CN108210078A - Surgical robot system - Google Patents

Surgical robot system Download PDF

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Publication number
CN108210078A
CN108210078A CN201710865638.5A CN201710865638A CN108210078A CN 108210078 A CN108210078 A CN 108210078A CN 201710865638 A CN201710865638 A CN 201710865638A CN 108210078 A CN108210078 A CN 108210078A
Authority
CN
China
Prior art keywords
end
surgical instrument
feature point
sleeve pipe
described sleeve
Prior art date
Application number
CN201710865638.5A
Other languages
Chinese (zh)
Inventor
姜逸之
师云雷
何裕源
朱祥
袁帅
何超
Original Assignee
微创(上海)医疗机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 微创(上海)医疗机器人有限公司 filed Critical 微创(上海)医疗机器人有限公司
Priority to CN201710865638.5A priority Critical patent/CN108210078A/en
Publication of CN108210078A publication Critical patent/CN108210078A/en
Priority claimed from PCT/CN2018/098500 external-priority patent/WO2019056871A1/en

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30Surgical robots
    • A61B34/37Master-slave robots
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70Manipulators specially adapted for use in surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37Surgical systems with images on a monitor during operation
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06Measuring instruments not otherwise provided for
    • A61B2090/064Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure

Abstract

The present invention provides a kind of surgical robot systems, including from end equipment and computing unit, it is described to include mechanical arm from end equipment, surgical instrument, casing and sensing element, the mechanical arm is used to that surgical instrument to be driven to move around fixed point, the end of described sleeve pipe and mechanical arm is detachably connected, the axis of described sleeve pipe passes through fixed point, the end of the surgical instrument and mechanical arm is detachably connected and passes through casing to distal end extension, the sensing element is arranged on the axial deformation on casing and for sensing casing, the computing unit obtains the stress of described sleeve pipe according to sensing element senses, and then obtain the radial force of surgical instrument end.The surgical robot system of the present invention has force feedback function, and the radial load of surgical instrument end is obtained in a manner of measured directly, the measurement of radial load is more accurate, and need not add additional part, reduces the quality of surgical instrument and the complexity of structure.

Description

Surgical robot system

Technical field

The present invention relates to the field of medical instrument technology, more particularly to a kind of surgical robot system.

Background technology

In the common scene of surgical operation under operating robot auxiliary, doctor operates machine in the position far from patient According to the control model of master-slave operation, the fortune from the surgical instruments of end robot in operative site is controlled with this for the main side of people It is dynamic.The form of main side includes but not limited to connect isomorphism mechanical arm, series connection isomery mechanical arm, parallel mechanical arm, ectoskeleton gloves Deng surgical instruments can be controlled in the position and orientation of operative site by these devices.

In general, there are multiple mechanical arms from end robot, surgical instrument and endoscope can be held.Field is used such Jing Zhong, there are one it is extremely important the problem of be that doctor how to be allowed accurately to experience caused by surgical instrument and organizational interaction As a result, i.e. doctor needs to obtain the appreciable instruction for the power that surgical instrument applies, which is also that tissue is applied to operation The power of instrument end.

Wherein, for Leonardo da Vinci's surgical robot system as outstanding person, having been obtained for global can.But at present Both at home and abroad, including surgical instrument in Leonardo da Vinci's system there is certain deficiencies, be mainly shown as it is following some:

(1) some operating robots do not have force feedback mechanism;The force feedback mechanism is surgical instrument practical In surgical procedure, it is impossible to feed back its practical working environment and state, this can cause doctor that can not perceive hand in operation Interference except the visual field that art instrument is encountered or can not perceive surgical instrument touches certain organizations of human body, this can very great Cheng The use that degree ground influences doctor is felt, while can influence the effect of operation, results even in operative failure.

(2) though other operating robots have force feedback system, the calculating of force feedback system thereon and structure are numerous It is miscellaneous;Existing operating robot generally realizes the force feedback of surgical instrument using indirect force feedback system, such as addition is additionally Part or transmission mechanism is measured, be changed into stressing conditions of surgical instrument etc., this is by a larger increase surgical instrument Quality and structure complexity, do not meet the design aim of robot hand art instrument.

Invention content

The purpose of the present invention is to provide a kind of surgical robot systems, are connect with solving surgical instrument end in the prior art The structure and calculate complexity and the problems such as accuracy is low that touch measures.

