An angle measuring device and a medical robot

Abstract

This application relates to the field of measuring device technology, and provides an angle measuring device and a medical robot. The angle measuring device is used to measure the rotation angle of a rotating disk on an instrument transmission box. The angle measuring device includes: a clamping assembly, a connector, and an encoder. The clamping assembly is clamped to the outer peripheral wall of the instrument transmission box. The connector has a first mounting part and a second mounting part coaxially arranged. The first mounting part is sleeved on the rotating disk. The encoder is movably disposed on the clamping assembly, and the detection end of the encoder is connected to the second mounting part. This application can solve the problem of poor angle measurement in medical robots during use.

Description

Technical Field

[0001] This application relates to the field of measuring device technology, and in particular to an angle measuring device and a medical robot. Background Technology

[0002] Medical robots are devices used to perform surgery inside human cavities.

[0003] The medical robot consists of a doctor's control console, a patient surgical platform, and a display device. The patient surgical platform includes surgical instruments that penetrate deep into the patient's body, as well as a robotic arm that coordinates with the surgical instruments.

[0004] In related technologies, with the use of surgical instruments, wear and tear on parts can cause a shift between the actual zero position of the surgical instrument and its initial zero position. In this case, it can lead to problems with poor angle measurement during the use of medical robots. Utility Model Content

[0005] This application provides an angle measuring device and a medical robot, which can solve the problem of poor angle measurement in the use of medical robots.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] In a first aspect, this application provides an angle measuring device for measuring the rotation angle of a rotating disk on a device transmission box, comprising:

[0008] Clamping assembly, clamped to the outer peripheral wall of the instrument transmission box;

[0009] The joint has a first mounting part and a second mounting part arranged coaxially, and the first mounting part is sleeved on the rotating disk;

[0010] The encoder is movably mounted on the clamping assembly, and the detection end of the encoder is connected to the second mounting part.

[0011] Understandably, by setting up a clamping assembly, the encoder can be mounted on the outer peripheral wall of the instrument transmission box. By setting up a connector that connects to both the rotating disk and the encoder, the rotating disk can drive the connector to rotate, which in turn drives the encoder's detection end to rotate, thereby measuring the angle difference between the theoretical zero point and the actual zero point. Furthermore, after the instrument transmission box is in the zero position, the rotation of the rotating disk can be achieved by manually adjusting the surgical forceps to the forceps head engagement state, with the forceps head and palm in a vertical position. The surgical forceps can then pull the traction rope, which in turn drives the rotating disk to rotate. Thus, the angle measured by the encoder is the angle of the rotating disk that needs to be read.

[0012] In some implementations, it also includes:

[0013] A movable component is movably disposed on the clamping component and connected to the encoder. The movable component is used to drive the encoder to move along a first direction.

[0014] Understandably, by setting up a moving component, the encoder can move along the first direction, allowing the encoder to adjust its position according to the position of the rotating disk on the instrument transmission box, thereby improving the setting flexibility of the angle measuring device.

[0015] In some embodiments, the clamping assembly includes:

[0016] The first support has a first sub-support, a connecting support and a second sub-support connected in sequence, the connecting support extending along a first direction; along the first direction, the first sub-support and the second sub-support are spaced apart, one of the first sub-support and the second sub-support is provided with a first threaded through hole, and the other of the first sub-support and the second sub-support abuts against the outer peripheral wall of the instrument transmission box.

[0017] The knob is threadedly connected to the first threaded through hole, and the knob passes through the first threaded through hole and abuts against the outer peripheral wall of the instrument transmission box.

[0018] It is understood that, through the above-described embodiments, the first bracket and the knob can be fitted together and installed on two different outer peripheral walls of the instrument transmission box that are arranged opposite each other along the first direction. Furthermore, the length of the knob passing through the first threaded through hole can be adjusted according to the distance between the two outer peripheral walls to adapt to the installation of instrument transmission boxes of different sizes.

[0019] In some embodiments, two connecting brackets are provided, arranged at intervals along the intersecting first direction;

[0020] Along the intersecting first direction, the joint is clamped between the two connecting brackets.

