at least shields the mounting area; the sensing assembly comprises a plurality of sensing elements, all the sensing elements are installed in the installation area, the sensing elements and the outer sleeve are arranged at intervals, and the multiple sensing elements are arranged in the circumferential direction of the inner sleeve at intervals. The force detection mechanism reduces the acting force transmitted from the outer sleeve to the inner sleeve through the arrangement of the buffer piece, so that the influence of the pressure of the tissue at the wound on the sensing result of the sensing assembly is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of medical device technology, and in particular relates to a force detection mechanism and a surgical robot. Background Technology

[0002] Surgical robots play a crucial role in surgical procedures, particularly laparoscopic surgery. Their main advantages include minimizing postoperative pain, accelerating recovery time, improving surgeon comfort, enhancing surgical performance, reducing the risk of bleeding and infection, and enabling remote surgery. However, because current surgical robots lack tactile feedback, surgeons cannot perceive the forces exerted on human tissue by instruments, nor can they feel the tension of sutures or the pressure applied to organs and tissues. They can only make judgments visually, which can lead to suture breakage or tissue damage, or poor performance of specific tasks (such as suturing and intraoperative decisions) during certain surgical procedures. Utility Model Content

[0003] The purpose of this invention is to provide a force detection mechanism and a surgical robot, which aims to solve the technical problem that current surgical robots are prone to malfunctions.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0005] In a first aspect, a force detection mechanism is provided for a surgical robot, the surgical robot including surgical instruments, and the force detection mechanism including a cannula assembly and a sensing assembly;

[0006] The cannula assembly includes an inner cannula, an outer cannula, and a buffer. The stiffness of the outer cannula is greater than that of the inner cannula, and the stiffness of the inner cannula is greater than that of the buffer. The inner cannula is fitted onto the surgical instrument. An installation groove is formed on the outer circumferential surface of the inner cannula, and the bottom surface of the installation groove has an installation area. The proximal end of the outer cannula is connected to the inner cannula, and the distal end of the outer cannula is connected to the inner cannula through the buffer. The outer cannula at least covers the installation area.

[0007] The sensing component is connected to the mounting area and is used to sense the strain of the inner sleeve.

[0008] In one embodiment of the first aspect, the sensing assembly includes a plurality of sensing elements, each of which is mounted in the mounting area and spaced apart from the outer sleeve. The plurality of sensing elements are arranged at circumferential intervals along the inner sleeve, and the sensing elements are used to sense the strain force at corresponding positions of the inner sleeve.

[0009] In one embodiment of the first aspect, the buffer is elastic and annular, and is fitted onto the inner sleeve, the buffer sealing the gap between the outer sleeve and the inner sleeve.

[0010] In one embodiment of the first aspect, the axial length of the outer sleeve is less than half the axial length of the inner sleeve, and the outer sleeve is located near the distal end of the inner sleeve.

[0011] In one embodiment of the first aspect, the sensing component is located near the proximal end of the mounting slot's sidewall.

[0012] In one embodiment of the first aspect, the mounting groove is circumferentially arranged around the inner sleeve, the proximal end of the outer sleeve is connected to the proximal sidewall of the mounting groove, and the distal end of the outer sleeve is connected to the buffer.

[0013] In one embodiment of the first aspect, the buffer is connected to the groove sidewall and groove bottom wall at the distal end of the mounting groove, and the distal end of the outer sleeve is connected to the proximal side of the buffer.

[0014] In one embodiment of the first aspect, the outer circumferential surface of the outer sleeve and the opening of the mounting groove are flush.

[0015] In one embodiment of the first aspect, four sensing elements are provided, and the four sensing elements are arranged at equal intervals along the circumference of the inner sleeve.

[0016] Secondly, a surgical robot is provided, including a robotic arm, surgical instruments, and a force detection mechanism as described in the above embodiments. The force detection mechanism further includes a power box, and the power box and the sleeve are both connected to the robotic arm. The proximal end of the surgical instrument is connected to the power box, and a portion of the surgical instrument's structure passes through the inner sleeve.