To achieve the above object, the present invention provides a kind of surgical robot system, including from end equipment and computing unit; Wherein, it is described to include mechanical arm, surgical instrument, casing and sensing element from end equipment;The mechanical arm is used to drive the hand Art instrument is moved around a fixed point;Described sleeve pipe and the end of the mechanical arm are detachably connected, and the axis of described sleeve pipe Line passes through the fixed point;The surgical instrument and the end of the mechanical arm are detachably connected, and pass through described sleeve pipe to Distal end extends;The sensing element is arranged on the axial deformation in described sleeve pipe and for sensing described sleeve pipe;It is described to calculate list Member obtains the stress of described sleeve pipe according to the sensing element senses, so obtain the radial direction of the surgical instrument end by Power.

Optionally, protrusion is provided on the inner wall of described sleeve pipe, the protrusion is configured as connecting with the surgical instrument Point contact is formed when tactile;Described sleeve pipe includes a reference point, and the reference point is located at the fixed point, and the protrusion with The sensing element is each provided at side of the reference point far from the mechanical arm tail end;The computing unit is according to the sensitivity Element sensing and obtain stress of the described sleeve pipe at point contact, and then obtain the radial force of the surgical instrument end.

Optionally, the quantity of the protrusion is 1;Alternatively, the quantity of the protrusion is multiple, and multiple protrusions are right Title is distributed on the inner wall of described sleeve pipe.

Optionally, described sleeve pipe is coaxially arranged with the surgical instrument and is in clearance fit with described sleeve pipe.

Optionally, described sleeve pipe includes a mounting base, and the mounting base is used for the end of the mechanical arm removably Connection.

Optionally, the sensing element is disposed relative to the protrusion closer to the position of the mechanical arm tail end.

Optionally, the sensing element is multiple, and multiple sensing elements are symmetrically distributed in the inner surface of described sleeve pipe And/or on outer surface.

Optionally, it is special to include power module, instrument shaft, fisrt feature point, second feature point and third for the surgical instrument Point is levied, the power module is connected with the proximal end of the instrument shaft, when the instrument shaft is configured as being in contact with described sleeve pipe Point contact is formed, the fisrt feature point is located at the power module and the instrument shaft junction, the second feature point position In the end of described sleeve pipe, the third feature point is located at the end of the surgical instrument;The computing unit is according to described At two characteristic points between the distance between stress, fisrt feature point and second feature point and fisrt feature point and third feature point Distance obtain the radial force at the third feature point.

Optionally, it is special to include power module, instrument shaft, fisrt feature point, second feature point and third for the surgical instrument Point is levied, the power module is connected with the proximal end of the instrument shaft, when the instrument shaft is configured as being in contact with the protrusion Point contact is formed, the fisrt feature point is located at the power module and the instrument shaft junction, the second feature point position In the protrusion and the instrument shaft touching position, the third feature point is located at the end of the surgical instrument;The calculating Unit according to the distance between stress, fisrt feature point and second feature point at the second feature point and fisrt feature point with The distance between third feature point obtains the radial force at third feature point.

Optionally, the surgical instrument includes power module and is transferred to the power output of the power module described The force transfer mechanism of surgical instrument end, the power module include the axially driving horse that a driving surgical instrument is axially moved It reaches, the computing unit obtains the surgical instrument end according to the power output of axially driving motor, the reduction ratio of transmission mechanism Axially loaded.

Optionally, the power output of the axially driving motor is calculated by motor current or sensor measurement obtains It arrives.

Optionally, coating is provided on the outer surface of the surgical instrument, to reduce the surgical instrument and described sleeve pipe Between frictional force.

Optionally, the surgical robot system further includes main side equipment, and the main side equipment includes showing power apparatus, so that Surgical instrument end radial load is perceived.

Optionally, the main hand for showing power apparatus and being equipped with motor for one, the motor and computing unit communication connection or It is described to show that power apparatus is an imaging system.

In conclusion in surgical robot system provided by the invention, including from end equipment and computing unit, wherein from End equipment includes mechanical arm, surgical instrument, casing and sensing element, and the sensing element is arranged in described sleeve pipe and for feeling The axial deformation of described sleeve pipe is surveyed, and then the computing unit obtains sleeve stress according to the sensing element senses, into And the radial force of the surgical instrument end is obtained in contact position stress according to casing.It is preferred that it is set on the inner wall of described sleeve pipe Protrusion is equipped with, the protrusion is configured as forming point contact when being in contact with the surgical instrument, and the computing unit is according to institute It states sensing element senses and obtains casing stress at point contact, and then obtain the radial force of the surgical instrument end.When The surgical instrument end is acted on by external force, and is deformed when being contacted with described sleeve pipe, and the position of contact is surgical instrument Provide a support force, the radial component (i.e. radial load) of the support force and the external force in corresponding equalising torque relationship, because This is by measuring the contact force between surgical instrument and casing, you can accurately, uniquely measures suffered by surgical instrument end Radial load, while measurement error caused by variation that surgical instrument end structure can also be avoided etc..Particularly, inside pipe casing The protrusion being equipped with is configured as forming point contact relationship with surgical instrument, by measuring connecing between casing high spot and surgical instrument Touch can further improve the accuracy of the surgical instrument end radial force of acquisition.