[0021] Understandably, increasing the number of connecting brackets can increase the connection strength between the first and second sub-brackets, thereby improving the service life of the first bracket. Furthermore, the gap between the two connecting brackets along the intersecting first direction can accommodate the butt joint.

[0022] In some implementations, the moving component includes:

[0023] The slider is slidably connected to the connecting bracket.

[0024] The second bracket has one end connected to the slider and the other end connected to the encoder housing.

[0025] It is understood that, through the above implementation method, when the slider moves relative to the connecting bracket, it can drive the second bracket to move, thereby driving the encoder to move. This allows the angle measuring device to change the moving position of the encoder according to the position of the rotating disk, thereby improving the setting flexibility of the angle measuring device.

[0026] In some embodiments, two connecting brackets are provided, arranged at intervals along the intersecting first direction;

[0027] There are two slider settings, with each slider and the two connecting brackets corresponding to one another.

[0028] There are two second supports, with each of the two second supports and the two sliders corresponding to one another.

[0029] Alternatively, the two ends of a second bracket are fixedly connected to two sliders respectively.

[0030] Understandably, increasing the number of sliders and connecting brackets increases the contact area between them, thus improving the connection strength. Increasing the number of second brackets, ensuring a one-to-one correspondence between two second brackets and two sliders, further increases the contact area between the second brackets and the sliders and encoder housing, thereby improving the connection strength between the second brackets, sliders, and encoder. Furthermore, spacing the two connecting brackets along the intersecting first direction allows the two sliders to be spaced along the same direction. Additionally, spacing the two brackets along the same direction reduces the risk of cantilever structures caused by eccentric connections between the brackets and the encoder, thus extending the encoder's lifespan. Moreover, fixing each end of a bracket to two sliders also reduces the risk of cantilever structures caused by eccentric connections between the brackets and the encoder, further extending the encoder's lifespan.

[0031] In some embodiments, the connector further has a first through hole communicating with the second mounting portion;

[0032] The detection end has a second through hole, and the first through hole and the second through hole are connected.

[0033] The angle measuring device also includes:

[0034] The fastener passes through the first through hole and the second through hole.

[0035] It is understandable that by inserting the fastener through the first through hole and the second through hole, the fastener can limit the relative offset between the first through hole and the second through hole, thereby achieving relative fixation between the second mounting part and the detection end. As a result, when the connector rotates, it can synchronously drive the detection end to rotate, thereby enabling the measurement of the rotation angle of the connector, and thus the measurement of the rotation angle of the rotating disk.

[0036] In some embodiments, at least one of the first through hole and the second through hole is configured as a threaded through hole;

[0037] The outer peripheral wall of the fastener is provided with external threads, and the external threads are connected to the threaded through hole.

[0038] It is understood that the above-described embodiments facilitate the installation or disassembly of the second mounting part and the detection end, and also enable the detection end of the encoder 300 to rotate when the second mounting part and the detection end are installed, by rotating the connector.

[0039] In some embodiments, the connector further has a connecting portion, one end of which is connected to the first mounting portion and the other end of which is connected to the second mounting portion;

[0040] Along the intersecting first direction, the connecting part is sandwiched between the two sliders;

[0041] The second mounting part abuts against the end of the slider that is away from the connecting bracket.

[0042] It is understandable that by setting a connecting part, the connection between the first mounting part and the second mounting part can be realized. Along the intersecting first direction, the connecting part is sandwiched between the two sliders, which can avoid mutual interference between the joint and the two sliders. The second mounting part abuts against the end of the slider away from the connecting bracket, which can reduce the space occupied by the joint.

[0043] Secondly, this application provides a medical robot, including an angle measuring device. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 One of the schematic diagrams of the main structure of the angle measuring device provided in the embodiments of this application;

[0046] Figure 2 Provided for the embodiments of this application Figure 1 Sectional view of section AA;

[0047] Figure 3 A second schematic diagram of the main structure of the angle measuring device provided in the embodiments of this application;

[0048] Figure 4 A schematic diagram of the connection structure between the angle measuring device and the instrument transmission box provided in the embodiments of this application;

[0049] Figure 5 A schematic diagram of the connection structure between the pliers head and the palm provided in an embodiment of this application.