[0017] The technical advantages of this invention compared to the prior art are as follows: When the surgical robot is in use, the force detection mechanism can be inserted into the wound of the human body, and the outer sleeve can support the tissue at the wound site. The force exerted by the tissue at the wound site on the force detection mechanism can only act on the proximal part of the outer sleeve or the inner sleeve, without affecting the detection of the force between the surgical instrument and the inner sleeve. By setting a buffer between the outer sleeve with greater stiffness and the inner sleeve with less stiffness, the force exerted by the human wound site on the outer sleeve can be buffered by the buffer, reducing the force transmitted from the outer sleeve to the inner sleeve, thereby reducing the influence of the pressure of the tissue at the wound site on the sensing results of the sensing component. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments of this utility model or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the surgical robot provided in this embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the surgical robot provided in this embodiment of the present invention in use.

[0021] Figure 3 This is a partial structural diagram of the force detection mechanism provided in this embodiment of the utility model;

[0022] Figure 4 This is a partial cross-sectional view of the force detection mechanism provided in this embodiment of the utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 100. Robotic arm;

[0025] 200. Surgical instruments;

[0026] 300, Power Box;

[0027] 400. Force testing agency;

[0028] 10. Sleeve assembly;

[0029] 11. Inner sleeve;

[0030] 12. Outer tube;

[0031] 13. Buffer components;

[0032] 101. Mounting slot;

[0033] 1011. Installation gap;

[0034] 20. Sensing components;

[0035] 21. Sensing element;

[0036] 30. Sealing element mounting base;

[0037] 90. The human body;

[0038] 901. Wound. Detailed Implementation

[0039] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0040] In the description of this utility model, it should be understood that the terms "length", "width", "far", "near", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0041] Furthermore, in the description of this utility model, "multiple" means two or more, unless otherwise explicitly specified.

[0042] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0043] 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.

[0044] Please see Figure 1 This utility model embodiment provides a force detection mechanism 400 and a surgical robot. The surgical robot includes a robotic arm 100, surgical instruments 200, a force detection mechanism 400, and a power box 300.

[0045] Both the power unit 300 and the force detection mechanism 400 are connected to the robotic arm 100. The proximal end of the surgical instrument 200 is connected to the power unit 300. Part of the surgical instrument 200 is inserted into the force detection mechanism 400. An actuator is installed at the distal end of the surgical instrument 200. Several motors are installed inside the power unit 300, which can control the actuator to perform surgical actions. The force detection mechanism 400 can provide window guidance for the surgical instrument 200 and acquire the interaction force between the surgical instrument 200 and the human tissue 90.

[0046] The surgical robot can be electrically connected to the controller, which is electrically connected to the display panel. The force detection mechanism 400 can transmit the acquired interactive force to the controller, and then to the display panel through the controller. The display panel can display the stress and direction of the surgical instrument 200.

[0047] In this embodiment, the proximal end refers to the end of the surgical robot that is closer to the operator, and the distal end refers to the end of the surgical robot that is closer to the surgical area of ​​the human body.

[0048] Please refer to Figure 2 and Figure 3 The force detection mechanism 400 includes a sealing mounting base 30, a sleeve assembly 10, and a sensing assembly 20.

[0049] The sealing mount 30 is connected to the robotic arm 100 and is used to mount the Chimica device. The cannula assembly 10 is used to provide a window guide for the surgical instrument 200 during surgery, through which the surgical instrument 200 enters the surgical area to perform surgical actions. The sensing assembly 20 is used to sense the radial force acting on the surgical instrument 200, which refers to the force perpendicular to the axis of the surgical instrument 200.

[0050] The sleeve assembly 10 includes an inner sleeve 11, an outer sleeve 12, and a buffer 13. Both the inner sleeve 11 and the buffer 13 are capable of flexible deformation. The stiffness of the outer sleeve 12 is greater than that of the inner sleeve 11, and the stiffness of the inner sleeve 11 is greater than that of the buffer 13.

