Mechanical arm force measuring device and surgical robot

Abstract

The application relates to the technical field of mechanical arms, and provides a force measuring device of a mechanical arm and a surgical robot, the force measuring device of the mechanical arm comprising a mechanical arm, a telescopic piece, a first force sensor and an execution assembly, the mechanical arm having a terminal arm; the telescopic piece is rotatably arranged on the terminal arm, and the telescoping direction of the telescopic piece and the radial direction of the terminal arm are arranged in the same direction; the first force sensor is connected to the telescopic piece; the execution assembly is connected to the first force sensor, and the execution assembly is installed on the telescopic piece through the first force sensor; and the first force sensor is used for detecting the force between the execution assembly and the telescopic piece. The application can solve the problem that the force cannot be monitored during the insertion or retraction of a flexible instrument, and the safety and reliability of the surgical robot are poor.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, specifically to a force measuring device for a robotic arm and a surgical robot. Background Technology

[0002] Surgical robots consist of connected robotic arms and flexible instruments. The robotic arms are used to adjust the position and orientation of the flexible instruments so that they can be inserted into the body's own cavities (such as the bronchus, ureter, esophagus, etc.) to perform local surgery or examinations on patients.

[0003] In related technologies, the force exerted on flexible instruments during insertion or retraction cannot be monitored, which leads to poor safety and low reliability of surgical robots. Utility Model Content

[0004] This application provides a force measuring device for a robotic arm and a surgical robot, which can solve the problem that the force of flexible instruments cannot be monitored during insertion or retraction, resulting in poor safety and low reliability of the surgical robot.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] In a first aspect, this application provides a force measuring device for a robotic arm, comprising:

[0007] A robotic arm, which has an end effector;

[0008] The telescopic component is rotatably mounted on the terminal arm, and the telescopic direction of the telescopic component is the same as the radial direction of the terminal arm.

[0009] The first force sensor is connected to the telescopic component;

[0010] An actuator is connected to a first force sensor, and the actuator is mounted on the telescopic component via the first force sensor.

[0011] The first force sensor is used to detect the force between the actuator and the telescopic component.

[0012] In some implementations, it also includes:

[0013] The mounting assembly is connected to both the telescopic component and the actuation component, and is located between the telescopic component and the actuation component along the axial direction of the end arm.

[0014] In some implementations, the mounting components include:

[0015] The first mounting component is located on the telescopic component and extends radially along the end arm;

[0016] The second mounting component is located on the execution component and is slidably connected to the first mounting component.

[0017] In some embodiments, the first force sensor is a first tension / compression sensor, which has a first mounting end and a first measuring end. The first mounting end is connected to one of the telescopic member and the actuating component, and the first measuring end is connected to the other of the telescopic member and the actuating component.

[0018] In some implementations, the execution component includes:

[0019] The driver unit connects to the second mounting component;

[0020] Transmission components, transmission connection and driving components;

[0021] An insert is located on the transmission component, and the insert is made of a flexible material.

[0022] In some implementations, the execution component further includes:

[0023] A telescopic bracket is provided on the transmission component and extends radially along the end arm;

[0024] The insertion fitting has a delivery pipe and an interface that connects to the delivery pipe; the insert is fitted inside the delivery pipe, and the interface is used to connect to an external gas source.

[0025] In some implementations, it also includes:

[0026] The traction assembly is located on the terminal arm and connected to the cannula connector;

[0027] The traction assembly and the terminal arm are coaxially arranged, and the extension direction of the traction assembly intersects the extension direction of the telescopic component.

[0028] In some embodiments, the traction assembly includes:

[0029] The first connector is attached to the terminal arm and extends toward the end near the cannula connector;

[0030] A fixed connector is connected to a first connector, and the fixed connector is located at the end of the first connector away from the terminal arm. The fixed connector has a clamping end that is connected to a cannula connector.

[0031] In some embodiments, the traction assembly further includes:

[0032] The second connector is sleeved on the outer periphery of the first connector, and the second connector has a receiving groove;

[0033] A pressure-sensitive sensor is located inside the receiving tank;

[0034] A flexible pressure strip is placed in the receiving groove and connected to a pressure-sensitive sensor.

[0035] In some implementations, it also includes:

[0036] The second force sensor is located between the terminal arm and the second connector, and is connected to both the terminal arm and the second connector respectively. The second force sensor is used to measure the force between the second connector and the terminal arm.

[0037] In some implementations, it also includes:

[0038] The third force sensor has one end connected to the telescopic bracket and the other end connected to the fixed joint. The third force sensor is used to detect the force between the fixed joint and the telescopic bracket.

[0039] In some embodiments, multiple receiving slots are provided, and the multiple receiving slots are spaced apart circumferentially along the end arm;

[0040] Multiple pressure sensors are provided, and the multiple pressure sensors are arranged at intervals along the circumference of the terminal arm;

[0041] Multiple flexible pressure strips are provided, and the multiple flexible pressure strips are spaced apart along the circumference of the end arm;

[0042] Multiple receiving slots, multiple pressure sensors, and multiple flexible pressure strips are set up one-to-one.