[0050] Explanation of reference numerals in the attached figures:

[0051] 10-Instrument transmission box; 11-Rotating disc; 12-Pliers head; 13-Palm;

[0052] 20-Angle measuring device;

[0053] 100 - Clamping assembly; 101 - First support; 1011 - First sub-support; 1012 - Connecting support; 1013 - Second sub-support; 102 - Knob;

[0054] 200 - Connector; 201 - First mounting part; 202 - Second mounting part; 203 - Connecting part;

[0055] 300-encoder;

[0056] 400 - Moving component; 401 - Slider; 402 - Second support;

[0057] 500 - Fastener;

[0058] 600-guide rail;

[0059] X - First direction. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0061] In the prior art, the display device is used to display the patient's surgical position, and the surgeon operates the input device on the doctor's console and transmits the input to the patient surgical platform connected to remotely operated surgical instruments.

[0062] The robotic arm is used to adjust the position and posture of surgical instruments. The surgical instruments include an instrument transmission box, a flexible insert, a traction rope, and surgical forceps. The flexible insert is used to insert into the human body cavity. The instrument transmission box is connected to the robotic arm and the traction rope, and the traction rope is connected to the surgical forceps.

[0063] The instrument transmission box provides power for the traction rope, which in turn pulls the surgical forceps at the end of the flexible insert to open, close, and rotate.

[0064] When surgical instruments work with a robotic arm, the robotic arm needs to know the actual zero-position state of the surgical instruments so that the motor inside the robotic arm can work with the surgical instruments more quickly, preventing the traction rope from breaking due to excessive motor rotation and ensuring the accuracy of the surgical instruments during use.

[0065] It should be noted that "zero position" refers to the initial or neutral position of the surgical instrument, and in this application, it refers to the initial position of the surgical instrument. Furthermore, the theoretical zero position refers to the position of the surgical instrument in its initial state, while the actual zero position refers to the initial position of the surgical instrument in actual use. As the surgical instrument is used, wear and tear on the parts will cause a shift between the actual zero position and the theoretical zero position.

[0066] Furthermore, in practical use, it is necessary to calibrate both the theoretical zero point (i.e., the initial zero point) and the actual zero point of the surgical instruments. After calibrating the actual zero point, the robotic arm can adjust parameters such as the rotation angle and cutting depth of the surgical instruments based on the actual zero point. If the zero point is not aligned, the actual angle of the surgical instruments may not match the displayed value, thus affecting the accuracy of the surgical instruments during use.

[0067] To overcome the shortcomings of existing technologies, a clamping assembly is incorporated, allowing the encoder to be mounted on the outer periphery of the instrument transmission box. A connector is provided, connecting to both the rotating disk and the encoder. When the rotating disk rotates, it drives the connector to rotate, which in turn rotates the encoder's detection end, thus enabling the measurement of the angle difference between the theoretical and actual zero points. Furthermore, after the instrument transmission box is in the zero position, the rotation of the rotating disk can be achieved by manually adjusting the surgical forceps to the engaged position, with the forceps head and palm vertical. The forceps can then pull the traction rope, which in turn drives the rotating disk to rotate. The angle measured by the encoder is thus the angle of the rotating disk to be read.

[0068] Therefore, this application can solve the problem of poor angle measurement in the use of medical robots.

[0069] The contents of this application will now be described in detail with reference to the accompanying drawings, so that those skilled in the art can have a clearer and more detailed understanding of the contents of this application.

[0070] like Figure 1 and Figure 2 As shown, this application embodiment provides an angle measuring device 20 for measuring the rotation angle of a rotating disk 11 on an instrument transmission box 10. The angle measuring device 20 includes: a clamping assembly 100, a connector 200, and an encoder 300. The clamping assembly 100 is clamped to the outer peripheral wall of the instrument transmission box 10. The connector 200 has a first mounting part 201 and a second mounting part 202 coaxially arranged. The first mounting part 201 is sleeved on the rotating disk 11. The encoder 300 is movably arranged on the clamping assembly 100, and the detection end of the encoder 300 is connected to the second mounting part 202.