[0051] The inner sleeve 11 is fitted onto the surgical instrument 200. Specifically, the instrument rod of the surgical instrument 200 passes through the inner sleeve 11. When the distal end of the surgical instrument 200 is bent and deformed, the inner sleeve 11 will undergo a certain deformation. The inner sleeve 11 has a mounting groove 101 on its outer annular surface. The mounting groove 101 extends along the axial direction of the inner sleeve 11 and forms an annular shape. The bottom surface of the mounting groove 101 has a mounting area.

[0052] The proximal end of the outer sleeve 12 is connected to the inner sleeve 11, and the connection method can be welding or bonding. The distal end of the outer sleeve 12 is connected to the inner sleeve 11 via a buffer 13, that is, the distal end of the outer sleeve 12 is indirectly connected to the inner sleeve 11 via the buffer 13. The outer sleeve 12 at least radially shields the installation area of ​​the inner sleeve 11, and the inner annular surface of the outer sleeve 12 is spaced apart from the installation area, forming an installation gap 1011 between the inner annular surface of the outer sleeve 12 and the installation area.

[0053] The outer sleeve 12 can have high stiffness and be non-deformable, or it can have low stiffness and be able to deform slightly under the influence of the inner sleeve 11. Since the stiffness of the outer sleeve 12 is greater than that of the inner sleeve 11, the deformation of the outer sleeve 12 is less than that of the inner sleeve 11.

[0054] The inner sleeve 11 and the outer sleeve 12 can be made of the same material or different materials.

[0055] Optionally, the inner sleeve 11 and the outer sleeve 12 are made of the same material to facilitate processing. The stiffness of the outer sleeve 12 can be increased to make it greater than that of the inner sleeve 11, thereby reducing the deformation of the outer sleeve 12.

[0056] In this embodiment, both the inner sleeve 11 and the outer sleeve 12 are made of medical-grade materials to avoid causing infection to the patient, and can be made of medical-grade stainless steel.

[0057] The buffer element 13 is a flexible element and can buffer the deformation of the distal end of the outer sleeve 12. Optionally, the buffer element 13 can also be an elastic element to improve the buffering effect on the deformation of the inner sleeve 11.

[0058] Among them, the buffer 13 needs to be made of medical materials to avoid infection of patients, and can be made of medical-grade silicone.

[0059] The sensing assembly 20 is connected to the mounting area. The sensing assembly 20 includes multiple sensing elements 21 and a sensing circuit board. Each sensing element 21 is mounted in the mounting area and electrically connected to the sensing circuit board. Each sensing element 21 is spaced apart from the outer sleeve 12 to prevent the outer sleeve 12 from exerting force on the sensing element 21 and affecting its detection result. The sensing assembly 20 is disposed within the mounting gap 1011, and the outer sleeve 12 provides radial protection for the sensing assembly 20 from the inner sleeve 11.

[0060] Multiple sensing elements 21 are arranged at intervals along the circumference of the inner sleeve 11. The sensing elements 21 are used to detect the strain at corresponding positions of the inner sleeve 11. In this way, the sensing assembly 20 can obtain the strain at different positions of the inner sleeve 11 in the circumference through the multiple sensing elements 21.

[0061] Furthermore, multiple sensing elements 21 are arranged at equal intervals along the circumference of the inner sleeve 11 to facilitate data processing by the controller.

[0062] Optional, please refer to Figure 3 The sensing element 21 is provided with four elements, which are arranged at equal intervals along the circumference of the inner sleeve 11, that is, the central angle between two adjacent sensing elements 21 is 90°, so that the sensing component 20 can sense the strain in four different directions of the inner sleeve 11, thereby improving the accuracy of the sensing results.

[0063] In other embodiments, the number of sensing elements 21 can also be other values, as long as the magnitude and direction of the radial force on the surgical instrument 200 can be obtained. For example, two sensing elements 21 can also be provided, with the central angle between the two sensing elements 21 being 90°, which is not limited here.

[0064] In other embodiments, multiple sensing elements 21 are arranged at unequal intervals along the circumference of the inner sleeve 11, or the angle between the extension direction of the line connecting two adjacent sensing elements 21 and the axial direction of the inner sleeve 11 is not 90°, as long as the strain at the corresponding position of the inner sleeve 11 can be sensed.

