Instrument drive box for use with surgical robot, and surgical robot

Abstract

Disclosed in the present invention are an instrument drive box for use with a surgical robot and a surgical robot. The instrument drive box comprises a moving shaft assembly. The moving shaft assembly comprises a moving shaft, a force sensor, and a force-sensing wire that are sequentially connected. A plurality of moving shaft assemblies are provided. The instrument drive box further comprises a housing assembly and a wire sleeve. The wire sleeve is mounted in the middle of the housing assembly. The plurality of moving shafts are slidably disposed on the housing assembly and are annularly arranged on a circumferential side of the wire sleeve. An end surface of the wire sleeve is provided with channels extending in an axial direction of the wire sleeve. The channels are arranged in one-to-one correspondence with the force-sensing wires. The force-sensing wires pass through the channels. In the instrument drive box, the plurality of moving shafts are mounted on the housing assembly along a circumferential direction, and the plurality of force sensing wires pass through the channels of the wire sleeve, respectively, so that the wire sleeve can separate each force sensing wire, thereby avoiding the problems of mutual interference and cross-entanglement of the plurality of force sensing wires inside a mechanism during a sliding process of the moving shafts, and improving the accuracy and stability of measurement results of the force sensors.

Description

Instrument drive box and surgical robot used in conjunction with surgical robot

[0001] This application claims priority to Chinese patent application CN202411464377.2, filed on October 18, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to a medical device, and more particularly to an instrument drive box and a surgical robot used in conjunction with a surgical robot. Background Technology

[0003] Surgical instruments used in transoral surgical robots require power from an instrument drive unit. This drive unit utilizes structures such as lead screws and guides to convert the rotational motion of a motor into the linear motion of a lead screw, thereby transmitting power to the instrument handle. The instrument handle then converts the linear motion into surgical movements at the instrument's end effector. Typically, the motor's output torque can be calculated in real-time by detecting the motor's current, thus determining the thrust of the drive unit's linear motion. However, calculating thrust using motor current is an indirect measurement method, easily affected by unstable factors such as installation concentricity, motor torque coefficient, and friction, leading to inaccurate measurements of the output thrust. Currently, pressure sensors are introduced at the output of the linear motion to accurately measure the magnitude of the drive unit's output thrust. However, the drive unit contains multiple degrees of freedom, introducing multiple pressure sensors and cables. Since the cables on the pressure sensors move with the sensors they are connected to, interference and tangling between the cables can easily occur. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of multiple cables in the prior art that are prone to interference and cross-entanglement, and to provide an instrument drive box and surgical robot for use with a surgical robot.

[0005] The present invention solves the above-mentioned technical problems through the following technical solution:

[0006] An instrument drive box for use with a surgical robot includes a moving shaft assembly. The moving shaft assembly includes a moving shaft, a force sensor, and a force sensing line connected in sequence. There are several moving shaft assemblies. The instrument drive box also includes a housing assembly and a spool. The spool is installed in the middle of the housing assembly. Several moving shafts are slidably disposed on the housing assembly and surround the periphery of the spool. The end face of the spool has a channel extending along the axial direction of the spool. The channel corresponds one-to-one with the force sensing line, and the force sensing line passes through the channel.

[0007] In this design, each moving shaft is equipped with a force sensor and connected to a force sensing wire. When an external input signal controls the moving shaft to slide back and forth via a driver, the force sensing wire moves reciprocally along with the moving shaft. The extension and retraction of each moving shaft transmits the movement to the instrument drive box handle, thereby controlling the instruments connected to the end of the instrument drive box to perform surgical operations. The instrument drive box mounts several moving shafts circumferentially on the housing assembly, and several force sensing wires are threaded through the channels of a spool. The spool separates each force sensing wire, avoiding interference and tangling between multiple force sensing wires within the mechanism during the sliding of the moving shafts, thus improving the accuracy and stability of the force sensor measurement results.

[0008] Preferably, the housing assembly includes a housing and a mounting plate. The housing has a receiving cavity with openings at both ends. Two mounting plates are respectively installed and close the openings at both ends. The mounting plate has a mounting hole in the middle. The sleeve is installed in the mounting hole. The mounting plate has a through hole. The through hole is provided in a one-to-one correspondence with the moving shaft. The moving shaft is slidably disposed in the through hole.

[0009] And / or, the middle part of the sleeve is provided with a through hole extending along its own axial direction, the through hole being used to thread a cable;

[0010] And / or, the channel is coated with lubricant.

[0011] In this solution, the housing assembly is formed by assembling the outer shell and the mounting plate, which facilitates the installation of the moving shaft, force sensor and force sensing line, and improves assembly efficiency.