Compared with using the prior art of stress that motor force calculates surgical instrument end, surgical machine provided by the invention People's system, one side power conducting path is simple, and the measurement of radial load is more accurate;On the other hand the diameter of surgical instrument end is obtained It is simple to the mode of power, without adding additional part, the complexity of the structure of surgical instrument is reduced, but also convenient for peace Dress.Further, since the change to surgical instrument is less, therefore existing various surgical instrument can be in hand provided by the invention Art robot system uses.

Description of the drawings

Fig. 1 is the structure diagram of the surgical robot system of one embodiment of the invention;

Fig. 2 is the structure diagram of the surgical instrument of one embodiment of the invention;

Fig. 3 is that the surgical instrument of one embodiment of the invention passes through casing and the active force that is applied in end by tissue When schematic diagram;

Fig. 4 a are the transverse sectional views of the casing of one embodiment of the invention;

Fig. 4 b are the transverse sectional views of the casing of another embodiment of the present invention;

Fig. 4 c are the transverse sectional views of the casing of other embodiments of the invention;

Fig. 5 is the stress diagram of the surgical instrument of one embodiment of the invention;

Fig. 6 is the structure diagram of the casing of one embodiment of the invention;

Fig. 7 is the structure diagram of the casing of another embodiment of the present invention.

The reference numerals are as follows:

Operation trolley -1, mechanical arm -2, surgical instrument -3, power module -301, instrument shaft -302, end effector - 303, endoscope -4, stereo imaging system -5, main hand -6, handrail -7, patient -8, computing unit -10;

Casing -9,901- mounting base, protrusion -902, sensing element -903.

Specific embodiment

To make the purpose of the present invention, advantages and features clearer, below in conjunction with 1~7 pair of hand proposed by the present invention of attached drawing Art robot system is described in further details.It should be noted that attached drawing uses very simplified form and uses non-essence Accurate ratio, only for the purpose of facilitating and clarifying the purpose of the embodiments of the invention.As noted in the discussion, " end ", " distal end " refer to far from product operation person, close to patient one end, " head end ", " proximal end " refer to close to product operation person, One end far from patient.

Fig. 1 is the structure diagram of the surgical robot system of one embodiment of the invention, the surgical robot system packet It includes from end equipment.It is described to include operation trolley 1, mechanical arm 2, surgical instrument 3, endoscope 4 and casing 9 from end equipment.The hand Art trolley 1 supports whole mechanical mechanisms, while the operation trolley 1 can be on ground as the entire pedestal from end equipment Moved on face, enable it is described from end equipment closer or far from patient 8.

The mechanical arm 2 is installed on operation trolley 1 and with multiple degree of freedom, for the surgical instrument 3 to be driven to enclose It is moved around a fixed point (Remote Center of Motion, RCM).When the operation trolley 1 is reached near patient 8, lead to It crosses the adjustment to mechanical arm 2, surgical instrument 3 is made to reach the planned position of operation, i.e., by adjusting operation trolley 1 and mechanical arm 2, The fixed point is made to be located near sufferer position.The surgical instrument 3 is installed on the end of mechanical arm 2, can be with the machinery 2 end of arm is relatively fixed connection, can also move and connect with 2 end of mechanical arm.Surgical instrument 3 as it is entire described from The end effector of end equipment most enters patient's body focal zone, realizes the processing to lesion at last.In entire average of operation periods Between, the surgical instrument 3 needs to realize the fortune of the movement, in order to prevent surgical instrument 3 of multiple degree of freedom around the fixed point It is dynamic to lead to human body surface tissue damaged, while for the needs that sealed environment is formed in body, in surgical instrument 3 and human body table Described sleeve pipe 9 is equipped between the position of covering weave contact.Described sleeve pipe 9 and 2 end of mechanical arm are detachably connected, and the set The axis of pipe 9 passes through the fixed point.One end and the end of mechanical arm 2 of the surgical instrument 3 are detachably connected and another End by after described sleeve pipe 9 to patient's body focal zone is distally extended into, thus surgical instrument 3 can with casing 9 synchronize enclose It is rotated around the fixed point, but the surgical instrument 3 can realize one or more movements in following movement in casing 9: Axial movement and axial rotation.