[0065] The sensing element 21 includes, but is not limited to, foil strain gauges, semiconductor resistance strain gauges, fiber optic gratings, piezoelectric sensors, or semiconductor pressure sensors. During the surgical procedure, the human tissue 90 in the surgical area applies a radial force to the actuator at the distal end of the surgical instrument 200, causing the distal end of the surgical instrument 200 to bend and deform, resulting in strain at the distal end of the inner sleeve 11. The sensing circuit board can obtain the radial force on the surgical instrument 200 based on the strain of the inner sleeve 11 detected by the sensing element 21, and then calculate the interaction force between the surgical instrument 200 and the human tissue 90. This interaction force is then transmitted to the controller, which can determine the magnitude and direction of the force on the surgical instrument 200 based on the interaction force and finally feed it back to the display panel.

[0066] When the surgical robot is in use, the force detection mechanism 400 can be inserted into the wound 901 of the human body 90, and the outer sleeve 12 can support the tissue at the wound 901. The force exerted by the tissue at the wound 901 on the force detection mechanism 400 can only act on the proximal part of the outer sleeve 12 or the inner sleeve 11, without affecting the detection of the force between the surgical instrument 200 and the inner sleeve 11. By setting a buffer 13 between the outer sleeve 12 with greater stiffness and the inner sleeve 11 with less stiffness, the force detection mechanism 400 can buffer the force exerted by the wound 901 of the human body 90 on the outer sleeve 12 through the buffer 13, thereby reducing the force transmitted from the outer sleeve 12 to the inner sleeve 11, and thus reducing the influence of the pressure of the tissue at the wound 901 on the sensing results of the sensing component 20.

[0067] In some embodiments, please refer to Figure 4 The proximal end of the outer sleeve 12 is connected to the proximal wall of the mounting groove 101, and the distal end of the outer sleeve 12 is connected to the buffer 13, which is at least partially located within the mounting groove 101. In this way, the outer sleeve 12 can be positioned at the mounting groove 101, reducing the diameter of the sleeve assembly 10 at the outer sleeve 12, thereby reducing the size of the wound 901 (e.g., Figure 2 The area of ​​the premises.

[0068] In other embodiments, the proximal and distal ends of the outer sleeve 12 may both be connected to the outer annular surface of the inner sleeve 11, that is, the outer sleeve 12 covers the mounting groove 101 radially on the inner sleeve 11, or at least one of the proximal and distal ends of the outer sleeve 12 may be connected to the side wall or bottom wall of the mounting groove 101, which is not limited here.

[0069] Optional, please refer to Figure 3 The mounting groove 101 is arranged circumferentially around the inner sleeve 11. At this time, the mounting groove 101 forms an annular groove, which facilitates the processing and fitting of the outer sleeve 12.

[0070] Optionally, the buffer 13 is connected to the side wall and bottom wall of the mounting groove 101 at the far end, and the far end of the outer sleeve 12 is connected to the proximal side wall of the buffer 13. In this way, the buffer 13 is in contact with both the bottom wall and side wall of the mounting groove 101, which increases the support area of ​​the inner sleeve 11 for the buffer 13. This prevents the buffer 13 from deforming excessively when the outer sleeve 12 is deformed by the pressure of human tissue, which could lead to breakage or separation from the inner sleeve 11. At the same time, it avoids the far end of the outer sleeve 12 from directly contacting the inner sleeve 11, which could result in excessive force transmitted from the outer sleeve 12 to the inner sleeve 11.

[0071] Optionally, when the inner sleeve 11 extends in a straight line, the inner annular surface of the outer sleeve 12 is parallel to the bottom surface of the mounting groove 101, that is, the central axis of the outer sleeve 12 coincides with the central axis of the inner sleeve 11. In this way, the gap between the inner annular surface of the outer sleeve 12 and the bottom surface of the mounting groove 101 is set at the same height along the circumference of the inner sleeve 11, so that when the outer sleeve 12 is subjected to pressure from human tissue, the force applied to the inner sleeve 11 by the buffer 13 is uniform.