[0012] In this design, a through hole is provided in the middle of the cable reel to facilitate the installation of other cables.

[0013] In this solution, applying lubricant inside the channel increases the smoothness of cable movement and reduces the impact of friction on the force sensor measurement data.

[0014] Preferably, the cross-section of the channel is an elongated slot, which extends along the radial direction of the tubing.

[0015] In this design, the channel is a long, narrow opening that extends radially along the cable reel. This allows the force sensing wire to move freely in the radial direction, reducing interference and providing space for movement to prevent excessive bending that could affect the measurement results. Typically, the force sensing wire has a rectangular cross-section, which also facilitates its placement within the long, narrow opening.

[0016] Preferably, the channel extends in a spiral winding manner along the axial direction of the spool.

[0017] In this scheme, based on the cross-section of the channel being a long strip-shaped open groove, the channel is further set in the sleeve in a spiral winding manner, which further increases the movement space of the force sensing wire and prevents the force sensing wire from bending excessively, thus affecting the measurement results.

[0018] Preferably, the angle at which the channel spirally winds the spool is an integer multiple of 360°.

[0019] In this solution, the above-mentioned structural setup ensures that the entrance and exit of the channel are aligned, facilitating assembly and debugging.

[0020] Preferably, the expression for the stretchable distance S of the force sensing line within the channel is:

[0021] Where L0 is the centerline length of the spiral design, R is the bending radius of the force sensing line, h is the cross-sectional length of the channel, and N is the number of spiral coils.

[0022] In this design, the number of turns the spiral channel makes around the spool and the elongated opening of the channel determine the distance the force sensing wire can extend and retract within the spiral channel. The spiral channel and the length of the force sensing wire designed using the above formula ensure that the extension and retraction distance of the force sensing wire matches the length of the channel, preventing excessive bending of the force sensing wire, which could affect measurement accuracy or even damage the wire.

[0023] Preferably, the force sensor is mounted on the end of the moving shaft, one end of the force sensing wire is connected to the force sensor, and the other end of the force sensing wire is used to connect to the signal receiving module.

[0024] And / or, the instrument drive box further includes a controller and a driver, the driver being connected to the moving shaft, and the controller being connected to the driver and driving the moving shaft to slide along its own axial direction via the driver.

[0025] In this scheme, the force sensing line is stretched and relaxed as the moving shaft slides. During the extension and retraction of the moving shaft, the force sensor generates a signal, which is transmitted to the signal receiving module through the force sensing line. The signal processor obtains the magnitude of the thrust based on the signal received by the signal receiving module.

[0026] In this design, the actuator drives the reciprocating sliding of the moving axis, and the controller controls the actuator to automate the operation of the surgical robot. In other designs, the signal processor and controller are typically integrated, meaning the controller performs both signal processing and control functions.

[0027] Preferably, the spool includes an inner tube and an outer tube. The outer circumferential surface of the inner tube is provided with a spiral groove extending along the axial direction of the inner tube. A plurality of the spiral grooves are evenly spaced along the circumferential direction of the inner tube. The outer tube is sleeved on the inner tube and surrounds the spiral grooves to form the channel.

[0028] In this design, the spiral groove is set on the outer circumferential surface of the inner tube, and then an outer tube is fitted over the inner tube to form a spool. This assembly method facilitates the processing of the spiral groove and improves processing efficiency.

[0029] Preferably, the spool includes an inner tube and an outer tube. The outer tube has a cavity extending through the center in the axial direction. A spiral groove extending in the axial direction is provided on the inner circumferential surface of the outer tube. A plurality of spiral grooves are evenly spaced along the circumferential direction of the outer tube. The inner tube passes through the cavity and surrounds the spiral groove to form the channel.

[0030] In this design, the spiral groove is set on the inner circumferential surface of the outer tube, and then the inner tube is inserted into the receiving cavity of the outer tube, thus forming a sleeve. This assembly method facilitates the processing of the spiral groove and improves processing efficiency.

[0031] A surgical robot includes an instrument drive box as described above for use with the surgical robot.

[0032] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0033] The significant advantages of this invention are as follows: Each movable shaft is equipped with a force sensor and connected to a force sensing wire. When an external input signal controls the movable shaft to slide back and forth via a driver, the force sensing wire moves reciprocally along with the movable shaft. The extension and retraction of each movable shaft transmits the movement to the instrument drive box handle, thereby controlling the instruments connected to the end of the instrument drive box to perform surgical operations. The instrument drive box mounts several movable shafts circumferentially on the housing assembly, and several force sensing wires are respectively threaded through the channels of a spool. The spool separates each force sensing wire, avoiding interference and tangling of multiple force sensing wires within the mechanism during the sliding of the movable shaft, thus improving the accuracy and stability of the force sensor measurement results. Attached Figure Description

[0034] Figure 1 is a partial structural schematic diagram of the instrument drive box according to a preferred embodiment of the present invention.

