CN112587240A - Drive assembly, surgical instrument system and surgical robot - Google Patents

Drive assembly, surgical instrument system and surgical robot Download PDF

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Publication number
CN112587240A
CN112587240A CN202011613535.8A CN202011613535A CN112587240A CN 112587240 A CN112587240 A CN 112587240A CN 202011613535 A CN202011613535 A CN 202011613535A CN 112587240 A CN112587240 A CN 112587240A
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CN
China
Prior art keywords
driving
compliant
drive assembly
measuring
end effector
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Granted
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CN202011613535.8A
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Chinese (zh)
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CN112587240B (en
Inventor
朱祥
何裕源
何超
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Shanghai Microport Medbot Group Co Ltd
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Shanghai Microport Medbot Group Co Ltd
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Priority to CN202011613535.8A priority Critical patent/CN112587240B/en
Publication of CN112587240A publication Critical patent/CN112587240A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • A61B50/31—Carrying cases or bags, e.g. doctors' bags
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
    • H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
    • A61B50/30—Containers specially adapted for packaging, protecting, dispensing, collecting or disposing of surgical or diagnostic appliances or instruments
    • A61B50/31—Carrying cases or bags, e.g. doctors' bags
    • A61B2050/311—Cases

Abstract

The present invention relates to a drive assembly, a surgical instrument system and a surgical robot; the surgical robot comprises a mechanical arm and a surgical instrument system, the surgical instrument system comprises a surgical instrument and a driving assembly, the surgical instrument comprises an end effector, and the tail end of the mechanical arm is connected with the surgical instrument system; the driving assembly comprises a shell, a driving module, a measuring module and a fixed flange; the driving module comprises a driving motor and a driving shaft; the driving motor is accommodated in the housing; the driving motor is used for driving the end effector to move through the driving shaft; the fixed flange is connected with the driving shaft, and the fixed flange and the driving shaft are kept circumferentially and relatively static; the measuring module is used for obtaining the rotation variable quantity of the fixed flange so as to obtain the output torque of the driving motor according to the rotation variable quantity of the fixed flange and further obtain the acting force applied to the end effector. The invention improves the accuracy of the end force detection and also reduces the difficulty and cost of the force detection.