[0043] In some implementations, it also includes:

[0044] The control unit is electrically connected to the first force sensor and is configured to determine the relationship between the detected value of the first force sensor and a preset value.

[0045] The display element and the electrical connection control element are configured to display the relationship between the detected value and the preset value.

[0046] Secondly, this application provides a surgical robot, including a force measuring device for a robotic arm.

[0047] The force-measuring device of this robotic arm, through the inclusion of a telescopic component, can move the actuator to adjust it to a preset position. The actuator allows its insert to be inserted into a human body cavity. A first force sensor measures the force at the actuator, thus acquiring the force exerted during insertion into the human body cavity or the force exerted during extraction.

[0048] Therefore, the force measuring device of the robotic arm provided in this application can solve the problem that the force of flexible instruments cannot be monitored during insertion or retraction, which leads to poor safety and low reliability of surgical robots. Attached Figure Description

[0049] 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.

[0050] Figure 1 A schematic diagram of the main structure of the force measuring device for the robotic arm provided in this application embodiment;

[0051] Figure 2 A second schematic diagram of the main structure of the force measuring device for the robotic arm provided in the embodiments of this application;

[0052] Figure 3 For this application Figure 2 Enlarged structural diagram at point A;

[0053] Figure 4 A schematic diagram of the main structure of the first force sensor provided in an embodiment of this application;

[0054] Figure 5 A schematic diagram of the main structure of the second force sensor provided in an embodiment of this application;

[0055] Figure 6 A schematic diagram of the main structure of the execution component provided in an embodiment of this application;

[0056] Figure 7 One of the schematic diagrams of the connection structure between the robotic arm and the traction assembly provided in the embodiments of this application;

[0057] Figure 8 A second schematic diagram of the connection structure between the robotic arm and the traction assembly provided in an embodiment of this application;

[0058] Figure 9 A third schematic diagram of the connection structure between the robotic arm and the traction assembly provided in the embodiments of this application;

[0059] Figure 10 A schematic diagram of the main structure of the first connector provided in an embodiment of this application;

[0060] Figure 11 A schematic diagram of the main structure of the second connector provided in an embodiment of this application;

[0061] Figure 12 A third schematic diagram of the main structure of the force measuring device for the robotic arm provided in the embodiments of this application;

[0062] Figure 13 One of the schematic diagrams of the main structure of the display device provided in the embodiments of this application;

[0063] Figure 14 A second schematic diagram of the main structure of the display device provided in the embodiments of this application;

[0064] Figure 15 This is a flowchart illustrating the monitoring process of the tension / compression sensor provided in an embodiment of this application.

[0065] Figure 16 This is a schematic diagram of the main structure of the surgical robot provided in an embodiment of this application.

[0066] Explanation of reference numerals in the attached figures:

[0067] 10-Force measuring device for robotic arm;

[0068] 20 - Surgical robot; 21 - Cart system; 22 - Control console;

[0069] 100-robotic arm;

[0070] 200 - Telescopic component;

[0071] 300 - First Force Sensor;

[0072] 400 - Actuating component; 401 - Drive component; 402 - Transmission component; 403 - Insertion component; 404 - Telescopic bracket; 405 - Insertion connector;

[0073] 500 - Mounting component; 501 - First mounting component; 502 - Second mounting component;

[0074] 600 - Second force sensor;

[0075] 700 - Third Force Sensor;

[0076] 800-Traction assembly; 801-First connector; 8011-Notch; 802-Fixed joint; 8021-Clamping end; 803-Second connector; 8031-Receiving groove; 8032-Support; 804-Pressure sensor; 805-Flexible pressure strip; 806-First fixing member; 807-Second fixing member;

[0077] 900 - Display component. Detailed Implementation

[0078] 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.

[0079] In existing technologies, since the human body's cavities are curved, irregular, and tubular structures of varying widths and shapes, flexible instruments will encounter certain resistance when inserted into or retracted from the body's cavities. This resistance will vary depending on the structure and position of the human body's cavities, and the changes in resistance will lead to a decrease in the safety of the surgical robot during the operation.

[0080] To overcome the shortcomings of existing technologies, a telescopic component is incorporated to move the actuator, allowing it to be adjusted to a preset position. This actuator enables its insert to be inserted into a human body cavity. A first force sensor measures the force at the actuator, thus acquiring the force exerted during insertion into the human body cavity or the force exerted during extraction.

[0081] Therefore, the force measuring device of the robotic arm provided in this application can solve the problem that the force of flexible instruments cannot be monitored during insertion or retraction, which leads to poor safety and low reliability of surgical robots.

[0082] 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.