[0071] The following sections provide detailed descriptions of the specific structures of grounding devices and substations, as well as various possible implementation methods.

[0072] The angle measuring device 20 provided in the embodiments of this application further includes: a moving component 400, which is movably disposed on the clamping component 100 and connected to the encoder 300. The moving component 400 is used to drive the encoder 300 to move along a first direction.

[0073] It is understandable that by setting the moving component 400, the encoder 300 can move along the first direction, so that the encoder 300 can adjust its position according to the position of the rotating disk 11 on the instrument transmission box 10, thereby improving the setting flexibility of the angle measuring device 20.

[0074] It should be noted that the first direction can be the length direction of the instrument transmission box 10, or the width direction of the instrument transmission box 10, or the height direction of the instrument transmission box 10. There are no restrictions here, and it can be selected according to the actual use requirements.

[0075] The clamping assembly 100 provided in the embodiments of this application includes: a first bracket 101 and a knob 102. The first bracket 101 has a first sub-bracket 1011, a connecting bracket 1012 and a second sub-bracket 1013 connected in sequence. The connecting bracket 1012 extends along a first direction. Along the first direction, the first sub-bracket 1011 and the second sub-bracket 1013 are spaced apart. One of the first sub-bracket 1011 and the second sub-bracket 1013 is provided with a first threaded through hole. The other of the first sub-bracket 1011 and the second sub-bracket 1013 abuts against the outer peripheral wall of the instrument transmission box 10. The knob 102 is threadedly connected to the first threaded through hole, and the knob 102 passes through the first threaded through hole and abuts against the outer peripheral wall of the instrument transmission box 10.

[0076] It is understood that, through the above-described embodiments, the first bracket 101 and the knob 102 can cooperate and be installed on two different outer peripheral walls of the instrument transmission box 10 that are arranged opposite each other along the first direction. Furthermore, the length of the knob 102 passing through the first threaded through hole can be adjusted according to the distance between the two outer peripheral walls to adapt to the installation of instrument transmission boxes 10 of different sizes.

[0077] Furthermore, the first sub-support 1011, the connecting support 1012, and the second sub-support 1013 can be integrally molded or fixed after separate processing. There are no restrictions here, and the selection can be made according to actual usage requirements.

[0078] In one embodiment, the outer peripheral wall of the knob 102 is provided with an external thread, and the inner sidewall of the first threaded through hole is provided with an internal thread, and the external thread and the internal thread are threadedly connected.

[0079] It is understood that the above-described embodiments facilitate the disassembly and installation of the first bracket 101, the knob 102, and the instrument transmission box 10, and also facilitate the installation and disassembly of instrument transmission boxes 10 of different sizes.

[0080] It should be noted that the first threaded through hole can be located at the first sub-support 1011, and the second sub-support 1013 abuts against the outer peripheral wall of the instrument transmission box 10. Alternatively, the first threaded through hole can be located at the second sub-support 1013, and the first sub-support 1011 abuts against the outer peripheral wall of the instrument transmission box 10. There is no restriction on the location of the first threaded through hole, and it can be selected according to the actual usage requirements.

[0081] The embodiments of this application provide two connecting brackets 1012, which are arranged at intervals along the intersecting first direction. The connector 200 is clamped between the two connecting brackets 1012 along the intersecting first direction.

[0082] Understandably, increasing the number of connecting brackets 1012 can increase the connection strength between the first sub-bracket 1011 and the second sub-bracket 1013, thereby improving the service life of the first bracket 101. Furthermore, the gap between the two connecting brackets 1012 along the intersecting first direction can be used to accommodate the mating joint 200.

[0083] It should be noted that the angle between the first direction and the intersection with the first direction can be any value from 0 degrees to 180 degrees, without any restriction, and can be selected according to actual usage requirements.

[0084] In one implementation, the angle between the first direction and the direction intersecting the first direction is 90 degrees.

[0085] It is understood that the above implementation method can reduce the difficulty of arranging the two connecting brackets 1012 and improve the connection stability between the two connecting brackets 1012 and the first sub-bracket 1011 and the second sub-bracket 1013.