The endoscope 4 is installed on the end of the mechanical arm 2 different from surgical instrument 3, and for acquiring in surgical environments Image information.The image information includes but not limited to human body sufferer organizational information and the location information of surgical instrument 3.And And it after the endoscope 4 is mounted on mechanical arm 2, connect with following main side device talks, is adopted with real-time display endoscope 4 Information in the surgical environments of collection.The endoscope 4 can be three-dimensional or non-cubic formula, specific unlimited.

As shown in Figure 1, the surgical robot system further includes main side equipment, the main side equipment include imaging system 5, Main hand 6 and handrail 7.During operation, on the one hand the information of the acquisition of the endoscope 4 is showed by imaging system 5, and doctor passes through into As system 5 can observe the movement of surgical instrument 3 in surgical procedure, while the result of doctor according to the observation passes through main hand 6 in real time Operation control the surgical instrument 3 to move in next step.In surgical procedure, doctor is observed by imaging system 5 in console and performed the operation Instrument end controls the next step of surgical instrument end to operate, and then complete in the position of patient's body and movement, and by main hand 6 Into minimally invasive surgery.Doctor manipulates surgical instrument 3 to complete the spatial movement of multidimensional by main hand 6, such as pitching, swings, oneself Turn and the actions such as folding, and then complete entire surgical procedure.The handrail 7 can support the arm of doctor, make doctor when long Between can keep higher comfort in surgical procedure, meanwhile, 7 liftable of handrail makes it meet the needs of different doctors.

Meanwhile the surgical robot system is also comprising computing unit 10, the computing unit 10 respectively with the main side Equipment and described communicated from end equipment connect, such as are connected by data cable or wireless telecommunications connection.And the calculating list Member 10 is then responsible for according to control strategy, handle sensing data and calculate, control in the Various types of data that needs.The computing unit 10 data that can be transmitted by sensing element 903 (such as deformation data, stress data) obtain the stress of casing 9, and then obtain To the stress of 3 end of surgical instrument, the force information of 3 end of surgical instrument is sent to the main side by the computing unit 10 later Equipment shows power apparatus, so that the stress of 3 end of surgical instrument is perceived.It is described to show that power apparatus be imaging system 5, with Size and the direction of 3 end stress of surgical instrument are shown in imaging system 5.

The main hand 6 for showing power apparatus and can also being provided with motor, doctor in operation, the computing unit 10 The motor of main hand 6 is controlled according to the force information of 3 end of surgical instrument, to impose active force to doctor.Obviously, from main hand 6 Control to surgical instrument 3 is the basis of surgical robot system master & slave control, in order to preferably reappear surgical procedure, that is, is reappeared The force-bearing situation of itself of surgical instrument 3 need to be fed back to main hand 6 by force-bearing situation of the surgical instrument 3 encountered in practical operation, Surgical instrument 3 is made to have the function of force feedback.Therefore, pass through the data of the sensing element 903 (such as deformation data, stress Data) obtain the stress of casing 9 after, and then the stress of 3 end of surgical instrument is obtained according to the stress of casing 9, it is later, described Computing unit 10 can send out torque command to the motor of main hand 6, so that operator experiences the stress feelings of 3 end of surgical instrument Condition.It is further preferred that the main hand 6 is additionally provided with vibrating motor.When by the sensing element 903 data (such as deformation data, by Force data) obtain 3 end of surgical instrument stress be more than predetermined threshold value after, the computing unit 10 can shaking to main hand 6 Dynamic motor sends out vibration instruction, and operator is reminded to pay attention to the larger situation of the end stress of surgical instrument 3.

Surgical robot system provided in this embodiment can measure the radial load suffered by 3 end of surgical instrument, that is, exist Power on the axis direction of surgical instrument 3.

Fig. 2 is the structure diagram of surgical instrument that one embodiment of the invention provides.As shown in Fig. 2, the surgical instrument 3 Including power module 301, instrument shaft 302, force transfer mechanism and end effector 303.The force transfer mechanism is, for example, that silk passes It is dynamic, it is contained in the instrument shaft 302, and connect respectively with power module 301 and end effector 303.The power module 301 are located at the head end (i.e. proximal end, by one end of proximal operator) of instrument shaft 302, and the end effector 303 is located at instrument shaft 302 end (i.e. distal end, one end far from operator).The power module 301 provides driving force for end effector 303, It transfers a driving force to end effector 303 by the force transfer mechanism so that end effector 303 can complete multidimensional Rotary motion and end instrument folding etc..The end effector 303 realizes the specific surgical procedure to patient's focal zone, Including shearing, detecting a flaw, the actions such as clamping, still, the present invention does not have any restrictions, Ke Yishi to the type of end effector 303 The instruments such as scissors, pliers, probe.