[0035] Figure 2 is a cross-sectional view of a partial structure of the instrument drive box according to a preferred embodiment of the present invention.

[0036] Figure 3 is a schematic diagram of the structure of a preferred embodiment of the wire sleeve of the present invention.

[0037] Figure 4 is a schematic diagram of the structure of a preferred embodiment of the wire sleeve of the present invention.

[0038] Figure 5 is a schematic diagram of the structure of the force sensing wire being stretched in the channel of the sleeve according to a preferred embodiment of the present invention.

[0039] Figure 6 is a schematic diagram of the structure in which the force sensing wire is compressed within the channel of the sleeve according to a preferred embodiment of the present invention.

[0040] Figure 7 is a schematic diagram of the outer tube of the sleeve according to a preferred embodiment of the present invention.

[0041] Figure 8 is a schematic diagram of the inner tube of the sleeve according to a preferred embodiment of the present invention.

[0042] Figure 9 is a cross-sectional structural diagram of a preferred embodiment of the present invention.

[0043] Explanation of reference numerals in the attached drawings: Moving axis assembly 1; Moving axis 11; Force sensor 12; Force sensing wire 13; Housing assembly 2; Housing 21; Mounting plate 22; Mounting hole 221; Through hole 222; Sleeve 3; Channel 31; Through hole 32; Inner tube 33; Outer tube 34; Spiral groove 35 Detailed Implementation

[0044] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0045] As shown in Figures 1-9, this embodiment discloses an instrument drive box for use with a surgical robot. The instrument drive box includes a moving shaft assembly 1, which includes a moving shaft 11, a force sensor 12, and a force sensing line 13 connected in sequence. The force sensor 12 is mounted on the moving shaft 11, and one end of the force sensing line 13 is connected to the force sensor 12. The other end of the force sensing line 13 is connected to a circuit board (signal receiving module). When an external input signal controls the moving shaft 11 to slide linearly back and forth through a driver, the force sensing line 13 will be tightened and loosened as the moving shaft 11 slides. During the extension and retraction of the moving shaft 11, the force sensor 12 will be pushed and generate a signal. The generated signal is transmitted to the circuit board through the force sensing line 13. After receiving the signal, the controller performs overall control.

[0046] As shown in Figures 1 and 2, in this embodiment, the instrument drive box further includes a housing assembly 2 and a sleeve 3. Several moving shaft assemblies 1 are arranged at intervals along the circumferential direction of the housing assembly 2. The sleeve 3 is installed in the middle of the housing assembly 2. Several moving shafts 11 slide on the housing assembly 2 and are arranged around the periphery of the sleeve 3. The end face of the sleeve 3 has a channel 31 extending along the axial direction of the sleeve 3. The channel 31 corresponds one-to-one with the force sensing wires 13, and the force sensing wires 13 pass through the channel 31. This instrument drive box mounts several moving shafts 11 circumferentially on the housing assembly 2 and passes several force sensing wires 13 through the channels 31 of the sleeve 3. The sleeve 3 can separate each force sensing wire 13, avoiding mutual interference and cross-entanglement of multiple force sensing wires 13 within the mechanism during the sliding of the moving shafts 11, thus improving the accuracy and stability of the force sensor 12 measurement results.

[0047] As shown in Figures 1 and 2, in this embodiment, the force sensor 12 is mounted on the end of the moving shaft 11. One end of the force sensing line 13 is connected to the force sensor 12, and the other end of the force sensing line 13 is used to connect to the signal receiving module (not shown in the figures). The force sensing line 13 is tightened and loosened as the moving shaft 11 slides. During the extension and retraction of the moving shaft 11, the force sensor 12 generates a signal, which is transmitted to the signal receiving module through the force sensing line 13. The signal processor obtains the magnitude of the thrust based on the signal received by the signal receiving module.

[0048] The instrument drive box also includes a controller (not shown) and a driver (not shown). The driver is connected to the moving shaft 11, and the controller is connected to the driver and drives the moving shaft 11 to slide along its own axial direction via the driver. The driver is used to drive the moving shaft 11 to slide back and forth, and the controller is used to control the driver to realize the automated operation of the surgical robot. In other embodiments, the signal processor and controller are usually integrated, that is, the controller has both signal processing and control functions.