[0083] like Figure 1 , Figure 2 and Figure 3 As shown, this application provides a force measuring device 10 for a robotic arm, including: a robotic arm 100, a telescopic member 200, a first force sensor 300, and an execution component 400. The robotic arm 100 has an end arm; the telescopic member 200 is rotatably mounted on the end arm, and the telescopic direction of the telescopic member 200 is in the same direction as the radial direction of the end arm; the first force sensor 300 is connected to the telescopic member 200; the execution component 400 is connected to the first force sensor 300, and the execution component 400 is mounted on the telescopic member 200 through the first force sensor 300; the first force sensor 300 is used to detect the force between the execution component 400 and the telescopic member 200.

[0084] The following sections provide detailed descriptions of the specific structures of the force measuring device 10 of the robotic arm and the surgical robot 20, as well as various possible implementation methods.

[0085] It should be noted that when the insert 403 of the actuator 400 is inserted into the cavity of the human body, the detection value of the first force sensor 300 is equal to the sum of the resistance value of the insert 403 in the human body cavity, the gravity component of the actuator 400, and the telescopic resistance of the telescopic bracket.

[0086] It should be noted that when the insert 403 of the actuator 400 is pulled out of the human body cavity, the detection value of the first force sensor 300 is equal to the difference between the resistance value of the insert 403 in the human body cavity and the gravity value of the actuator 400.

[0087] It should be noted that the telescopic component 200 provided in the embodiments of this application may be a two-section structure, a three-section structure, or a multi-section structure. There is no limitation here, and it can be selected according to actual usage requirements.

[0088] The force measuring device 10 for the robotic arm provided in the embodiments of this application further includes: a mounting assembly 500, which is connected to the telescopic member 200 and the execution assembly 400 respectively, and the mounting assembly 500 is located between the telescopic member 200 and the execution assembly 400 along the axial direction of the end arm.

[0089] Understandably, by setting the mounting component 500, forces other than tension and compression on the insert 403 in the direction of movement (such as the force transmitted to the actuator 400 due to an operator holding the traction component 800, or any other force transmitted to the actuator 400) can be eliminated, so that the first force sensor 300 can only detect the tension and compression on the insert 403 in the direction of movement. Furthermore, the mounting component 500 can increase the contact area between the telescopic component 200 and the actuator 400, thereby improving the connection strength between them.

[0090] It should be noted that the angle between the radial direction intersecting the terminal arm and the radial direction of the terminal arm can be any value between 0 degrees and 180 degrees, without any restriction, and can be selected according to actual usage requirements.

[0091] In one embodiment, the mounting assembly 500 is located between the telescopic member 200 and the actuation assembly 400 in a radial direction perpendicular to the terminal arm.

[0092] It is understood that the above-described embodiments can increase the contact area between the telescopic member 200 and the actuating component 400, thereby improving the connection strength between the telescopic member 200 and the actuating component 400.

[0093] The installation component 500 provided in the embodiments of this application includes: a first mounting member 501 and a second mounting member 502. The first mounting member 501 is disposed on the telescopic member 200 and extends radially along the terminal arm. The second mounting member 502 is disposed on the execution component 400 and is slidably connected to the first mounting member 501.

[0094] Understandably, by providing the second mounting member 502, the force at the actuator 400 can be transmitted to the second mounting member 502. By extending the first mounting member 501 along the radial direction of the end arm and making the first mounting member 501 and the second mounting member 502 slidably connected, the first mounting member 501 and the second mounting member 502 can provide auxiliary limiting for the actuator 400, and can increase the contact area between the telescopic member 200 and the actuator 400, thereby improving the connection strength between the telescopic member 200 and the actuator 400, and reducing the stress concentration at the connection between the actuator 400 and the first force sensor 300. Furthermore, the slidable connection can reduce the friction between the actuator 400 and the telescopic member, thereby reducing interference with the measurement of the first force sensor 300. In this case, the measurement accuracy of the first force sensor 300 can be improved, thereby improving the measurement accuracy of the force measuring device 10 of the robotic arm.

[0095] It should be noted that the first mounting component 501 and the second mounting component 502 have a variety of different configuration methods. The configuration methods of the first mounting component 501 and the second mounting component 502 will be illustrated with examples below.

[0096] In one embodiment, the first mounting member 501 may be a guide rail, which is fixedly connected to the telescopic member 200, and the second mounting member 502 may be a slider, which is fixedly connected to the actuating component 400. The guide rail and the slider are configured to cooperate.

[0097] Understandably, the arrangement of the guide rail and slider can reduce the friction between the guide rail and slider while increasing the connection strength between the actuator 400 and the telescopic component 200, thereby reducing the measurement interference to the first force sensor 300 and improving the measurement accuracy of the first force sensor 300.

[0098] In one embodiment, the first mounting member 501 may be a ball groove, which is provided on the telescopic member 200, and the second mounting member 502 is a ball, which is rotatably mounted on the actuating component 400. The ball and the ball groove are configured to cooperate.