In addition, for the ease of detection, the surgical instrument 3 further includes a coordinate system, which is not limited in figure Rectangular coordinate system can also be cylindrical coordinate, polar coordinate system etc..It is as shown in Figures 2 and 3, described straight by taking rectangular coordinate system as an example Angular coordinate system is established there are three axis, respectively x-axis, y-axis and z-axis line, and z-axis line is set along the axis direction of instrument shaft 302 It puts, perpendicular to the axis of instrument shaft 302, y-axis determines x-axis according to right-hand rule.During actual operation, the surgical device The end (one end i.e. where end effector 303) of tool 3 occur with tissue it is interactive, and the surgical instrument 3 generally to Tissue applies the power of three axis directions, then, according to active force and reaction force principle, the end of the surgical instrument 3 It end equally can be on three axis directions by the reaction force that size is identical, direction is opposite, and in x-axis and y-axis Reaction force can be obtained by the sensing element 903, computing unit 10.This is illustrated below.

In the present embodiment, the power module 301 is connect with the proximal end of instrument shaft 302, and the instrument shaft 302 is arranged in In casing 9, preferably, the instrument shaft 302 is configured as forming point contact when being in contact with casing 9.By measure casing 9 with Contact force at 3 point contact of surgical instrument can further improve the accuracy of the surgical instrument end radial force of acquisition.

(protrusion 902 is located inside casing 9 structure diagram for the casing that Fig. 6 is provided for one embodiment of the invention, uses dotted line It represents).As shown in fig. 6, described sleeve pipe 9 includes a mounting base 901, for detachably connected with the end of mechanical arm 2.Institute It states casing 9 and further includes the protrusion 902 being arranged on 9 inner wall of casing.The sensing element 903 is pasted onto on casing 9.It is described simultaneously Casing 9 further includes a reference point (not shown, reference point is fixed relative to the position of mounting base 901), the reference point setting At the fixed point RCM.Wherein, described raised 902 and sensing element 903 be each provided at the reference point far from the mounting base 901 the same side (that is, the side of the reference point far from the mechanical arm tail end), but it is described raised 902 quick compared to described Sensing unit 903 is further from the mounting base 901, that is, farther away from the mechanical arm tail end.

During installation, the instrument shaft 302 is arranged in casing 9, while described raised 902 are configured as and instrument shaft 302 Point contact is formed during contact, preferably described instrument shaft 302 forms coaxial and clearance fit relationship with casing 9.The sensing element 903 both may be mounted on the inner surface of casing 9, can also be mounted on the outer surface of casing 9.In addition, described sleeve pipe 9 is separate One end of mounting base 901 is formed as tip, and (tip is with protrusion 902 in the reference point far from the same of the mounting base 901 Side), available for poking object, so as to expand its function.

In the present embodiment, raised 902 quantity is one.As shown in fig. 4 a, a protrusion 902 can be constructed Into the protrusion of a circular ring shape.In other embodiments, raised 902 quantity can also be multiple, such as Fig. 4 b and Fig. 4 c Shown, the protrusion 902 in figure is four, and multiple raised 902 is preferably symmetrical.However the quantity of the invention to protrusion 902 is not Make special limit.

The present invention is not particularly limited raised 902 shape, as long as ensureing that instrument shaft 302 is formed with casing 9 Point contact.Also because in this way, raised 902 axial width should be as small as possible.Such as Fig. 4 b, in one embodiment, institute It states protrusion 902 and point contact is formed by the outer surface of cambered surface and instrument shaft 302, alternatively, as illustrated in fig. 4 c, described raised 902 also Can point contact be formed by the outer surface of plane and instrument shaft 302, and the instrument shaft 302 is circular pin.

In addition, the sensing element 903 is preferably provided at the ground for being more nearly mounting base 901 relative to described raised 902 Side's (that is, being more nearly the mechanical arm tail end), preferably to sense the axial deformation of casing 9, improves the accuracy of measurement, Such as the sensing element 903 is arranged on (as shown in Figure 6) on the casing between the reference point and described raised 902.It is described The quantity of sensing element 903 is preferably several, such as three or four, more preferably symmetrical.In the present embodiment, the sensitivity Element 903 is four, and two of which is located in x-axis and is arranged symmetrically about y-axis, other two is located in y-axis and about x-axis pair Claim arrangement.The sensing element 903 is not limited to foil gage, semiconductor resistor foil gauge, piezoelectric transducer or semiconductor pressure Force snesor etc..

