Instrument driver and surgical robot

Abstract

The present application relates to an instrument driver and a surgical robot. The instrument driver comprises: a carrier, a first circuit board, a power supply assembly, a drive output assembly and a first encoder, wherein the carrier has an opening; the first circuit board covers the opening and is fixedly connected to the carrier, and a through hole is formed in the first circuit board; the power supply assembly comprises a speed reduction output shaft, a portion of which passes through the through hole; the drive output assembly is connected to the speed reduction output shaft; the first encoder comprises a first encoder moving part and a first encoder fixed part, and the first encoder fixed part serves as at least a portion of the structure of the first circuit board; and at least one of the drive output assembly, the first encoder moving part and the speed reduction output shaft is connected to the first circuit board via a dynamic sealing structure.

Description

Instrument actuators and surgical robots

[0001] Cross-references

[0002] This application claims priority to Chinese patent applications entitled “Instrument Driver and Surgical Robot” with application number 2023112831819 filed on September 27, 2023, and entitled “Instrument Driver and Surgical Robot” with application number 2023226687715 filed on September 27, 2023, which are incorporated herein by reference in their entirety. Technical Field

[0003] The present application relates to the field of surgical robots, and in particular to an instrument driver and a surgical robot. Background Art

[0004] Medical surgical robots offer advantages such as accurate positioning, stable operation, strong dexterity, a large working range, and immunity to radiation and infection, making them widely used in various surgeries. The use of medical surgical robots helps improve surgical precision, addressing hand tremors, fatigue, and muscle and nerve feedback, allowing surgeons to perform surgeries in the most comfortable state. This is of great value in improving surgical success rates and alleviating patient pain. In recent years, research on these robots has become a new area of ​​medical device application.

[0005] Surgical robots usually have surgical instrument drive output components at the end of one or more of their robotic arms to accommodate the need to replace and adapt a variety of surgical instruments to complete various actions during the operation in different types of surgeries and throughout the entire operation. In other words, the instrument driver is a special instrument used to support, clamp and drive the robotic arm of the surgical robot. Since the robotic arm dedicated to the surgical robot usually has multiple (4 to 6) degrees of freedom, it is necessary to equip the instrument driver with the same number of degrees of freedom to provide corresponding drive units for the robotic arm. Each set of drive units consists of independent motors, encoders, reducers and other components.

[0006] However, the inventors have discovered that, in some cases, foreign matter may affect the aforementioned components, thereby affecting the movement accuracy of the instrument driver and the surgical robot.

[0007] Summary of the Invention

[0008] According to a first aspect of an embodiment of the present application, there is provided an instrument driver for use in a surgical robot, the instrument driver comprising:

[0009] a carrier having an opening;

[0010] a first circuit board, the first circuit board covering the opening and fixedly connected to the carrier, the first circuit board and the carrier enclosing a receiving space; the first circuit board is provided with a through hole for connecting the receiving space with the outside world;

[0011] a power supply assembly, the power supply assembly comprising a reduction output shaft, at least a portion of the reduction output shaft being located in the accommodation space, another portion of the reduction output shaft passing through the through hole and extending out of the accommodation space, the reduction output shaft being rotatable about its own axis;

[0012] a drive output assembly connected to the reduction output shaft, capable of coaxially rotating with the reduction output shaft, and located at an end of the reduction output shaft away from the accommodation space;

[0013] A first encoder, the first encoder comprising:

[0014] a first encoder movable portion, the first encoder movable portion being fixedly connected to the reduction output shaft, the first encoder movable portion being able to rotate coaxially with the reduction output shaft, and the first encoder movable portion being located in the accommodation space;

[0015] a first encoder fixed portion, the first encoder fixed portion serving as at least a portion of the first circuit board, the first encoder fixed portion cooperating with the first encoder movable portion to detect rotation data of the drive output assembly;

[0016] Wherein, at least one of the drive output assembly, the first encoder moving part and the reduction output shaft is connected to the first circuit board via a dynamic sealing structure.

[0017] In some embodiments, the drive output component is connected to a first seal, which is fixedly embedded in one end of the drive output component close to the accommodating space. The first seal surrounds the through hole in the projected area of ​​the first circuit board. The first seal abuts against the end of the first circuit board away from the accommodating space. When the first seal rotates, the first seal always abuts against the first circuit board.

[0018] In some embodiments, the first encoder movable part is connected to a second seal, which is fixedly embedded in an encircling manner at one end of the first encoder movable part close to the first circuit board and abuts against the first circuit board. The second seal surrounds the outer circumference of the reduction output shaft, and the projected area of ​​the second seal on the first circuit board surrounds the through hole. When the second seal rotates, the second seal always abuts against the first circuit board.

[0019] In some embodiments, the first circuit board is connected to a third seal, the third seal is located in the through hole, the third seal is circumferentially located in the gap between the reduction output shaft and the first circuit board, and the inner ring of the third seal is against the reduction output shaft.