[0086] like Figure 3 As shown, the moving component 400 provided in the embodiment of this application includes: a slider 401 and a second bracket 402. The slider 401 is slidably connected to the connecting bracket 1012. One end of the second bracket 402 is connected to the slider 401, and the other end of the second bracket 402 is connected to the housing of the encoder 300.

[0087] It is understood that, through the above implementation method, when the slider 401 moves relative to the connecting bracket 1012, it can drive the second bracket 402 to move, thereby driving the encoder 300 to move. This allows the angle measuring device 20 to change the moving position of the encoder 300 according to the position of the rotating disk 11, thereby improving the setting flexibility of the angle measuring device 20.

[0088] Furthermore, the slider 401 can be directly slidably connected to the connecting bracket 1012, or the guide rail 600 can be installed on the connecting bracket 1012 and the slider 401 can be slidably connected to the guide rail 600. There are no restrictions here, and the choice can be made according to the actual use requirements.

[0089] In one embodiment, a first anti-detachment part is provided on the outer peripheral wall of the connecting bracket 1012, the first anti-detachment part extends along a first direction, and a second anti-detachment part is provided on the inner side wall of the slider 401, the second anti-detachment part extends along the first direction, and the first anti-detachment part and the second anti-detachment part are configured to cooperate with each other.

[0090] It is understandable that by setting the first anti-detachment part and the second anti-detachment part, the occurrence of relative separation between the slider 401 and the connecting bracket 1012 can be reduced, thereby improving the connection stability between the connecting bracket 1012 and the slider 401.

[0091] Furthermore, the first anti-detachment part can be a groove, and the second anti-detachment part can be a protrusion, with the groove and the protrusion working together. Alternatively, the first anti-detachment part can be a protrusion, and the second anti-detachment part can be a groove, with the groove and the protrusion working together. Here, the specific arrangement of the first and second anti-detachment parts is not limited and can be selected according to actual usage requirements.

[0092] Furthermore, on a connecting bracket 1012, two first anti-detachment parts are respectively provided on two opposite outer walls intersecting in the first direction, and on a slider 401, two second anti-detachment parts are respectively provided on two opposite inner walls intersecting in the first direction. The two first anti-detachment parts and the two second anti-detachment parts are configured to cooperate in a one-to-one correspondence.

[0093] It is understandable that increasing the number of the first anti-detachment part and the second anti-detachment part can further reduce the occurrence of relative separation between the slider 401 and the connecting bracket 1012, thereby further improving the connection stability between the connecting bracket 1012 and the slider 401.

[0094] In one embodiment, two connecting brackets 1012 are provided, arranged at intervals along the intersecting first direction. Two sliders 401 are provided, with each slider 401 corresponding to one of the two connecting brackets 1012. Two second brackets 402 are provided, with each second bracket 402 corresponding to one of the two sliders 401. Alternatively, the two ends of one bracket are fixedly connected to two sliders 401 respectively.

[0095] Understandably, increasing the number of sliders 401 and connecting brackets 1012 increases the contact area between them, thereby improving the connection strength. Increasing the number of second brackets 402, and ensuring a one-to-one correspondence between two second brackets 402 and two sliders 401, increases the contact area between the second brackets 402 and the sliders 401 and the encoder 300 housing, thus improving the connection strength between the second brackets 402, sliders 401, and encoder 300. Furthermore, the spaced arrangement of two connecting brackets 1012 along the intersecting first direction allows for the spaced arrangement of two sliders 401 along the same direction. Additionally, the spaced arrangement of the two brackets along the intersecting first direction reduces the risk of cantilever structures caused by eccentric connections between the brackets and encoder 300, thereby extending the lifespan of encoder 300. In addition, the two ends of a bracket are fixedly connected to two sliders 401 respectively, which can reduce the occurrence of cantilever structure caused by eccentric connection between the bracket and the encoder 300, thereby improving the service life of the encoder 300.

[0096] The connector 200 provided in the embodiments of this application also has a first through hole communicating with the second mounting part 202, and the detection end has a second through hole. The first through hole and the second through hole are connected. The angle measuring device 20 also includes a fixing member 500, which passes through the first through hole and the second through hole.