Fig. 3 is that the surgical instrument that one embodiment of the invention provides is made by casing and in end by tissue application Schematic diagram when firmly.As shown in figure 3, the direction that head end is directed toward in the end of desirable instrument shaft 302 is the forward direction of z-axis line, in reality In the surgical procedure of border, the end of the surgical instrument 3 will be by Fx、FyAnd FzReaction force on three directions, wherein, FxRefer to To the forward direction of x-axis, FyIt is directed toward the forward direction of y-axis, FzThe forward direction of z-axis line is directed toward, and the computing unit 10 is used to obtain wherein Radial load FxAnd FyOr both resultant force Fxy

When the end of the surgical instrument 3 is when on three axis directions by reaction force, the instrument shaft 302 will be sent out Raw deformation, and simultaneously to applying at the protrusion 902 of described sleeve pipe 9 with contact force, and it is applied to the contact force at protrusion 902 It can directly be sensed by the sensing element 903 on casing 9.And then the reaction applied according to casing 9 to instrument shaft 302 The radial direction of surgical instrument end is calculated in mechanical relationship between power and surgical instrument end radial load, the computing unit 10 Power (FxAnd FyOr Fxy).Specifically, the end of surgical instrument 3 is acted on by external force, and the instrument shaft 302 deforms When, with protrusion 902 point contact occurs for instrument shaft 302.Point contact feature prevents instrument shaft 302 from occurring further to deform, while quick Sensing unit 903 is stretched or squeezes with the axial deformation of casing 9, makes it that can perceive contact of the instrument shaft 302 to casing 9 Power, and then obtain the reaction force F of casing 9m(or with the reaction force F along x-axismxWith the reaction force F along y-axismyTable Show).

Further, aforementioned mathematical relationship can be by the fisrt feature point on instrument shaft 302 relative to second feature point and Bar between three characteristic points is grown to establish.The fisrt feature point for instrument shaft 302 proximal points (i.e. with 301 phase of power module With reference to point), the fisrt feature point is also the point that power module 301 is connected with instrument shaft 302.The second feature point position In protrusion 902 and 302 touching position of instrument shaft.The third feature point is located at the end of surgical instrument 3.It is as shown in figure 5, described The long L2 of bar between the long L1 of bar and fisrt feature point and third feature point between fisrt feature point and second feature point, Can in advance it be known by effective means.For example, the long L2 of bar can be measured and be known in advance.And the long L1 of bar is with surgical device The stretching motion of tool 3 and constantly change, therefore cannot measure and know in advance.When needing to be informed in operating robot initialization at this time The initial value L1 of the long L1 of bars.Wherein, the telescopic joint on the mechanical arm 2 drives the surgical instrument 3 relative to described Casing 9 is moved along the axially opposing of casing 9, the displacement sensor on the telescopic joint know in real time surgical instrument 3 relative to The displacement L of initial position, and then the long L1=L1 of the bar can be obtained in real times+ΔL。

Fig. 5 is the stressing conditions schematic diagram of the surgical instrument of one embodiment of the invention.As shown in figure 5, the instrument shaft 302 The resultant moment M being subject at its fisrt feature point should be zero, and resultant moment M is made of three parts, is respectively:

1st, the radial load F being subject at third feature pointxyRelative to the torque of fisrt feature point, FxyIt is FxAnd FyResultant force, FxAlong x-axis, FyAlong y-axis;

2nd, the reaction force F being subject at second feature pointm(resultant force) relative to fisrt feature point torque;

3rd, the support moment being subject at fisrt feature point.

In actual use, in view of cooperation and power module 301 and instrument shaft 302 of the casing 9 with instrument shaft 302 Connection so that the support moment that power module 301 applies instrument shaft 302 can be ignored.F at this timexyWith FmIn same One plane, while respectively at the axially vertical of instrument shaft 302.Therefore, radial load FxyThe torque formed at fisrt feature point FxyL2, with contact force FmThe torque F formed at fisrt feature pointmL1, the two is equal in magnitude and direction is on the contrary, i.e. FxyL2+ FmL1=0, wherein L1 and L2 be known parameters, FmIt is directly measured by sensing element 903 and obtains size and direction, FxyTo wait to count Obtained distal point target radial stress.That is, torque FxyL2 sizes are radial load FxySize and L2 sizes product;Together Sample, torque FmL1 sizes are reaction force FmSize and L1 sizes product.Therefore, radial load FxyIt can simply represent such as Under, negative sign represents and reaction force FmDirection is opposite.