[0020] In some embodiments, the third seal includes an outer ring portion and an inner ring portion, the outer ring portion is circumferentially provided with a groove, the edge of the first circuit board located at the through hole is embedded in the groove, the outer ring portion covers the edge of the first circuit board located at the through hole, the inner ring portion is provided with a hole, the reduction output shaft passes through the hole, and the aperture of the hole is equal to or smaller than the outer diameter of the reduction output shaft.

[0021] In some embodiments, the thickness of the inner ring portion is smaller than the width of the groove, or the thickness of the inner ring portion is smaller than the thickness of the first circuit board at the edge of the through hole.

[0022] In some embodiments, a projection area of ​​the first encoder moving part on the first circuit board is larger than the through hole.

[0023] In some embodiments, the first encoder is configured as a photoelectric encoder, and the first encoder moving part includes at least a photoelectric code disk, and the projection area of ​​the photoelectric code disk on the first circuit board is larger than the through hole.

[0024] In some embodiments, the first encoder is configured as a photoelectric encoder, the first encoder moving part at least includes a photoelectric code disk, and the encoder fixed part at least includes a photosensitive element;

[0025] The photoelectric encoder is arranged in the accommodating space and is fixedly connected to the reduction output shaft. The light source and the photosensitive element are located on the first circuit board.

[0026] In some embodiments, the instrument driver includes multiple power supply components, multiple drive output components and multiple first encoders, the number of the multiple power supply components, the multiple drive output components and the multiple first encoders are the same and correspond one to one, and the first circuit board is provided with multiple through holes, and the multiple through holes correspond one to one to the multiple first encoders.

[0027] In some embodiments, the drive output assembly includes:

[0028] The guide plate is fixedly connected to the reduction output shaft and moves synchronously with the reduction output shaft; the sealing member is embedded in the guide plate;

[0029] The driving plate is connected to the driving plate in a sliding manner along the axial direction of the reduction output shaft, and the driving plate and the guide plate move synchronously in the radial direction.

[0030] In some embodiments, the driving plate is configured to move axially between a first position and a second position, wherein the first position is closer to the accommodation space than the second position;

[0031] When the driving disk is located at the first position, the minimum distance from the driving disk to the first circuit board is not less than the axial dimension of the sealing component.

[0032] In some embodiments, the instrument driver further comprises:

[0033] A power source, the power source is connected to the reduction gearbox and actuates the reduction output shaft to rotate;

[0034] The second encoder includes a second encoder moving part and a second encoder fixed part, the second encoder moving part is connected to the power source and is driven to rotate by the power source, the second encoder fixed part is fixed relative to the carrier, and the second encoder fixed part cooperates with the second encoder moving part to detect the rotation data of the output part of the power source.

[0035] In some embodiments, the power source is configured as a motor, the motor includes a motor output shaft, the motor output shaft is coaxially fixed with the input portion of the reduction gearbox, and the second encoder detects rotation data of the motor output shaft.

[0036] In some embodiments, the rotation axis of the motor output shaft is collinear with the rotation axis of the reduction output shaft, and the rotation axis of the first encoder moving part is collinear with the rotation axis of the second encoder moving part.

[0037] In some embodiments, the second encoder is a magnetoelectric encoder, the second encoder moving part includes at least a magnetic element, the second encoder fixed part includes at least a magnetic sensitive element, and the second encoder fixed part is spaced apart from the second encoder moving part along the rotation axis of the second encoder moving part.

[0038] In some embodiments, the instrument driver further includes a second circuit board, the second circuit board is fixedly disposed on the carrier, and the second encoder stator is fixedly disposed on the second circuit board.

[0039] In some embodiments, the drive output assembly is covered on an end of the reduction output shaft away from the accommodating space.

[0040] According to a second aspect of an embodiment of the present application, a surgical robot is provided, comprising the above-mentioned instrument driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] FIG1 is a schematic structural diagram of a surgical robot according to an embodiment of the present application.

[0043] FIG2 is another schematic structural diagram of a surgical robot according to an embodiment of the present application.

[0044] FIG3 is a schematic structural diagram of an instrument driver according to an embodiment of the present application.

[0045] FIG4 is another schematic structural diagram of an instrument driver according to an embodiment of the present application.

[0046] FIG5 is a schematic diagram showing a partial structure of an instrument driver according to an embodiment of the present application.

[0047] FIG6 is a schematic diagram of another portion of the structure of the instrument driver according to an embodiment of the present application.

[0048] FIG7 is a schematic structural diagram of a first encoder in an instrument driver according to an embodiment of the present application.

[0049] FIG8 is a schematic structural diagram of a second encoder in an instrument driver according to an embodiment of the present application.

[0050] FIG9 is a schematic structural diagram of an instrument driver according to another embodiment of the present application.

[0051] FIG10 is a schematic structural diagram of an instrument driver according to another embodiment of the present application.