[0099] Understandably, the arrangement of the ball bearings and ball bearing grooves can reduce the friction between the guide rail and the slider while increasing the connection strength between the actuator 400 and the telescopic component 200, thereby reducing measurement interference to the first force sensor 300 and improving the measurement accuracy of the first force sensor 300.

[0100] It is understandable that there are no restrictions on the specific configuration of the first mounting component 501 and the second mounting component 502, and they can be selected according to actual usage requirements.

[0101] In one embodiment, the center of the terminal arm, the center of the mounting assembly 500, and the center of the first force sensor 300 are arranged collinearly along the radial direction of the terminal arm.

[0102] It is understood that, through the above implementation method, the measurement interference of the mounting component 500 on the first force sensor 300 can be further reduced, thereby improving the measurement accuracy of the first force sensor 300.

[0103] like Figure 4 As shown, the first force sensor 300 provided in the embodiment of this application is a first tension / compression sensor. The first tension / compression sensor has a first mounting end and a first measuring end. The first mounting end is connected to one of the telescopic member 200 and the actuation component 400, and the first measuring end is connected to the other of the telescopic member 200 and the actuation component 400.

[0104] It is understandable that by setting the first tension and pressure sensor, the load change of the execution component 400 can be responded to in a timely manner, and the first tension and pressure sensor can measure the tension and pressure, thereby enabling the first tension and pressure sensor to dynamically measure the force and pressure when the insert 403 is inserted into the cavity of the human body, as well as the force and tension when the insert 403 is pulled out of the cavity of the human body.

[0105] like Figure 6 As shown, the execution component 400 provided in the embodiments of this application includes: a driving member 401, a transmission member 402, and an inserter 403. The driving member 401 is connected to the second mounting member 502, the transmission member 402 is drivingly connected to the driving member 401, and the inserter 403 is disposed on the transmission member 402 and is made of a flexible material.

[0106] It is understood that, through the above embodiments, the driving member 401 can drive the transmission member 402 to drive the insert 403 to move toward the side closer to the body cavity, so that the insert 403 can be inserted into the body cavity. Alternatively, the driving member 401 can drive the transmission member 402 to drive the insert 403 to move toward the side farther from the body cavity, so that the insert 403 can be pulled out of the body cavity.

[0107] It should be noted that the driving force for inserting the insert 403 into the cavity of the human body is opposite to the driving force for pulling the insert 403 out of the cavity of the human body.

[0108] It should be noted that the insert 403 includes a sheath and a steel wire rope. The sheath has a through-hole instrument channel, and the steel wire rope is located within the instrument channel. Both the sheath and the steel wire rope are made of flexible materials, allowing them to be easily bent to conform to the shape of human body cavities.

[0109] Furthermore, biopsy or surgical instruments can be inserted into the body's cavities through the instrument channel of the sheath. A camera module and position sensor can be installed at the end of the sheath. The camera can be used to observe the images inside the body's cavities, and the position sensor and steel wire can be used for traction to accurately locate invisible lesions.

[0110] Furthermore, the transmission component 402 can be a belt, coupling, reduction gear set, or other transmission component 402 that can transmit torque. There are no restrictions here, and it can be selected according to actual usage requirements.

[0111] It should be noted that the wire rope is connected to the transmission component 402, which can drive the wire tube to turn or move under the drive of the drive component 401.

[0112] Furthermore, the drive component 401 can be a drive motor, a drive motor, or other drive components 401, without limitation, and can be selected according to actual usage requirements.

[0113] The execution component 400 provided in the embodiments of this application further includes: a telescopic bracket 404 and a cannula connector 405. The telescopic bracket 404 is disposed on the transmission member 402 and extends radially along the terminal arm. The cannula connector 405 has a delivery pipe and an interface communicating with the delivery pipe. The insert 403 is sleeved inside the delivery pipe, and the interface is used to connect to an external air source.

[0114] Understandably, by providing the retractable support 404, the insert 403 can be limited to prevent bending during insertion into the body cavity. By providing the cannula connector 405, the insert 403 can be supported and accommodated. By providing the interface, it can be used to connect to an external air source, allowing gas from the air source to enter the delivery pipe through the interface and be delivered to the lungs.

[0115] like Figure 7 , Figure 8 and Figure 9 As shown, the force measuring device 10 of the robotic arm provided in the embodiment of this application further includes: a traction component 800, which is disposed on the terminal arm and connected to the insertion connector 405. The traction component 800 is coaxially disposed with the terminal arm, and the extension direction of the traction component 800 intersects with the extension direction of the telescopic member 200.