[0049] As shown in Figures 1 and 2, the housing assembly 2 includes an outer shell 21 and mounting plates 22. The outer shell 21 has a receiving cavity with openings at both ends. Two mounting plates 22 are respectively installed on and close the openings at both ends of the outer shell 21. The mounting plates 22 have mounting holes 221 in the middle, and the sleeve 3 is installed in the mounting holes 221. The mounting plates 22 have through holes 222, which are correspondingly arranged with the moving shafts 11. The moving shafts 11 slide in the through holes 222. The housing assembly 2 is formed by assembling the outer shell 21 and the mounting plates 22, which facilitates the installation of the moving shafts 11, force sensors 12, and force sensing wires 13, and improves assembly efficiency.

[0050] As shown in Figures 1 and 2, the middle part of the sleeve 3 is provided with a through hole 32 that runs through its own axial direction. The through hole 32 is used to thread cables through, thus optimizing the structural layout.

[0051] To reduce the impact of friction on the measurement data of force sensor 12, a lubricant is applied inside channel 31 to increase the smoothness of cable movement. Preferably, the lubricant is grease.

[0052] As shown in Figures 1-6, the cross-section of channel 31 is an elongated slot, extending radially along the sleeve 3. This allows the force sensing wire 13 to move freely in the radial direction, reducing interference and providing space for its movement. This prevents the force sensing wire 13 from bending excessively and affecting the measurement results. Typically, the cross-section of the force sensing wire 13 is rectangular, which also facilitates its placement within the elongated slot.

[0053] Of course, in other embodiments, the cross-section of the channel may also be of other shapes.

[0054] As shown in Figures 1-9, based on the cross-section of channel 31 being a long strip-shaped open groove, channel 31 is extended and arranged in a spiral winding manner along the axial direction of the sleeve 3, further increasing the movement space of the force sensing line 13 and preventing the force sensing line 13 from bending excessively and affecting the measurement results.

[0055] Preferably, the spiral winding angle of the cable spool 3 in channel 31 is an integer multiple of 360°, which can make the inlet and outlet orientations of channel 31 consistent, facilitating assembly and debugging.

[0056] Of course, in other embodiments, the channel may also be arranged in other shapes within the spool.

[0057] In this embodiment, the number of turns of the spiral channel 31 wound on the bobbin 3 and the elongated opening of the channel 31 determine the stretchable distance of the force sensing wire 13 within the spiral channel 31. To match the stretchable distance of the force sensing wire 13 with the length of the spiral channel 31, the following calculation formula is designed for designing the spiral channel 31 and determining the length of the force sensing wire 13. The expression for the stretchable distance S of the force sensing wire 13 within the channel 31 is:

[0058] Where L0 is the design centerline length of the helical line, R is the bending radius of the force sensing line 13, h is the cross-sectional length of the channel 31, and N is the number of helical coils. The lengths of the channel 31 and the force sensing line 13 in the helical structure designed using the above formulas ensure that the extension / retraction distance of the force sensing line 13 matches the length of the channel 31. If the channel 31 is too short, the force sensing line 13 will bend excessively when it retracts, affecting measurement accuracy and potentially damaging the force sensing line 13.

[0059] When the moving shaft 11 slides out, the force sensing line 13 is stretched. The extreme state of the force sensing line 13 when stretched within the channel 31 is shown in Figure 5. When the moving shaft 11 retracts, the force sensing line 13 also retracts synchronously. The extreme retraction state of the force sensing line 13 within the channel 31 is shown in Figure 6. The spiral structure of the channel 31 of the sleeve 3 allows the force sensing line 13 to have a certain amount of extension between these two extreme states. This satisfies the displacement change requirements of the force sensing line 13 when the moving shaft 11 reciprocates, and solves the problems of redundancy of the force sensing line 13 and the crosstalk interference between force sensing lines 13.

[0060] As shown in Figures 7 and 8, in one embodiment, the sleeve 3 includes an inner tube 33 and an outer tube 34. A spiral groove 35 extending axially along the outer circumferential surface of the inner tube 33 is provided. Several spiral grooves 35 are evenly spaced along the circumferential direction of the inner tube 33. The outer tube 34 is fitted onto the inner tube 33, forming a channel 31 around the spiral grooves 35. By setting the spiral grooves 35 on the outer circumferential surface of the inner tube 33 and then fitting the outer tube 34 over the inner tube 33, the sleeve 3 is formed. This assembly method facilitates the processing of the spiral grooves 35 and improves processing efficiency. Compared to sleeves 3 manufactured by 3D printing, this embodiment uses a combination assembly of the inner tube 33 and the outer tube 34, enhancing the strength and rigidity of the sleeve 3 and enabling it to withstand larger external loads, thus providing support.