[0052] FIG11 is an enlarged view of area A in FIG10 . DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. Unless otherwise defined, technical or scientific terms used in this application should have the ordinary meaning understood by a person of ordinary skill in the art to which this application belongs. The use of "a" or "an," and similar terms in this specification and claims does not indicate a limitation of quantity, but rather indicates the presence of at least one. "Multiple" means two or more. "Include" or "comprising," and similar terms mean that the elements or objects listed before "include" or "comprising" include the elements or objects listed after "include" or "comprising," and their equivalents, and do not exclude other elements or objects. "Connected" or "connected," and similar terms are not limited to physical or mechanical connections and can include electrical connections, whether direct or indirect. "On" and / or "below," and similar terms are for convenience only and are not limited to a single position or spatial orientation. As used in this specification and the appended claims, the singular forms "a," "the," and "the" are intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0055] The following mainly introduces the exemplary structure of the surgical robot and the instrument driver used thereon with reference to Figures 1 to 8.

[0056] As shown in Figures 1 and 2, the present application discloses a surgical robot 10. The surgical robot 10 includes a console 20, an imaging system 30, and a robotic arm system 40. The robotic arm system 40 includes a fixed platform 41, an operating arm 42, and an instrument driver 43. The operating arm 42 and the mechanical driver are mounted on the fixed platform 41, which can drive the components located thereon to move as a whole to the side of the patient. The operating arm 42 is used to connect to a suitable surgical instrument 44, and the instrument driver 43 is connected to the operating arm 42 to control the movement of the operating arm 42. During actual operation, the doctor can control the instrument driver 43 in the robotic arm system 40 located on the side of the patient through the console 20, thereby using the instrument driver 43 to control the operating arm 42 and the surgical instrument. A camera module (not shown) can also be fixed to the operating arm 42. The camera module can follow the surgical instrument 44 into the corresponding position in the patient's body and obtain image information of the corresponding position. The imaging system 30 can display the obtained image information to assist the doctor in completing the surgical operation.

[0057] Specifically, as shown in Figures 3 and 4 , and in conjunction with Figures 1 and 2 , the instrument driver 43 includes a housing assembly 100, an encoder assembly 200, a drive output assembly 300, and a power supply assembly 400. One end of the drive output assembly 300 is fixed to the power supply assembly 400, and the other end is connected to the surgical instrument 44. When the power supply assembly 400 is in operation, the drive output assembly 300 rotates under the power supply assembly 400, driving the surgical instrument 44 to perform corresponding movements. The encoder assembly 200 is mounted on the power supply assembly 400 to detect the rotational output accuracy of the power supply assembly 400, thereby ensuring the accuracy of the movement of the surgical instrument 44. The encoder assembly 200, drive output assembly 300, and power supply assembly 400 are all mounted on the housing assembly 100. The housing assembly 100 defines a receiving space 101, which serves to support and protect the components located in the receiving space 101.

[0058] As shown in Figures 3 and 4, the power supply assembly 400 may include a power source and a reducer 420, and the power source is connected to the reducer 420. The output shaft 421 can serve as the output component of the power supply assembly 400, and the power source can actuate the reduction output shaft 421 to rotate. The power source can be set to a motor 410. The motor 410 includes a motor output shaft 411, which is coaxially fixed with the input part of the reduction box. In other words, the motor output shaft 411 is fixedly connected to the input end of the reducer 420 and is decelerated by the reducer 420. The reducer 420 includes a reduction output shaft 421, and the drive output assembly 300 is connected to the reduction output shaft 421, so that the drive output assembly 300 or a suitable speed is achieved.

[0059] The encoder assembly 200 may include an encoder fixed part and an encoder moving part. The encoder fixed part is constructed as a part that is fixed relative to the shell assembly 100, and the encoder moving part is constructed as a part that can be rotated by a motor. The encoder assembly 200 may include a first encoder 210, and the first encoder 210 includes a first encoder fixed part and a second encoder moving part. The first encoder fixed part cooperates with the first encoder moving part to detect the rotation data of the drive output assembly. The first encoder moving part is fixedly connected to the reduction output shaft 421, and the first encoder moving part can rotate coaxially with the reduction output shaft 421. The first encoder moving part is located in the accommodating space 101 and is axially symmetrical along the axis of the reduction output shaft 421. The first encoder fixed part is configured to be fixedly connected relative to the shell assembly, and is used to detect instantaneous data or state data or continuous state data such as the rotational speed, angular velocity, and angle of the reduction output shaft 421.