And then for stress F of the end in z-axis line (in axial direction) of surgical instrument 3z, can be obtained by other approach It takes.In the present embodiment, it is preferable that the power module 301 includes the axially driving motor that driving surgical instrument 3 is axially moved, institute It states computing unit 10 and 3 end of surgical instrument is obtained according to power output, the reduction ratio of transmission mechanism of the axially driving motor The axially loaded F at endz.Here axial motor power output can be obtained according to the Current calculation of axial motor, and can be according to axis Sensor on motor output shaft, which directly measures, to be obtained.

Wherein, in order to avoid coming from signal interference of the instrument shaft 302 in casing 9 caused by sliding friction, it is preferred that The coating of frictional force between instrument shaft 302 and protrusion 902 can be reduced by being provided on the outer surface of instrument shaft 302, such as special Fluorine dragon coating so as to eliminate the undesirable interference signal caused by sliding friction, promotes the accuracy of axial force measuration.

You need to add is that it is the preferred embodiment of the present invention that bulge-structure is equipped in described sleeve pipe 9.People in the art Member, it should be appreciated that in casing 9 as shown in Figure 7, i.e. described sleeve pipe 9 for it is smooth, without bulge-structure, technical problem reality can also be solved Existing similar functional effect.At this point, the second feature point is located at the end of casing 9.According to the original illustrated in previous embodiment Reason and relationship, can also calculate corresponding length relation, and carry out the calculating of opponent's art instrument end radial force.

The measurement of instrument end stress of performing the operation, Computing Principle is described in detail in above-described embodiment, certainly, the present invention Cited configuration in including but not limited to above-mentioned implementation, it is any to be converted on the basis of the configuration of above-described embodiment offer Content, belong to the range protected of the present invention.It is anti-that those skilled in the art can lift one according to the content of above-described embodiment Three.

In addition, existing PLC controller, microcontroller, microprocessor etc., this field skill may be used in the computing unit 10 The common knowledge that art personnel can combine this field on the basis of the application discloses understand that how to select.

In conclusion surgical robot system provided by the invention, including from end equipment and computing unit, wherein being set from end Standby to include mechanical arm, surgical instrument, casing and sensing element, the sensing element is arranged in described sleeve pipe and for sensing institute The axial deformation of casing is stated, and then the computing unit obtains sleeve stress according to the sensing element senses, Jin Ergen According to casing the radial force of the surgical instrument end is obtained in contact position stress.It is preferred that it is provided on the inner wall of described sleeve pipe Protrusion, the protrusion are configured as forming point contact when being in contact with the surgical instrument, and the computing unit is according to described quick Sensing unit senses and obtains casing stress at point contact, and then obtain the radial force of the surgical instrument end.When described Surgical instrument end end is acted on by external force, and is deformed when being contacted with described sleeve pipe, and the position of contact is surgical device Tool end provides a support force (reaction force i.e. above), the radial direction of external force which is subject to surgical instrument end Component (i.e. radial load) is in corresponding equalising torque relationship, therefore by measuring contact force of the surgical instrument by casing, you can Accurately, the radial load suffered by surgical instrument end is uniquely measured, while surgical instrument end structure can also be avoided Measurement error caused by variation etc..Particularly, the protrusion that inside pipe casing is equipped with is configured as forming point contact with surgical instrument Relationship by measuring the contact force between casing high spot and surgical instrument, can further improve the surgical instrument end of acquisition The accuracy of radial force.

Compared with motor force is used to go to calculate the prior art of the stress of surgical instrument end, hand provided by the invention Art robot system, one side power conducting path is simple, and the measurement of radial load is more accurate;On the other hand surgical instrument end is obtained The mode of the radial load at end is simple, without adding additional part, reduces the complexity of the structure of surgical instrument, but also just In installation.Additionally due to the change to surgical instrument is less, therefore existing various surgical instrument can be provided in the present invention Surgical robot system use.

Foregoing description is only the description to present pre-ferred embodiments, not to any restriction of the scope of the invention, this hair Any change, the modification that the those of ordinary skill in bright field does according to the disclosure above content, belong to the protection of claims Range.