[0116] Understandably, by setting up the traction component 800, the cantilever structure formed between the actuator 400 and the telescopic member 200 can be reduced, thus preventing stress concentration at the connection between the actuator 400 and the telescopic member. By intersecting the extension direction of the traction component 800 with the extension direction of the telescopic member 200, mutual interference between the traction component 800 and the telescopic member 200 can be reduced, thereby providing safety protection for the actuator 400 and the telescopic member. By connecting the traction component 800 to the insertion connector 405 and coaxially arranging the traction component 800 with the terminal arm, the movement of the insertion connector 405 caused by the bending of the insertion member 403 can be reduced, thereby ensuring the stable placement of the insertion connector 405.

[0117] like Figure 10 As shown, it should be noted that the traction assembly 800 includes: a first connector 801 and a fixing connector 802. The first connector 801 is connected to the terminal arm and extends toward the side close to the insertion connector 405. The fixing connector 802 is connected to the first connector 801 and is located at the end of the first connector 801 away from the terminal arm. The fixing connector 802 has a clamping end 8021, which is connected to the insertion connector 405.

[0118] It is understood that by setting the first connector 801 and the fixed connector 802, the first connector 801 and the fixed connector 802 can connect the insertion connector 405 to the terminal arm and / or the second force sensor 600. This can reduce the movement of the insertion connector 405 caused by the bending of the insertion member 403, thereby allowing the insertion connector 405 to be placed stably. Furthermore, through the above implementation, the cantilever structure formed between the actuator 400 and the telescopic member 200 can be reduced, which can lead to stress concentration at the connection between the actuator 400 and the telescopic member. This can extend the service life of the force measuring device 10 of the robotic arm.

[0119] like Figure 5 As shown, the force measuring device 10 of the robotic arm provided in the embodiment of this application further includes: a second force sensor 600, which is disposed between the terminal arm and the second connector 803 and is connected to the terminal arm and the second connector 803 respectively. The second force sensor 600 is used to measure the force between the second connector 803 and the terminal arm.

[0120] Understandably, by setting up the second force sensor 600, the force between the second connector 803 and the end arm can be measured to collect the pulling force or torque of the operator dragging the second connector 803, so as to adjust the posture of the robotic arm.

[0121] Furthermore, the second force sensor 600 can be a multi-dimensional force sensor, a piezoelectric sensor, a fiber optic grating sensor, or other force sensors. There are no restrictions on this, and it can be selected according to actual usage requirements.

[0122] The force measuring device 10 of the robotic arm provided in the embodiments of this application further includes: a third force sensor 700, one end of the third force sensor 700 is connected to the telescopic bracket 404, and the other end of the third force sensor 700 is connected to the fixed joint 802. The third force sensor 700 is used to detect the force between the fixed joint 802 and the telescopic bracket 404.

[0123] It is understandable that when the cannula connector 405 is inserted into or withdrawn from the human body cavity, the insertion force and withdrawal force can be transmitted to the fixed connector 802. By setting a third force sensor 700 to detect the force between the fixed connector 802 and the retractable bracket 404, it is possible to detect the force transmitted to the fixed connector 802 when the cannula connector 405 is inserted into the human body cavity, and also to detect the force transmitted to the fixed connector 802 when the cannula connector 405 is withdrawn from the human body cavity.

[0124] It should be noted that the third force sensor 700 can be a second tension / compression sensor, a piezoelectric sensor, a fiber optic grating sensor, or other force sensors. There are no restrictions here, and it can be selected according to actual usage requirements.

[0125] In one embodiment, the third force sensor 700 is a second tension / compression sensor, which has a second mounting end and a second measuring end. The second mounting end is connected to a telescopic bracket 404, and the second measuring end is connected to a fixed connector 802.

[0126] Understandably, by setting a second tension and pressure sensor, the force transmitted to the fixed connector 802 when the insertion tube connector 405 is inserted into the human body cavity can be detected, and the force transmitted to the fixed connector 802 when the insertion tube connector 405 is pulled out of the human body cavity can also be detected.

[0127] Furthermore, the difference between the first tension / compression sensor and the second tension / compression sensor, minus the component of the gravity of the actuator 400 in the direction of the first mounting member 501, is the resistance of the insert 403 during the insertion into the cavity.

[0128] It is understood that, through the above implementation method, the second force sensor 600 can realize the detection of the drag force of the traction component 800 and the decoupling between the insertion resistance or pull-out resistance of the insert 403, thereby optimizing the mutual influence between the two functions and thus improving the safety and reliability of the surgical robot.

[0129] It should be noted that the first connector 801 has a variety of different installation positions, and the installation positions of the first connector 801 will be illustrated below.

[0130] In one embodiment, the first connector 801 is connected to the terminal arm.

[0131] Furthermore, the first connector 801 and the terminal arm can be connected by the first fastener 806. The first fastener 806 can be a bolt, a limit block, or other components that can play a fixing role. There are no restrictions here, and it can be selected according to actual usage requirements.

[0132] It is understood that, through the above implementation method, the first connector 801 can be connected to the terminal arm.

[0133] In one embodiment, the first connector 801 is connected to the second force sensor 600.