[0060] In one embodiment, the housing assembly 100 may include an upper housing 110, a lower housing 130, a carrier 120 fixed to the lower housing 130, and a first circuit board. The carrier 120 has an opening 121. The first circuit board covers the opening 121 and is fixedly connected to the carrier 120. The first circuit board and the carrier 120 together form the aforementioned accommodation space 101. The first circuit board has a through hole that connects the accommodation space to the outside world. A cover structure formed by the first circuit board 212 covers the opening 121. The first encoder stator can serve as at least part of the first circuit board. The first circuit board 212 is fixed to the carrier via screws. The first circuit board 212 and the carrier 120 together enclose the accommodation space 101. The majority of the motor 410 and reducer 420 can be located in the accommodation space 101, or only a portion of the reducer can be located there. The upper housing 110 and the first circuit board 212 together enclose the transmission space 102. At least part of the drive output assembly 300 is located in the transmission space 102.

[0061] The first circuit board 212 is provided with the aforementioned through hole 211 connecting the storage space 101 and the transmission space 102. Part of the structure of the reduction output shaft 421 is located in the storage space 101, while the other part passes through the through hole 211 and extends to the outside of the storage space 101 and into the transmission space 102, connecting with the drive output assembly 300 located in the transmission space 102 and actuating the drive output assembly 300. The reduction output shaft 421 is capable of rotating about its own axis. The drive output assembly 300 is mounted and fixed to the outer periphery of the reduction output shaft 421 away from the storage space 101.

[0062] The instrument driver 43 also includes a first seal 500. The first seal 500 is circumferentially embedded in the end of the drive output assembly 300 that is closest to the receiving space 101. The first seal 500 also surrounds the outer circumference of the reduction output shaft 421, and its projected area on the first circuit board 212 encompasses the through-hole 211. Furthermore, the first seal 500 abuts the end of the first circuit board 212 that is away from the receiving space 101, thereby preventing impurities from entering the receiving space 101 through the through-hole 211. The first seal 500 can be fixedly connected to the drive output assembly 300, allowing it to rotate coaxially with the reduction output shaft 421. During rotation, the first seal 500 always abuts the first circuit board 212 that forms the cover structure. Alternatively, the first seal 500 may simply form a seal through the compression between the drive output assembly 300 and the first circuit board 212, without forming a fixed connection with either the drive output assembly 300 or the first circuit board 212.

[0063] As shown in FIG9 , in another embodiment, the instrument driver 43 may further include a second seal 500 ′. The first encoder movable portion is fixedly connected to the second seal 500 ′. The second seal 500 ′ is circumferentially embedded in an end of the first encoder movable portion near the first circuit board and abuts the first circuit board. The second seal 500 ′ surrounds the outer circumference of the reduction output shaft 421 , and the projected area of ​​the second seal 500 ′ on the first circuit board encompasses the through hole 211 . The second seal 500 ′ can rotate coaxially with the reduction output shaft 421 . Alternatively, the second seal 500 ′ forms a sealing effect solely through compression between the first encoder movable portion and the first circuit board, without forming a fixed connection with either the first encoder movable portion or the first circuit board. In summary, when the second seal 500 ′ rotates, the second seal 500 ′ always abuts the first circuit board 212 .

[0064] It should be noted that only the first seal 500 may be provided on the instrument driver, or only the second seal 500 ′ may be provided, or both the first seal 500 and the second seal 500 ′ may be provided.

[0065] The projection area of ​​the first encoder moving part on the first circuit board is larger than the through hole 21. Through the above arrangement, the second sealing member 500' can be stably arranged on the first encoder moving part.

[0066] In the above configuration, the reduction output shaft 421 passes through the through-hole 211 in the first circuit board 212, with a portion of the structure located in the receiving space 101 and the remaining portion located in the transmission space 102. Without additional sealing structures, foreign matter could enter the receiving space 101 through the transmission space 102, the gap between the inner wall of the through-hole 211, and the reduction output shaft 421, thereby affecting the operational stability of components within the receiving space 101. In this embodiment, a first seal 500 and / or a second seal 500' are provided between the drive output assembly 300 and the first circuit board 212. One end of the first seal 500 is embedded in the drive output assembly 300 to achieve a sealed connection with the drive output assembly 300; the other end abuts the first circuit board 212 to achieve a dynamic sealed connection with the first encoder 210. This reduces or prevents foreign matter from entering the receiving space 101 through the gap between the inner wall of the through-hole 211 and the reduction output shaft 421. The above operations are helpful to improve the working stability of the components located in the accommodating space 101 (including but not limited to: motor 410, reducer 420, encoder assembly 200), thereby helping to improve the movement accuracy of the instrument driver 43 and the surgical robot 10 and ensure the reliability of the surgery.

[0067] It should be noted that the instrument driver 43 includes multiple power supply components 400, multiple drive output components 300 and multiple first encoders 210. The number of reducers 420, multiple drive output components 300 and multiple first encoders 210 in the multiple power supply components 400 is the same and corresponds one to one. The first circuit board is provided with multiple through holes 211, and the multiple through holes 211 correspond one to one to the multiple first encoders 210.