[0097] It is understandable that by inserting the fastener 500 through the first through hole and the second through hole, the fastener 500 can limit the relative offset between the first through hole and the second through hole, thereby achieving relative fixation between the second mounting part 202 and the detection end. As a result, when the connector 200 rotates, it can synchronously drive the detection end to rotate, thereby enabling the measurement of the rotation angle of the connector 200, and thus the measurement of the rotation angle of the rotating disk 11.

[0098] It should be noted that there are several different ways to set the first through hole, the second through hole, and the fastener 500. The specific ways to set the first through hole, the second through hole, and the fastener 500 will be illustrated below.

[0099] In one embodiment, at least one of the first through hole and the second through hole is configured as a threaded through hole, and the outer peripheral wall of the fastener 500 is provided with an external thread, and the external thread and the threaded through hole are threadedly connected.

[0100] It is understood that, through the above-described embodiments, it is easy to install or remove the second mounting part 202 and the detection end, and when the second mounting part 202 and the detection end are installed, the rotation of the connector 200 can drive the detection end of the encoder 300 to rotate.

[0101] Furthermore, the above embodiments may be as follows: the first through hole is a second threaded through hole, the second through hole is a through hole, and the second threaded through hole and the through hole are connected; or, the second through hole is a second threaded through hole, the first through hole is a through hole, and the second threaded through hole and the through hole are connected; or, the first through hole is a second threaded through hole, the second through hole is a third threaded through hole, the internal threads of the second threaded through hole and the internal threads of the third threaded through hole have the same direction of rotation, and the second threaded through hole and the third threaded through hole are connected.

[0102] In one embodiment, the first through hole is a first through hole, the second through hole is a second through hole, and the fixing member 500 is a pin, which passes through the first through hole and the second through hole.

[0103] It is understood that, through the above-described embodiments, it is easy to install or remove the second mounting part 202 and the detection end, and when the second mounting part 202 and the detection end are installed, the rotation of the connector 200 can drive the detection end of the encoder 300 to rotate.

[0104] It is understandable that there are no restrictions on the specific settings of the first through hole, the second through hole, and the fastener 500; they can be selected according to actual usage requirements.

[0105] The connector 200 provided in the embodiments of this application also has a connecting part 203. One end of the connecting part 203 is connected to the first mounting part 201, and the other end of the connecting part 203 is connected to the second mounting part 202. Along the intersecting first direction, the connecting part 203 is sandwiched between two sliders 401, and the second mounting part 202 abuts against one end of the slider 401 away from the connecting bracket 1012.

[0106] It is understandable that by setting the connecting part 203, the connection between the first mounting part 201 and the second mounting part 202 can be realized. Along the intersecting first direction, the connecting part 203 is sandwiched between the two sliders 401, which can avoid mutual interference between the connector 200 and the two sliders 401. The second mounting part 202 abuts against the end of the slider 401 away from the connecting bracket 1012, which can reduce the space occupied by the connector 200.

[0107] like Figure 4 and Figure 5 As shown, an embodiment of this application provides a medical robot, including the angle measuring device 20 provided in any of the above embodiments.

[0108] It should be noted that the medical robot also includes an instrument transmission box 10, on which a rotating disk 11 is provided. The insertion end of the instrument transmission box 10 is provided with a connected forceps head 12 and a palm part 13. The rotating disk 11 is connected to the forceps head 12 and the palm part 13 in a transmission connection.

[0109] It should be noted that the terms "one embodiment," "embodiment," "exemplary embodiment," "some embodiments," etc., mentioned in the specification indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment necessarily includes that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, implementing such a feature, structure, or characteristic in conjunction with other embodiments, whether explicitly described or not, is within the knowledge scope of those skilled in the art.

[0110] Generally speaking, terms should be understood at least in part by their use in context. For example, at least in part by context, the term "one or more" as used in the text can be used to describe any feature, structure, or characteristic of the singular meaning, or a combination of features, structures, or characteristics of the plural meaning. Similarly, at least in part by context, terms such as "a" or "the" can also be understood to convey either singular or plural usage.