[0134] Furthermore, the first connector 801 and the second force sensor 600 can be connected by the second fastener 807. The second fastener 807 can be a bolt, a flange, or other components that can play a fixing role. There are no restrictions on this, and it can be selected according to actual usage requirements.

[0135] It is understood that, through the above implementation method, the first connector 801 can be connected to the second force sensor 600.

[0136] In one embodiment, the first connector 801 is connected to the terminal arm and the second force sensor 600, respectively.

[0137] Furthermore, the first connector 801 and the terminal arm can be connected via the first fastener 806. The first fastener 806 can be a bolt, a limit block, or other component that can serve a fixing function; there are no restrictions, and it can be selected according to actual usage requirements. The first connector 801 and the second force sensor 600 can be connected via the second fastener 807. The second fastener 807 can be a bolt, a flange, or other component that can serve a fixing function; there are no restrictions, and it can be selected according to actual usage requirements.

[0138] It is understood that the above-described implementation method can increase the strength of the first connector 801, thereby extending the service life of the first connector 801.

[0139] It should be noted that the first connector 801 and the fixed connector 802 can be integrally molded or separately configured. There is no restriction here, and they can be selected according to actual usage requirements.

[0140] Understandably, the integrated molding of the first connector 801 and the fixed connector 802 improves the connection strength between them. The separate design of the first connector 801 and the fixed connector 802 facilitates the replacement of the fixed connector 802 according to the dimensions of the insertion connector 405, thus increasing the flexibility in the installation of the insertion connector 405 and the fixed connector 802.

[0141] In one embodiment, when the second force sensor 600 is a multi-dimensional force sensor and the first connector 801 is connected to the multi-dimensional force sensor, by pulling the first connector 801, the multi-dimensional force sensor can collect the force or torque when the first connector 801 moves, thereby driving the robotic arm 100 to move or swing, thus facilitating the adjustment of the posture of the robotic arm 100 and improving the flexibility of the setting of the force measuring device 10 of the robotic arm.

[0142] like Figure 11 and Figure 12 As shown, the traction assembly 800 provided in the embodiments of this application further includes: a second connector 803, a pressure sensor 804, and a flexible pressure strip 805. The second connector 803 is sleeved on the outer periphery of the first connector 801. The second connector 803 has a receiving groove 8031. The pressure sensor 804 is disposed in the receiving groove 8031. The flexible pressure strip 805 is disposed in the receiving groove 8031 ​​and connected to the pressure sensor 804.

[0143] It is understandable that by fitting the second connector 803 around the outer periphery of the first connector 801, the rigidity of the first connector 801 can be increased, and the second connector 803 can serve as a gripping part to facilitate operator gripping. By providing a pressure-sensitive sensor 804 and a flexible pressure strip 805, the force applied to the gripping of the second connector 803 can be detected. In some embodiments, when the second force sensor 600 is a multi-dimensional force sensor, the robotic arm 100 can only adjust its posture based on the force collected by the multi-dimensional force sensor when the pressure-sensitive sensor 804 detects the gripping force, thereby improving the safety performance of the force measuring device 10 of the robotic arm.

[0144] In one embodiment, the first connector 801 has a notch 8011, and the second connector 803 has a support column 8032, with the notch 8011 and the support column 8032 being configured in cooperation.

[0145] It is understandable that by setting the notch 8011 and the support column 8032, the contact area between the first connector 801 and the second connector 803 can be increased, and the notch 8011 and the support column 8032 can also play a role in preventing detachment, thereby improving the connection strength between the first connector 801 and the second connector 803.

[0146] Furthermore, multiple notches 8011 are provided, and the multiple notches 8011 are spaced apart along the circumference of the first connector 801. Multiple supports 8032 are provided, and the multiple supports 8032 are spaced apart along the circumference of the second connector 803. The multiple notches 8011 and the multiple supports 8032 are arranged in a one-to-one correspondence.

[0147] It is understandable that increasing the number of notches 8011 and supports 8032 can further increase the contact area between the first connector 801 and the second connector 803, thereby improving the connection strength between the first connector 801 and the second connector 803.

[0148] It should be noted that the notch 8011 can be an arc-shaped hole, a square hole, an irregular hole, an arc-shaped groove, a square groove, an irregular groove, or other shapes that can serve a receiving function. There are no restrictions here, and it can be selected according to actual usage requirements. The shape of the support column 8032 can be set to match the shape of the notch 8011.

[0149] In one embodiment, the notch 8011 may be an arc-shaped hole, and the side of the arc-shaped hole away from the center of symmetry of the first connector 801 has an arc-shaped protrusion. The support column 8032 is an arc-shaped column, and the notch 8011 and the support column 8032 are configured to cooperate.

[0150] It is understood that, through the above-described embodiments, the contact area between the first connector 801 and the second connector 803 can be increased, and the arc-shaped protrusion can also play a role in preventing detachment, thereby improving the connection strength between the first connector 801 and the second connector 803.