[0068] As shown in Figures 10 and 11, in another embodiment, the instrument driver 43 may further include a third seal 500", and the first circuit board 212 is connected to the third seal 500". Specifically, the third seal 500" is located in the through hole 211 on the first circuit board 212, and the third seal 500" is circumferentially located in the gap between the reduction output shaft 421 and the first circuit board 212, and the inner ring of the third seal 500" is against the reduction output shaft 421. The outer ring of the third seal 500" is against the first circuit board 212.

[0069] By providing a third seal 500″ in the through hole 211, external impurities are reduced or prevented from entering the accommodating space 101 through the gap between the inner wall of the through hole 211 and the reduction output shaft 421, that is, impurities are reduced or prevented from entering the accommodating space 101 through the through hole 211, thereby helping to improve the working stability of the components located in the accommodating space 101 (including but not limited to: the motor 410, the reducer 420, and the encoder assembly 200), thereby helping to improve the movement accuracy of the instrument driver 43 and the surgical robot 10, and ensuring the reliability of the operation.

[0070] In one embodiment, the third sealing member 500" includes an outer ring portion 510 and an inner ring portion 520. The outer ring portion 510 is provided with a groove 511 in the circumferential direction, and the edge of the first circuit board 212 located at the through hole 211 is embedded in the groove 511, and the outer ring portion 510 covers the edge of the first circuit board 212 located at the through hole 211. The inner ring portion 520 is provided with a hole 521, and the reduction output shaft 421 passes through the hole 521. The aperture of the hole 521 is equal to or smaller than the outer diameter of the reduction output shaft 421. Through the above arrangement, the inner ring portion 520 and the reduction output shaft 421 can be ensured to abut each other, thereby reducing or preventing external impurities from entering the accommodating space 101 through the gap between the inner wall of the through hole 211 and the reduction output shaft 421.

[0071] In one embodiment, the thickness d1 of the inner ring portion 520 is smaller than the width d2 of the groove 511 of the outer ring portion 510, or it can also be understood that the thickness d1 of the inner ring portion 520 is smaller than the thickness d2 of the edge portion of the first circuit board 212 located at the through hole 211. In the above arrangement, the width d2 of the groove 511 of the outer ring portion 510 is larger to increase the contact area between the third seal 500" and the first circuit board 212 and ensure a fixed connection between the two. The thickness d1 of the inner ring portion 520 is smaller, which ensures that the inner ring portion 520 and the reduction output shaft 421 abut against each other to prevent impurities from passing through, while reducing the excessive heat generated by the relative movement between the two (the reduction output shaft 421 rotates and the third seal 500" does not move).

[0072] In one embodiment, the diameter of hole 521 can be set slightly smaller than the outer diameter of the reduction output shaft. This allows the reduction output shaft to slightly deform the inner ring portion of the third seal when passing through hole 521, thereby improving sealing performance. The smaller thickness d1 of the inner ring portion ensures both good sealing performance and minimizes heat generation, thereby ensuring the stability of the overall structure.

[0073] It should be noted that tolerances may occur during the processing and assembly of the reduction output shaft 421. In some cases, when the cumulative tolerance is large, after the reducer 420 or the first encoder 210 is fixedly connected, a dynamic sealing structure is formed between the code disk in the reducer 420 and the first encoder 210 and the first circuit board 212. If the gap is too small, the pressure between them will be too high, resulting in excessive axial load on the reduction output shaft 421, which is prone to jamming or even the motor not rotating. In the schemes corresponding to Figures 10 and 11, the load is in the radial direction, which can effectively reduce the impact of the above tolerances.

[0074] In one embodiment, the drive output assembly 300 is wrapped around the end of the reduction output shaft 421 away from the accommodating space 101. In this arrangement, the peripheral side of the reduction output shaft 421 exposed to the accommodating space 101 is enclosed by the entirety formed by the drive output assembly 300 and the first seal 500, thereby effectively preventing or reducing the risk of foreign matter entering the accommodating space 101 and damaging components such as the motor 410 and the reducer 420. This, in turn, helps improve the movement accuracy of the instrument driver 43 and the surgical robot 10, and ensures the reliability of the surgery.

[0075] Continuing with the illustrations in Figures 3 and 4 , and in conjunction with Figures 5 and 6 as needed, the first encoder fixed portion 214 of the first encoder 210 is fixedly mounted on the first circuit board 212. The first circuit board 212 covers the opening 121 and, together with the carrier 120, forms the accommodation space 101. The through hole 211 is located on the first circuit board 212, and the first sealing member 500 abuts against the end of the first circuit board 212 away from the accommodation space 101. The first circuit board 212 requires a large number of circuit traces and chip structures, and therefore is relatively large. Directly utilizing the larger first circuit board 212 as the structure covering the opening 121 allows for the rational use of component structures to form a relatively closed accommodation space 101, thereby avoiding or reducing the risk of damage to components such as the motor 410 and the reducer 420 from external impurities. This also maximizes space utilization. In some embodiments, the first circuit board can be replaced with another plate-like structure to form the first circuit board, thereby achieving the same function as the first circuit board in sealing the opening.

