测量装置
By using a measuring device to detect the rotation angle of surgical instruments in a minimally invasive surgical robot, assembly errors are eliminated, a zero-position state is ensured, the accuracy problem caused by assembly errors is solved, the operating accuracy of surgical instruments is improved, and the service life of the robotic arm is extended.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- HANGZHOU WISEKING MEDICAL ROBOT CO LTD
- Filing Date
- 2025-07-29
- Publication Date
- 2026-07-17
AI Technical Summary
Assembly errors between surgical instruments and robotic arms in minimally invasive surgical robots can lead to inaccurate zero-position states, affecting the accuracy of surgical instrument use and potentially causing excessive rotation of the internal motors of the robotic arms, which can damage the lifespan of the wire ropes.
A measuring device, including a bracket, a sleeve structure, and a detection structure, is used to detect the rotation angle of the surgical instrument using an encoder. By measuring the rotation angle of the drive shaft, assembly errors are eliminated, ensuring that the surgical instrument is in the zero position, improving operational accuracy, and preventing excessive motor rotation.
It improves the operational precision of surgical instruments, avoids wire rope breakage caused by excessive rotation of the internal motor of the robotic arm, and extends the service life of the robotic arm.
Smart Images
Figure CN224505595U_ABST
Abstract
Claims
1. A measuring device, characterized in that include: support; as well as The detection structure includes a signal element and a detection element that can detect the rotation angle of the signal element. The detection element is connected to the bracket, and the signal element rotates together with the structure under test.
2. The measuring device of claim 1, wherein, The detection element is an encoder used to measure the rotation angle. The encoder and the signal element work together to detect the rotation angle of the structure under test.
3. The measuring device of claim 2, wherein, The support includes a first sub-frame, which includes a mounting portion. The mounting portion has a first end and a second end that are disposed opposite to each other. A detection position is located between the first end and the second end. The measuring device also includes a sleeve structure that is rotatably connected to the support. The signal element and the structure under test are both connected to the sleeve structure. The detection element and the sleeve structure are respectively connected to the first end and the second end and are located at the detection position.
4. The measuring device of claim 3, wherein, The detection position includes a perforation that extends through the mounting portion from the first end toward the second end.
5. The measuring device of claim 4, wherein, The detection position further includes an assembly groove and a receiving groove. The assembly groove is adapted to install the detection component. The sleeve structure is rotatably disposed in the receiving groove. The assembly groove is opened at the first end and communicates with the through hole. The receiving groove is opened at the second end and communicates with the through hole.
6. The measuring device of claim 5, wherein, Along the direction from the first end to the second end, the projected area of the receiving groove at the second end is greater than the projected area of the perforation at the second end, and the projected area of the assembly groove at the first end is greater than the projected area of the perforation at the first end.
7. The measuring device of claim 5, wherein, The receiving groove is also provided with a connecting groove, which is opened from the bottom of the receiving groove toward the first end. The connecting groove is an annular groove, and one end of the sleeve structure is also provided with a connecting protrusion that is compatible with the connecting groove.
8. The measuring device according to any of claims 3-7, characterized in that The socket structure includes a socket body, which is rotatably connected to the bracket, and one end of the socket body is provided with a mating groove suitable for assembly with the structure to be tested.
9. The measuring device of claim 8, wherein, The first sub-frame is also provided with a limiting connector and a limiting member. The limiting member can be connected to the limiting connector. The sleeve body is provided with a limiting part. When the sleeve body and the bracket are connected, the limiting member and the limiting part can cooperate to connect.
10. The measuring device of claim 8, wherein, The socket body is also connected to a first positioning element, which is located in the mating groove and is adapted to define the mating position of the socket body and the structure to be tested.
11. The measuring device of claim 10, wherein, The sleeve body is also connected to a second positioning member, which is located in the mating groove, and the first positioning member and the second positioning member are spaced apart.
12. The measuring device of claim 8, wherein, The measuring device includes multiple socket structures and multiple detection structures, and each socket structure is correspondingly equipped with at least one detection structure.
13. The measuring device of claim 3, wherein, It also includes a base, on which a mounting position is provided, and the first sub-frame is connected to the mounting position by a fastener.
14. The measuring device of claim 13, wherein, The bracket also includes a second sub-frame, one end of which is provided with a positioning groove, and the other end is connected to the base body by a fastener. The first sub-frame and the second sub-frame are spaced apart.