[0151] It should be noted that the material of the flexible pressure strip 805 can be rubber, silicone, polyurethane or other flexible materials, without restriction, and can be selected according to actual use needs.

[0152] Understandably, by setting up the flexible pressure strip 805, it has the advantage of low weight, which can reduce the measurement error of the pressure sensor 804 and make the second connector 803 more comfortable to hold.

[0153] The embodiments of this application provide multiple receiving slots 8031, which are spaced apart circumferentially along the end arm. Multiple pressure-sensitive sensors 804 are provided, which are spaced apart circumferentially along the end arm. Multiple flexible pressure strips 805 are provided, which are spaced apart circumferentially along the end arm. The multiple receiving slots 8031, multiple pressure-sensitive sensors 804 and multiple flexible pressure strips 805 are arranged in a one-to-one correspondence.

[0154] It is understandable that by increasing the number of receiving slots 8031, pressure sensors 804, and flexible pressure strips 805, the robotic arm 100 can adjust its posture based on the force collected by the multi-dimensional force sensors when multiple pressure sensors 804 detect the gripping force simultaneously. This can further reduce the measurement error of the pressure sensors 804 and thus further improve the safety performance of the force measuring device 10 of the robotic arm.

[0155] It should be noted that the number of multiple receiving slots 8031 ​​can be 2, 3, 4 or more, or any number greater than or equal to 2. There is no restriction here, and it can be selected according to actual usage requirements. There is no restriction on the number of pressure-sensitive sensors 804 and flexible pressure strips 805, as long as they are equal to the number of receiving slots 8031.

[0156] In one embodiment, two receiving slots 8031 ​​are provided, and the two receiving slots 8031 ​​are spaced apart circumferentially along the end arm. Two pressure sensors 804 are provided, and the two pressure sensors 804 are spaced apart circumferentially along the end arm. Two flexible pressure strips 805 are provided, and the two flexible pressure strips 805 are spaced apart circumferentially along the end arm.

[0157] It is understood that, through the above implementation method, when the two pressure sensors 804 detect the gripping force at the same time, the robotic arm 100 can adjust its posture according to the force collected by the multi-dimensional force sensor. This can further reduce the measurement error of the pressure sensor 804, thereby further improving the safety performance of the force measuring device 10 of the robotic arm.

[0158] like Figure 13 As shown, the force measuring device 10 of the robotic arm provided in the embodiments of this application further includes: a control unit and a display unit 900. The control unit is electrically connected to the first force sensor 300 and is configured to determine the relationship between the detected value and the preset value of the first force sensor 300. The display unit 900 is electrically connected to the control unit and is configured to display the relationship between the detected value and the preset value.

[0159] Understandably, by setting up control components and display components 900, operators can promptly determine the relationship between the detected value and the preset value, so that when the detected value is greater than the preset value, the insertion force can be reduced.

[0160] like Figure 14 As shown, it should be noted that in some embodiments, the control component can calculate the value of the insertion resistance F. Specifically, when the inserter 403 is inserted into or withdrawn from the human body cavity, the force F detected by the tension and pressure sensor is... S Includes: the insertion resistance F of the insert 403, and the gravity F of the actuating component 400. m and the retractable bracket 404 additional force Fl The resultant force, namely: F S =F+F m +F l The additional force F generated during the telescopic bracket 404's telescopic folding process l It varies and corresponds to the degree of folding or the insertion stroke of insert 403, so F can be pre-set. l The curve showing the change in stroke is recorded in the system. Under a specific stroke, F S Subtract F m and F l Then a more accurate insertion resistance F of the flexible instrument can be obtained, that is: F = F S - F m -F l .

[0161] like Figure 15 As shown, the tension and compression sensor detects the force 1501, removes gravity and additional force 1502, and the resulting force is used as the insertion force safety threshold monitoring 1503, or it can be used to display the insertion force on the console and display device 1504.

[0162] It is understandable that the above-described implementation methods can further improve the safety and reliability of the surgical robot.

[0163] It should be noted that the tension / compression sensor can be a first tension / compression sensor, i.e., a first force sensor 300, or a second tension / compression sensor, i.e., a third force sensor 700.

[0164] like Figure 16 As shown, this application provides a surgical robot 20, which includes the force measuring device 10 of the robotic arm provided in any of the above embodiments.

[0165] It should be noted that the surgical robot 20 provided in this application also includes a trolley system 21 and a control console 22. The force measuring device 10 of the robotic arm is mounted on the trolley system 21, and the control console 22 is electrically connected to the force measuring device 10 of the robotic arm. The trolley system 21 is used to support the force measuring device 10 of the robotic arm, and the control console 22 is used to drive the operation of the force measuring device 10 of the robotic arm.

[0166] 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.

[0167] 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.

[0168] 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).

[0169] 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.