[0076] At this time, the first sealing member 500 abuts against the end of the first circuit board 212 away from the receiving space 101 , and / or the second sealing member 500 ′ abuts against the end of the first circuit board 212 close to the receiving space 101 .

[0077] As shown in Figure 7 , the first encoder 210 is a photoelectric encoder. The first encoder fixed portion 214 may include a light source and a photosensor, such as an optical signal receiving chip including a photosensor. The first encoder movable portion 213 includes at least a photoelectric encoder disk. The projected area of ​​the photoelectric encoder disk on the first circuit board is larger than the through-hole 211. The photoelectric encoder disk is disposed in the accommodating space 101 and fixedly connected to the reduction output shaft 421. The light source and photosensor are fixedly mounted on the first circuit board. The first encoder movable portion 213 is fixedly connected to the reduction output shaft 421 and can rotate synchronously with the reduction output shaft 421. The first encoder fixed portion 214 is fixed to the first circuit board 212 and electrically connected to the reading circuit on the first circuit board 212. The first encoder movable portion 213 outputs an optical signal corresponding to the rotational speed. The first encoder fixed portion 214 receives the corresponding optical signal, converts it into an electrical signal, and transmits the electrical signal to the first circuit board 212. The first circuit board 212 may also include a controller. The first circuit board 212 transmits the electrical signal to the controller, which determines the rotational speed of the reduction output shaft 421 based on the electrical signal. Through the above configuration, the speed output by the reducer 420 can be monitored in real time to ensure the movement accuracy of the instrument driver 43 and the surgical robot 10 and to ensure the reliability of the surgery. Of course, in other embodiments, the first encoder 210 can also be a magnetoelectric encoder.

[0078] In this embodiment, the first encoder movable portion 213 is disposed within the accommodating space 101 and is fixedly connected to the reducer 420. This arrangement allows the first encoder movable portion 213 to be located in a relatively enclosed space, preventing or reducing the ingress of foreign matter into the first encoder movable portion 213 and ensuring the operational reliability of the first encoder 210. Furthermore, the first encoder movable portion 213 and the first circuit board 212 are spaced apart along the axial direction of the reduction output shaft 421 to ensure the accuracy of the optical signal.

[0079] As shown in Figures 5 and 6 , in this embodiment, the instrument driver includes multiple power supply assemblies, multiple drive output assemblies, and multiple first encoders. The multiple power supply assemblies, multiple drive output assemblies, and multiple first encoders are identical in number and correspond one-to-one. The first circuit board has multiple through-holes, each corresponding one-to-one to the multiple first encoders. There are multiple first encoders 210, and the multiple first encoders 210 share the same circuit board. During actual operation, the surgical instrument 44 requires multiple movements such as yaw, pitch, and grip, requiring multiple degrees of freedom. Each degree of freedom requires a drive output assembly 300 and a corresponding first encoder 210. In other words, a surgical instrument 44 requires multiple first encoders 210 to work together. When multiple first encoders 210 share the same circuit board, not only can space be efficiently utilized, facilitating structural simplification and miniaturization, but also a larger circuit board can be used to seal the opening 121 of the carrier 120.

[0080] As shown in Figures 3 and 4, the drive output assembly 300 includes a guide plate 320 and a drive plate 310. The guide plate 320 is fixedly connected to the reduction output shaft 421 and moves synchronously with the reduction output shaft 421. It is always located in the transmission space 102 surrounded by the upper shell 110 and the carrier 120. The first seal 500 is embedded in one end of the guide plate 320 facing the opening 121. The drive plate 310 is connected to the drive plate 310 in an axial sliding manner along the reduction output shaft 421, and the drive plate 310 and the guide plate 320 move synchronously in the radial direction. A through transmission hole 111 is provided on the upper shell 110. The drive plate 310 can be slidably set in the transmission hole 111. In the above setting, the first seal 500 is arranged on the guide plate 320 which always moves synchronously with the reduction output shaft 421 to ensure a stable abutment relationship between the first seal 500 and the first encoder 210, thereby ensuring that the seal 500 can play an effective sealing role and effectively reduce or prevent external impurities from entering the accommodating space 101.

[0081] In one embodiment, the drive disk 310 is configured to move axially between a first position 321 and a second position 322, with the first position 321 being closer to the accommodating space 101 than the second position 322. When the drive disk 310 is in the first position 321, the minimum distance h1 between the drive disk 310 and the first encoder 210 is no less than the axial dimension of the first seal 500. By establishing a relationship between the distance from the drive disk 310 to the first encoder 210 and the dimensions of the first seal 500, a constant axial gap can be maintained between the drive disk 310 and the first encoder 210. This prevents collisions between the drive disk 310 and the first encoder 210 during movement, which could affect the detection accuracy of the first encoder 210 and thereby ensure the operational reliability of the first encoder 210.