Claims (14)

1. a kind of surgical robot system, including from end equipment and computing unit;Wherein,
It is described to include mechanical arm, surgical instrument, casing and sensing element from end equipment;
The mechanical arm is used to that the surgical instrument to be driven to move around a fixed point;
Described sleeve pipe and the end of the mechanical arm are detachably connected, and the axis of described sleeve pipe passes through the fixed point;
The surgical instrument and the end of the mechanical arm are detachably connected, and pass through described sleeve pipe and extend to distal end;
The sensing element is arranged on the axial deformation in described sleeve pipe and for sensing described sleeve pipe;
The computing unit obtains the stress of described sleeve pipe according to the sensing element senses, and then obtains the surgical instrument The radial force of end.
2. surgical robot system as described in claim 1, which is characterized in that protrusion is provided on the inner wall of described sleeve pipe, The protrusion is configured as forming point contact when being in contact with the surgical instrument;Described sleeve pipe includes a reference point, described Reference point is located at the fixed point, and the protrusion and the sensing element are each provided at the reference point far from the mechanical arm The side of end;The computing unit obtains stress of the described sleeve pipe at point contact according to the sensing element senses, into And obtain the radial force of the surgical instrument end.
3. surgical robot system as claimed in claim 2, which is characterized in that the quantity of the protrusion is 1;Alternatively, institute The quantity for stating protrusion is multiple, and multiple protrusions are symmetrically distributed on the inner wall of described sleeve pipe.
4. surgical robot system as claimed in claim 2, which is characterized in that the sensing element is disposed relative to described The position of the closer mechanical arm tail end of protrusion.
5. such as Claims 1 to 4 any one of them surgical robot system, which is characterized in that the sensing element be it is multiple, Multiple sensing elements are symmetrically distributed on the inner surface and/or outer surface of described sleeve pipe.
6. surgical robot system as claimed in claim 1 or 2, which is characterized in that described sleeve pipe includes a mounting base, described Mounting base is used for detachably connected with the end of the mechanical arm.
7. surgical robot system as claimed in claim 1 or 2, which is characterized in that described sleeve pipe and the surgical instrument are same Axis is arranged and is in clearance fit with described sleeve pipe.
8. surgical robot system as described in claim 1, which is characterized in that the surgical instrument includes power module, device Tool bar, fisrt feature point, second feature point and third feature point, the power module are connected with the proximal end of the instrument shaft, institute State and point contact formed when instrument shaft is configured as being in contact with described sleeve pipe, the fisrt feature point be located at the power module and The instrument shaft junction, the second feature point are located at the end of described sleeve pipe, and the third feature point is located at the operation The end of instrument;The computing unit is according at the second feature point between stress, fisrt feature point and second feature point The distance between distance, fisrt feature point and third feature point obtain the radial force at the third feature point.
9. surgical robot system as claimed in claim 2, which is characterized in that the surgical instrument includes power module, device Tool bar, fisrt feature point, second feature point and third feature point, the power module are connected with the proximal end of the instrument shaft, institute Instrument shaft is stated to be configured as forming point contact when being in contact with the protrusion, the fisrt feature point be located at the power module and The instrument shaft junction, the second feature point are located at the protrusion and the instrument shaft touching position, the third feature Point is positioned at the end of the surgical instrument;The computing unit is according to stress, fisrt feature point and at the second feature point The distance between the distance between two characteristic points, fisrt feature point and third feature point obtain the radial direction at the third feature point Stress.
10. surgical robot system as claimed in claim 1 or 2, which is characterized in that the surgical instrument includes power mould Group and the transmission mechanism that the power output of the power module is transferred to the surgical instrument end, the power module packet The axially driving motor of driving surgical instrument axial movement is included, the computing unit is according to the output of the axially driving motor Power, the reduction ratio of transmission mechanism obtain the axially loaded of the surgical instrument end.
11. surgical robot system as claimed in claim 10, which is characterized in that the power output of the axially driving motor is led to Cross that motor current is calculated or sensor measurement obtains.
12. surgical robot system as claimed in claim 10, which is characterized in that set on the outer surface of the surgical instrument There is coating, to reduce the frictional force between the surgical instrument and described sleeve pipe.
13. surgical robot system as claimed in claim 1 or 2, which is characterized in that the surgical robot system further includes Main side equipment, the main side equipment includes showing power apparatus, so that the radial load of the surgical instrument end is perceived.
14. surgical robot system as claimed in claim 13, which is characterized in that described to show that power apparatus is equipped with motor for one Main hand, the motor and computing unit communication connection or described shows that power apparatus is an imaging system.
CN201710865638.5A 2017-09-22 2017-09-22 Surgical robot system CN108210078A (en)

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CN201710865638.5A CN108210078A (en) 2017-09-22 2017-09-22 Surgical robot system
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