[0072] In other embodiments, the buffer 13 may also be connected between the inner annular surface of the outer sleeve 12 and the bottom surface of the mounting groove 101, which is not limited here.

[0073] In some embodiments, please refer to Figure 2 The axial length of the outer sleeve 12 is less than half the axial length of the inner sleeve 11, and the outer sleeve 12 is close to the distal end of the inner sleeve 11. Because the outer sleeve 12 has high rigidity, an excessively long outer sleeve 12 will affect the deformation of the inner sleeve 11. Therefore, the length of the outer sleeve 12 can be set to be smaller to reduce the impact on the deformation of the inner sleeve 11 with the surgical instrument 200.

[0074] The cannula assembly 10 has a stationary reference point, namely the telecentric point of the surgical robot, which is usually located at the human body 90 wound 901, such as the abdominal wall wound 901. When the robotic arm 100 of the surgical robot moves the surgical instrument 200, the telecentric point remains stationary. The outer cannula 12 covers the telecentric point. During the operation, the telecentric point can be moved to the human body 90 wound 901 so that the outer cannula 12 can support the tissue at the wound 901.

[0075] Optionally, the axial length of the outer sleeve 12 can be 25-35mm, so as to support all tissues at the wound 901 while ensuring a small axial length, and allow the sleeve assembly 10 to move axially a small distance relative to the wound 901.

[0076] Optionally, the length of the mounting groove 101 can be adapted to the outer sleeve 12 to facilitate the positioning and installation of the outer sleeve 12. In this case, the width of the mounting groove 101 in the axial direction of the inner sleeve 11 is less than half the axial length of the inner sleeve 11, and the mounting groove 101 is located near the far end of the inner sleeve 11.

[0077] In other embodiments, the width of the mounting groove 101 in the axial direction of the inner sleeve 11 may be greater than the axial length of the outer sleeve 12, and the proximal end face of the outer sleeve 12 is spaced from the proximal groove sidewall of the mounting groove 101. This is not limited here. The outer sleeve 12 may be in the shape of a cover to cover the sensing element 21.

[0078] Optionally, the outer circumferential surface of the outer sleeve 12 is flush with the opening of the mounting groove 101 to facilitate a smooth transition at the junction of the outer sleeve 12 and the inner sleeve 11, allowing the sleeve assembly 10 to be smoothly inserted into the wound 901 of the human body 90, avoiding scratching the tissue at the wound 901. It should be noted that when the buffer 13 and the outer sleeve 12 are arranged axially along the inner sleeve 11, the outer circumferential surface of the buffer 13 is also flush with the outer circumferential surface of the outer sleeve 12 and the outer circumferential surface of the inner sleeve 11, to avoid grooves appearing on the outer surface of the sleeve assembly 10 at the buffer 13.

[0079] In some embodiments, please refer to Figure 3 and Figure 4 The sensing component 20 is located near the proximal end of the mounting groove 101. Since the mounting groove 101 is located near the centroid, the point of maximum deformation of the inner sleeve 11 is located near the proximal end of the mounting groove 101. Positioning the sensing component 20 near the proximal end of the mounting groove 101 allows for a larger sense of strain, thus improving the sensing sensitivity of the sensing component 20. Each sensing element 21 of the sensing component 20 is located near the proximal end of the mounting groove 101.

[0080] In some embodiments, the buffer 13 is annular and sleeved on the inner sleeve 11. Specifically, the buffer 13 is sleeved within the mounting groove 101. The buffer 13 seals the gap between the outer sleeve 12 and the inner sleeve 11. Thus, the mounting gap 1011 between the outer sleeve 12 and the inner sleeve 11 is sealed by the buffer 13, preventing the sensing component 20, electronic components, and circuits within the mounting gap 1011 from being damaged during cleaning, disinfection, and sterilization.