[0082] Continuing with Figures 5 and 6 , encoder assembly 200 further includes a second encoder 220, which also includes a second encoder fixed portion and a second encoder movable portion. Second encoder 220 is disposed within accommodating space 101. The second encoder fixed portion is fixed relative to carrier 120, and cooperates with the second encoder movable portion to detect rotational data of the output portion of the power source.

[0083] Specifically, at least a portion of the second encoder 220 is fixedly connected to the motor output shaft 411 of the motor 410. The second encoder 220 detects the rotation data of the motor output shaft 411. By providing the second encoder 220 and the first encoder 210 simultaneously, the output speed of the motor 410 and the output speed of the reducer 420 can be simultaneously monitored in real time, which is beneficial for improving motion accuracy and facilitating real-time monitoring of the operating status of the reducer 420 (for example, determining whether there is any jamming inside the reducer 420), which is beneficial for quickly determining whether any foreign matter is affecting its normal operation.

[0084] In one embodiment, the rotation axis of the motor output shaft 411 is collinear with the rotation axis of the reduction output shaft 421, and the rotation axis of the first encoder moving part is collinear with the rotation axis of the second encoder moving part. This arrangement further improves space utilization and enhances the consistency of multiple encoders.

[0085] As shown in Figures 5 and 6, and in combination with Figure 8 when necessary, in this embodiment, the second encoder 220 is a magnetoelectric encoder, the second encoder moving part includes at least a magnetic element (for example, a magnet 223), and the second encoder fixed part includes at least a magnetic sensitive element (for example, a magnetic signal receiving chip 222). The second encoder fixed part is arranged along the rotation axis of the second encoder moving part and is spaced apart from the second encoder moving part. The second encoder 220 also includes a second circuit board 221, and the second circuit board 221, the magnetic signal receiving chip 222 and the magnet 223 are all arranged in the accommodating space 101. In some embodiments, the second circuit board 221 is fixedly arranged with the carrier 120, and the second encoder fixed part is fixedly arranged on the second circuit board. Alternatively, it can also be understood that the second circuit board is at least a partial structure of the second encoder.

[0086] The magnet 223 is fixedly connected to the motor output shaft 411 of the motor 410, and the second circuit board 221 is located at the end of the magnet 223 away from the first encoder 210. The magnet 223 rotates along with the motor output shaft 411 of the motor 410 to change the surrounding magnetic field distribution. The magnetic signal receiving chip 222 is used to receive the corresponding magnetic signal, convert it into a corresponding electrical signal, and transmit the electrical signal to the second circuit board 221. The second encoder 220 may also include a controller. The second circuit board 221 can transmit the electrical signal to the controller, and the controller determines the rotational speed of the motor output shaft 411 of the motor 410 based on the electrical signal. At the same time, the second circuit board 221 and the magnet 223 are spaced apart along the axial direction of the reduction output shaft 421. The magnetic signal receiving chip 222 and the magnet 223 are also spaced apart along the axial direction of the reduction output shaft 421 to ensure the accuracy of the magnetic signal.

[0087] In this embodiment, the first encoder is a photoelectric encoder, and the second encoder is a magnetoelectric encoder. By setting the two encoders to different types of encoders, interference between multiple encoders is avoided, thereby improving the accuracy of detection.

[0088] In this application, the structural embodiments and method embodiments may complement each other if they do not conflict.

[0089] In this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The terms "plurality" and "several" refer to two or more, unless otherwise clearly defined.

[0090] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that fall within the general scope of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0091] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. An instrument driver, which is applied to a surgical robot, the instrument driver comprising: A carrier having an opening; a first circuit board, the first circuit board cover is arranged on the opening and is fixedly connected to the carrier, the first circuit board and the carrier enclose a receiving space; the first circuit board is provided with a through hole that enables the receiving space to be connected to the outside; A power supply assembly, the power supply assembly comprising a reduction output shaft, at least a portion of the reduction output shaft is located in the accommodation space, another portion of the reduction output shaft passes through the through hole and extends out of the accommodation space, and the reduction output shaft can rotate around its own axis; A drive output assembly, the drive output assembly is connected to the reduction output shaft, the drive output assembly can rotate coaxially with the reduction output shaft, and the drive output assembly is located at an end of the reduction output shaft away from the accommodation space; A first encoder, the first encoder comprising: a first encoder movable part, the first encoder movable part is fixedly connected to the reduction output shaft, the first encoder movable part can rotate coaxially with the reduction output shaft, and the first encoder movable part is located in the accommodation space; A first encoder fixed part, the first encoder fixed part serving as at least a part of the structure of the first circuit board, the first encoder fixed part cooperates with the first encoder moving part to detect rotation data of the drive output component; Wherein, at least one of the drive output assembly, the first encoder moving part and the reduction output shaft is connected to the first circuit board via a dynamic sealing structure.

2. The instrument driver according to claim 1, wherein: The drive output component is connected to a first seal, which is fixedly embedded in one end of the drive output component close to the accommodating space. The first seal surrounds the through hole in the projection area of ​​the first circuit board. The first seal abuts against one end of the first circuit board away from the accommodating space. When the first seal rotates, the first seal always abuts against the first circuit board.