[0111] It should be readily understood that the terms “on,” “above,” and “on top of” in this application should be interpreted in the broadest possible sense, such that “on” means not only “directly on something” but also “on something” with an intermediate feature or layer therebetween, and that “above” or “on top of” means not only “on something” but also “on something” without an intermediate feature or layer therebetween (i.e., directly on something).

[0112] Furthermore, for ease of explanation, spatially relative terms such as "below," "below," "under," "above," and "above" may be used to describe the relationship of one element or feature relative to other elements or features as shown in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation other than those shown in the figures. The device may have other orientations (rotated 90° or in other orientations), and the spatially relative descriptive terms used herein may be interpreted accordingly.

[0113] Finally, it should be noted that 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 or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An angle measuring device for measuring the angle of rotation of a rotating disc (11) on an instrument drive cassette (10), characterized in that include: The clamping assembly (100) is clamped to the outer peripheral wall of the instrument transmission box (10); The connector (200) has a first mounting part (201) and a second mounting part (202) arranged coaxially, and the first mounting part (201) is sleeved on the rotating disk (11). An encoder (300) is movably disposed on the clamping assembly (100), and the detection end of the encoder (300) is connected to the second mounting part (202).

2. The angle measuring device according to claim 1, characterized in that, Also includes: A movable component (400) is movably disposed on the clamping component (100) and connected to the encoder (300), the movable component (400) being used to drive the encoder (300) to move along a first direction.

3. The angle measuring device according to claim 2, characterized in that, The clamping assembly (100) includes: A first support (101) has a first sub-support (1011), a connecting support (1012), and a second sub-support (1013) connected in sequence. The connecting support (1012) extends along the first direction. Along the first direction, the first sub-support (1011) and the second sub-support (1013) are spaced apart. One of the first sub-support (1011) and the second sub-support (1013) is provided with a first threaded through hole. The other of the first sub-support (1011) and the second sub-support (1013) abuts against the outer peripheral wall of the instrument transmission box (10). The knob (102) is threadedly connected to the first threaded through hole, and the knob (102) passes through the first threaded through hole and abuts against the outer peripheral wall of the instrument transmission box (10).

4. The angle measuring device according to claim 3, characterized in that, Two connecting brackets (1012) are provided, intersecting in the first direction, and the two connecting brackets (1012) are spaced apart; Along the direction intersecting the first direction, the connector (200) is sandwiched between the two connecting brackets (1012).

5. The angle measuring device according to claim 2, characterized in that, The moving component (400) includes: Slider (401) is slidably connected to connecting bracket (1012); The second bracket (402) has one end connected to the slider (401) and the other end connected to the housing of the encoder (300).

6. The angle measuring device according to claim 5, characterized in that, Two connecting brackets (1012) are provided, intersecting in the first direction, and the two connecting brackets (1012) are spaced apart; There are two sliders (401), and the two sliders (401) and the two connecting brackets (1012) are arranged in a one-to-one correspondence; There are two second brackets (402), and the two second brackets (402) and the two sliders (401) are arranged in a one-to-one correspondence; Alternatively, both ends of one of the second brackets (402) are fixedly connected to the two sliders (401) respectively.

7. The angle measuring device according to any one of claims 1-6, characterized in that, The connector (200) also has a first through hole communicating with the second mounting part (202); The detection end has a second through hole, and the first through hole and the second through hole are connected. The angle measuring device (20) further includes: The fastener (500) is inserted through the first through hole and the second through hole.

8. The angle measuring device according to claim 7, characterized in that, In the first through hole and the second through hole, at least one of them is configured as a threaded through hole; The outer peripheral wall of the fastener (500) is provided with an external thread, and the external thread is threadedly connected to the threaded through hole.

9. The angle measuring device according to any one of claims 1-6, characterized in that, The connector (200) also has a connecting part (203), one end of which is connected to the first mounting part (201), and the other end of which is connected to the second mounting part (202); Along the intersecting first direction, the connecting part (203) is sandwiched between the two sliders (401); The second mounting part (202) abuts against the end of the slider (401) away from the connecting bracket (1012).

10. A medical robot, characterized in that, The device includes an angle measuring device according to any one of claims 1-9.

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