[0081] In other embodiments, the buffer 13 can also be sleeved on the outer annular surface of the inner sleeve 11, as long as it can achieve the connection with the outer sleeve 12 and the sealing of the gap between the outer sleeve 12 and the inner sleeve 11. The buffer 13 can also be strip-shaped and does not seal the gap between the outer sleeve 12 and the inner sleeve 11. For example, multiple strip-shaped buffers 13 are arranged at intervals along the circumference of the inner sleeve 11. This can reduce the difficulty and precision of the process and facilitate processing. In this case, an encapsulation layer can be provided on the outside of the sensing element 21 and the outside of the electronic devices and circuit boards inside the mounting gap 1011 to achieve their respective sealing.

[0082] The above description is merely a preferred embodiment of the present utility model, and only specifically describes the technical principles of the present utility model. These descriptions are only for explaining the principles of the present utility model and should not be construed as limiting the scope of protection of the present utility model in any way. Based on this explanation, any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model, as well as other specific embodiments of the present utility model that can be conceived by those skilled in the art without creative effort, should be included within the scope of protection of the present utility model.

Claims

1. A force detection mechanism for a surgical robot, the surgical robot comprising a surgical instrument (200), characterized in that, The force detection mechanism (400) comprises: A sleeve assembly (10) comprising an inner sleeve (11), an outer sleeve (12) and a buffer (13), the outer sleeve (12) having a rigidity greater than that of the inner sleeve (11), the inner sleeve (11) having a rigidity greater than that of the buffer (13), the inner sleeve (11) having an installation groove (101) formed on its outer ring surface, the groove bottom surface of the installation groove (101) having an installation area, the proximal end of the outer sleeve (12) being connected to the inner sleeve (11), the distal end of the outer sleeve (12) being connected to the inner sleeve (11) through the buffer (13), the outer sleeve (12) at least shielding the installation area; A sensing assembly (20) connected to the installation area and used for sensing the strain force of the inner sleeve (11).

2. The force detecting mechanism according to claim 1, wherein The sensing assembly (20) comprises a plurality of sensing elements (21), each of the sensing elements (21) being installed on the installation area and spaced apart from the outer sleeve (12), the plurality of sensing elements (21) being arranged at equal intervals along the circumference of the inner sleeve (11), and the sensing elements (21) being used for sensing the strain force of the corresponding positions of the inner sleeve (11).

3. The force detecting mechanism according to claim 1, wherein The buffer (13) is elastic and annular, and is sleeved on the inner sleeve (11), and seals the gap between the outer sleeve (12) and the inner sleeve (11).

4. The force detecting mechanism according to claim 1, wherein The axial length of the outer sleeve (12) is less than half of the axial length of the inner sleeve (11), and the outer sleeve (12) is close to the distal end of the inner sleeve (11).

5. The force detecting mechanism according to claim 4, wherein The sensing assembly (20) is close to the proximal groove side wall of the installation groove (101).

6. The force detecting mechanism according to claim 1, wherein The installation groove (101) is arranged circumferentially around the inner sleeve (11), the proximal end of the outer sleeve (12) is connected to the proximal groove side wall of the installation groove (101), and the distal end of the outer sleeve (12) is connected to the buffer (13).

7. The force detecting mechanism according to claim 6, wherein The buffer (13) is connected to the distal groove side wall and the groove bottom wall of the installation groove (101), and the distal end of the outer sleeve (12) is connected to the proximal side of the buffer (13).

8. The force detection mechanism (400) according to claim 1, characterized in that The outer ring surface of the outer sleeve (12) is flush with the groove opening of the installation groove.

9. The force detecting mechanism according to claim 2, wherein The sensing elements (21) are provided in four, and the four sensing elements (21) are arranged at equal intervals along the circumference of the inner sleeve (11).

10. A surgical robot, characterized by A mechanical arm (100), a surgical instrument (200) and the force detection mechanism (400) according to any one of claims 1 to 9 are provided, the force detection mechanism (400) further comprising a power box (300), the power box (300) and the sleeve assembly (10) being connected to the mechanical arm (100), the proximal end of the surgical instrument (200) being connected to the power box (300), and part of the structure of the surgical instrument (200) being arranged in the inner sleeve.

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