3. The instrument driver according to claim 1 or 2, wherein: The first encoder moving part is connected to a second seal, which is fixedly embedded in an end of the first encoder moving part close to the first circuit board and abuts against the first circuit board. The second seal surrounds the outer circumference of the reduction output shaft, and the projection area of ​​the second seal on the first circuit board surrounds the through hole. When the second seal rotates, the second seal always abuts against the first circuit board.

4. The instrument driver according to claim 1, wherein: The first circuit board is connected to a third seal, the third seal is located in the through hole, the third seal is circumferentially located in the gap between the reduction output shaft and the first circuit board, and the inner ring of the third seal abuts against the reduction output shaft.

5. The instrument driver according to claim 4, wherein: The third sealing component includes an outer ring portion and an inner ring portion, the outer ring portion is provided with a groove in the circumferential direction, the edge of the first circuit board located at the through hole is embedded in the groove, the outer ring portion covers the edge of the first circuit board located at the through hole, the inner ring portion is provided with a hole, the reduction output shaft passes through the hole, and the hole diameter is equal to or smaller than the outer diameter of the reduction output shaft.

6. The instrument driver according to claim 5, wherein: The thickness of the inner circle portion is smaller than the width of the groove, or the thickness of the inner circle portion is smaller than the thickness of the first circuit board at the edge of the through hole.

7. The instrument driver according to claim 1, wherein: A projection area of ​​the first encoder moving part on the first circuit board is larger than that of the through hole.

8. The instrument driver according to claim 7, wherein: The first encoder is configured as a photoelectric encoder, and the first encoder moving part at least includes a photoelectric encoder disk, and the projection area of ​​the photoelectric encoder disk on the first circuit board is larger than the through hole.

9. The instrument driver according to claim 1 or 7, wherein: The first encoder is configured as a photoelectric encoder, the first encoder moving part at least includes a photoelectric code disk, and the encoder fixed part at least includes a photosensitive element; The photoelectric encoder is arranged in the accommodating space and is fixedly connected to the reduction output shaft. The light source and the photosensitive element are located on the first circuit board.

10. The instrument driver according to claim 1 or 5, wherein: The instrument driver includes multiple power supply components, multiple drive output components and multiple first encoders. The number of the multiple power supply components, the multiple drive output components and the multiple first encoders are the same and correspond one to one. The first circuit board is provided with multiple through holes, and the multiple through holes correspond one to one with the multiple first encoders.

11. The instrument driver according to any one of claims 1 to 10, wherein: The drive output assembly comprises: A guide plate is fixedly connected to the reduction output shaft and moves synchronously with the reduction output shaft; the sealing member is embedded in the guide plate; The driving plate is slidably connected to the driving plate along the axial direction of the reduction output shaft, and the driving plate and the guide plate move synchronously along the radial direction.

12. The instrument driver of claim 11, wherein: The driving disk is used to move axially between a first position and a second position, wherein the first position is closer to the accommodation space than the second position; When the driving disk is located at the first position, the minimum distance from the driving disk to the first circuit board is not less than the axial dimension of the sealing component.

13. The instrument driver according to any one of claims 1 to 12, wherein: The instrument driver further comprises: A power source, the power source is connected to the reduction box and actuates the reduction output shaft to rotate; The second encoder includes a second encoder moving part and a second encoder fixed part, the second encoder moving part is connected to the power source and is driven to rotate by the power source, the second encoder fixed part is fixed relative to the carrier, and the second encoder fixed part cooperates with the second encoder moving part to detect the rotation data of the output part of the power source.

14. The instrument driver of claim 13, wherein: The power source is configured as a motor, the motor includes a motor output shaft, the motor output shaft is coaxially fixedly disposed with an input portion of the reduction box, and the second encoder detects rotation data of the motor output shaft.

15. The instrument driver of claim 14, wherein: The rotation axis of the motor output shaft is collinear with the rotation axis of the reduction output shaft, and the rotation axis of the first encoder moving part is collinear with the rotation axis of the second encoder moving part.

16. The instrument driver according to any one of claims 13 to 15, wherein: The second encoder is a magnetoelectric encoder, the second encoder moving part at least includes a magnetic element, the second encoder stator at least includes a magnetic sensitive element, and the second encoder stator is spaced apart from the second encoder moving part along the rotation axis of the second encoder moving part.

17. The instrument driver of claim 16, wherein: The instrument driver further includes a second circuit board, the second circuit board is fixedly arranged on the carrier, and the second encoder stator is fixedly arranged on the second circuit board.

18. An instrument driver according to any one of claims 1 to 17, wherein: The drive output assembly is covered on an end of the reduction output shaft away from the accommodating space.

19. A surgical robot, wherein: The surgical robot comprises an instrument driver according to any one of claims 1 to 18.

Images