[0170] 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. A force measuring device for a robotic arm, characterized in that, include: A robotic arm (100) having an end effector arm; A telescopic member (200) is rotatably mounted on the terminal arm, and the telescopic direction of the telescopic member (200) is the same as the radial direction of the terminal arm. A first force sensor (300) is connected to the telescopic member (200); An actuation component (400) is connected to the first force sensor (300), and the actuation component (400) is mounted on the telescopic member (200) via the first force sensor (300). The first force sensor (300) is used to detect the force between the actuator (400) and the telescopic member (200).

2. The force measuring device for the robotic arm according to claim 1, characterized in that, Also includes: The mounting assembly (500) is connected to the telescopic member (200) and the actuating assembly (400) respectively, and is located between the telescopic member (200) and the actuating assembly (400) along the axial direction of the terminal arm.

3. The force measuring device for the robotic arm according to claim 2, characterized in that, The mounting component (500) includes: A first mounting member (501) is disposed on the telescopic member (200) and extends in the radial direction of the terminal arm; The second mounting component (502) is disposed on the execution component (400) and is slidably connected to the first mounting component (501).

4. The force measuring device for the robotic arm according to claim 3, characterized in that, The first force sensor (300) is a first tension / compression sensor. The first tension / compression sensor has a first mounting end and a first measuring end. The first mounting end is connected to one of the telescopic member (200) and the actuating component (400), and the first measuring end is connected to the other of the telescopic member (200) and the actuating component (400).

5. The force measuring device for the robotic arm according to claim 3 or 4, characterized in that, The execution component (400) includes: The drive unit (401) is connected to the second mounting unit (502); Transmission component (402) is connected to the drive component (401) in a transmission manner. An insert (403) is disposed on the transmission member (402), and the insert (403) is made of a flexible material.

6. The force measuring device for the robotic arm according to claim 5, characterized in that, The execution component (400) further includes: A telescopic bracket (404) is provided on the transmission member (402) and extends radially along the terminal arm; The insertion connector (405) has a delivery pipe and an interface communicating with the delivery pipe; the insert (403) is sleeved inside the delivery pipe, and the interface is used to connect to an external gas source.

7. The force measuring device for the robotic arm according to claim 6, characterized in that, Also includes: A traction assembly (800) is disposed on the terminal arm and connected to the cannula connector (405); The traction assembly (800) is coaxially arranged with the terminal arm, and the extension direction of the traction assembly (800) intersects with the extension direction of the telescopic member (200).

8. The force measuring device for the robotic arm according to claim 7, characterized in that, The traction assembly (800) includes: The first connector (801) is connected to the terminal arm and extends toward the end near the cannula connector (405); A fixing connector (802) is connected to the first connector (801), and the fixing connector (802) is located at the end of the first connector (801) away from the terminal arm. The fixing connector (802) has a clamping end (8021) connected to the insertion connector (405).

9. The force measuring device for the robotic arm according to claim 8, characterized in that, The traction assembly (800) also includes: The second connector (803) is sleeved on the outer periphery of the first connector (801), and the second connector (803) has a receiving groove (8031). A pressure-sensitive sensor (804) is disposed within the receiving groove (8031); A flexible pressure strip (805) is disposed in the receiving groove (8031) and connected to the pressure sensor (804).

10. The force measuring device for the robotic arm according to claim 9, characterized in that, Also includes: A second force sensor (600) is disposed between the terminal arm and the second connector (803) and is connected to the terminal arm and the second connector (803) respectively. The second force sensor (600) is used to measure the force between the second connector (803) and the terminal arm.

11. The force measuring device for the robotic arm according to claim 9, characterized in that, Also includes: A third force sensor (700) is connected at one end to the telescopic bracket (404) and at the other end to the fixed joint (802). The third force sensor (700) is used to detect the force between the fixed joint (802) and the telescopic bracket (404).

12. The force measuring device for the robotic arm according to claim 9, characterized in that, Multiple receiving slots (8031) are provided, and the multiple receiving slots (8031) are spaced apart along the circumferential direction of the terminal arm; Multiple pressure sensors (804) are provided, and the multiple pressure sensors (804) are arranged at intervals along the circumference of the terminal arm; Multiple flexible pressure strips (805) are provided, and the multiple flexible pressure strips (805) are spaced apart along the circumferential direction of the terminal arm; The plurality of the receiving grooves (8031), the plurality of pressure sensors (804), and the plurality of flexible pressure strips (805) are arranged in a one-to-one correspondence.

13. The force measuring device for the robotic arm according to any one of claims 1-4, characterized in that, Also includes: A control unit is electrically connected to the first force sensor (300), and the control unit is configured to determine the relationship between the detected value of the first force sensor (300) and a preset value; Display (900), electrically connected to the control unit, the display (900) being configured to display the magnitude relationship between the detected value and the preset value.

14. A surgical robot, characterized in that, The force measuring device for a robotic arm as described in any one of claims 1-13.

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