[0061] As shown in Figure 9, in another embodiment, the sleeve 3 includes an inner tube 33 and an outer tube 34. The outer tube 34 has a cavity extending axially through its center. A spiral groove 35 extending axially is provided on the inner circumferential surface of the outer tube 34. Several spiral grooves 35 are evenly spaced along the circumferential direction of the outer tube 34. The inner tube 33 passes through the cavity of the outer tube 34 and surrounds the spiral grooves 35 to form a channel 31. By setting the spiral grooves 35 on the inner circumferential surface of the outer tube 34 and then inserting the inner tube 33 into the cavity of the outer tube 34, the sleeve 3 is formed. This assembly method facilitates the processing of the spiral grooves 35 and improves processing efficiency.

[0062] This embodiment also discloses a surgical robot, which includes an instrument drive box used in conjunction with the surgical robot as described above.

[0063] In the description herein, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0064] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. An instrument drive box for use with a surgical robot, comprising a moving axis assembly, the moving axis assembly comprising a moving axis, a force sensor, and a force sensing line connected in sequence, characterized in that, The number of the movable shaft assemblies is several. The instrument drive box also includes a housing assembly and a sleeve. The sleeve is installed in the middle of the housing assembly. Several movable shafts are slidably disposed on the housing assembly and are arranged around the periphery of the sleeve. The end face of the sleeve has a channel extending along the axial direction of the sleeve. The channel is arranged in a one-to-one correspondence with the force sensing line, and the force sensing line passes through the channel.

2. The instrument drive box for use with a surgical robot as described in claim 1, characterized in that, The housing assembly includes an outer shell and a mounting plate. The outer shell has a receiving cavity with openings at both ends. Two mounting plates are respectively installed and close the openings at both ends. The mounting plate has a mounting hole in the middle. The sleeve is installed in the mounting hole. The mounting plate has a through hole. The through hole is arranged in a one-to-one correspondence with the moving shaft. The moving shaft is slidably disposed in the through hole. And / or, the middle part of the sleeve is provided with a through hole extending along its own axial direction, the through hole being used to thread a cable; And / or, the channel is coated with lubricant.

3. The instrument drive box for use with a surgical robot as described in claim 1 or 2, characterized in that, The channel has a long, narrow opening in cross-section, which extends radially along the spool.

4. The instrument drive box for use with a surgical robot as described in claim 3, characterized in that, The channel extends in a spiral wound manner along the axial direction of the sleeve.

5. The instrument drive box for use with a surgical robot as described in claim 4, characterized in that, The angle at which the channel spirally winds the spool is an integer multiple of 360°.

6. The instrument drive box for use with a surgical robot as described in claim 4 or 5, characterized in that, The expression for the distance S that the force sensing line can extend and retract within the channel is: Where L0 is the centerline length of the spiral design, R is the bending radius of the force sensing line, h is the cross-sectional length of the channel, and N is the number of spiral coils.

7. The instrument drive box used in conjunction with a surgical robot as described in any one of claims 1-6, characterized in that, The force sensor is mounted on the end of the moving shaft, one end of the force sensing wire is connected to the force sensor, and the other end of the force sensing wire is used to connect to the signal receiving module. And / or, the instrument drive box further includes a controller and a driver, the driver being connected to the moving shaft, and the controller being connected to the driver and driving the moving shaft to slide along its own axial direction via the driver.

8. The instrument drive box used in conjunction with a surgical robot as described in any one of claims 1-7, characterized in that, The spool includes an inner tube and an outer tube. The outer circumferential surface of the inner tube is provided with a spiral groove extending along the axial direction of the inner tube. A plurality of the spiral grooves are evenly spaced along the circumferential direction of the inner tube. The outer tube is sleeved on the inner tube and surrounds the spiral grooves to form the channel.

9. The instrument drive box used in conjunction with a surgical robot as described in any one of claims 1-8, characterized in that, The spool includes an inner tube and an outer tube. The outer tube has a cavity that extends through the center in the axial direction. The inner circumferential surface of the outer tube is provided with a spiral groove that extends in the axial direction of the outer tube. Several spiral grooves are evenly spaced along the circumferential direction of the outer tube. The inner tube passes through the cavity and surrounds the spiral groove to form the channel.

10. A surgical robot, characterized in that, It includes an instrument drive box used in conjunction with a surgical robot as described in any one of claims 1-9.

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