Description

Drive assembly, surgical instrument system and surgical robot
Technical Field
The invention relates to the technical field of medical instruments, in particular to a driving assembly, a surgical instrument system and a surgical robot.
Background
Micro-trauma surgery (micro-invasive surgery) refers to a surgery performed by doctors using modern medical equipment such as an abdominal endoscope and a thoracoscope and supporting instruments. Compared with open surgery, minimally invasive surgery has the advantages of small wound, less bleeding, quick recovery and the like, and is widely applied to clinical surgery. In recent years, with the development of science and technology and the improvement of medical requirements, a laparoscopic surgical robot for assisting in realizing a minimally invasive surgery has been produced and rapidly developed, and is a modern medical device integrating three systems, namely an image system, a control system, a mechanism system and the like.
The appearance of the laparoscopic surgery robot overcomes many defects of the traditional micro-trauma surgery, has the advantages of safety, reliability, flexible operation and the like, and also has the potential of implementing remote micro-trauma surgery. At present, the laparoscopic surgery robot has been popularized and applied in the fields of urology surgery, cardiac surgery, general surgery, obstetrics and gynecology, pediatrics, and the like. In a robot-assisted minimally invasive surgical procedure, the surgical instrument is the only actuator that directly contacts the diseased tissue of the patient. Therefore, for the laparoscopic surgery robot, developing a surgical instrument with a force detection function is one of the key technologies for improving the telepresence of the surgical operation of the surgeon, and is also a hot spot of the current laparoscopic surgery robot research.
Some existing surgical instruments add a force sensing detection assembly at the tail end of the instrument, but the jaw at the tail end of the instrument has more freedom and very limited volume space (the diameter of the tail end of the instrument is usually less than 10mm), and the force sensing detection assembly is difficult to arrange in the extremely small space of the jaw. Meanwhile, since the surgical instruments must be strictly sterilized before being used every time, the force-sensing detection assembly at the forceps head is extremely easy to damage by the sterilization environment. These factors result in a dramatic increase in the tooling costs and a very short useful life for this type of force sensing surgical instrument. For this reason, in some existing designs, the force sensing detection assembly is mounted on the transmission assembly to detect the force applied to the distal end of the instrument, but the electrical signal of the force applied to the distal end of the instrument acquired by the force sensing detection assembly needs to be transmitted through a conductor, and the relative movement between the components at the distal end of the instrument can wear the conductor, so that the transmission of the electrical signal can cause reliability problems due to the life loss of the conductor, and the clinical use cost is also increased.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a driving assembly, a surgical instrument system and a surgical robot, which are capable of achieving compact and highly reliable force sensing to accurately sense an output force of a driving, thereby accurately detecting an interaction force between an instrument tip and surrounding tissues, improving accuracy of tip force detection, and reducing difficulty and cost of tip force detection.
To achieve the above and other related objects, the present invention provides a driving assembly, including a housing, a driving module, a measuring module, and a fixing flange; the driving module comprises a driving motor and a driving shaft; the drive motor is accommodated in the housing; the drive motor is used for driving the end effector of the surgical instrument to move through the drive shaft; the fixed flange is connected with the driving shaft, and the fixed flange and the driving shaft are kept relatively static in the circumferential direction; the measuring module is used for acquiring the rotation variation of the fixed flange so as to acquire the output torque of the driving motor according to the rotation variation of the fixed flange, and further acquiring the acting force applied to the end effector.
Optionally, the driving assembly further includes a fixing base, the fixing base has a through mounting hole, and the fixing flange is rotatably disposed in the mounting hole.
Optionally, the measuring module comprises a compliant component and a measuring component;
the fixed flange is connected with the fixed base through the compliant component; the compliant member is configured to deform when the mounting flange rotates with the drive shaft;
the measuring component is used for measuring deformation information of the compliant component corresponding to the rotation variation of the fixed flange, so as to obtain the output torque of the driving motor according to the deformation information of the compliant component, and further obtain the acting force applied to the end effector.
Optionally, the measuring component includes a sensing element disposed on the compliant component; the sensing element is used for sensing deformation information of the compliant component.
Optionally, the sensitive element is a resistance strain gauge;
the measuring component also comprises a circuit board which is arranged on the fixed base;
the circuit board comprises a measuring circuit, and the measuring circuit is used for acquiring an electric signal of the resistance strain gauge; the measuring module is used for acquiring deformation information of the compliant component according to the electric signal or directly acquiring output torque of the driving motor.
Optionally, the measuring component includes at least four resistive strain gauges, wherein at least two resistive strain gauges are disposed on the compression side of the compliant component, and at least two resistive strain gauges are disposed on the tension side of the compliant component;
the measuring circuit comprises a Wheatstone bridge which is electrically connected with at least four resistance strain gauges; the measuring module is used for obtaining the output torque of the driving motor according to the output voltage of the Wheatstone bridge and the relation between the preset output voltage and the output torque of the driving motor.
Optionally, the measuring module includes at least two compliant components, and the fixing flange is connected to the fixing base through the at least two compliant components; the at least four resistance strain gauges are arranged on the at least two compliant components, and the directions of strain of every two of the four resistance strain gauges are opposite.
Optionally, the measuring module includes three compliant components symmetrically arranged in the circumferential direction of the fixing flange;
two resistance strain gauges are respectively arranged on any two compliant components; the strain directions of the two resistance strain gauges on each compliant component are opposite.
Optionally, the circuit board further includes an amplifying circuit, and the amplifying circuit is configured to condition and amplify the electrical signal;
the measuring module is used for acquiring deformation information of the compliant component according to the electric signal processed by the amplifying circuit or directly acquiring output torque of the driving motor.
Optionally, the sensing element is an optical fiber strain sensor;
the measuring means comprises at least one of the optical fibre strain sensors; the optical fiber strain sensor is used for outputting optical signals so as to obtain deformation information of the compliant component corresponding to the rotation variation of the fixed flange according to the optical signals.
Optionally, the measuring module includes at least two compliant components, and the fixing flange is connected to the fixing base through the at least two compliant components;
and arranging at least one optical fiber strain sensor on each compliant component, or arranging at least one optical fiber strain sensor on part of the compliant components.
Optionally, the measuring module includes three compliant components symmetrically arranged in the circumferential direction of the fixing flange;
at least one optical fiber strain sensor is arranged on each of the three compliant components, or at least one optical fiber strain sensor is arranged on one or two compliant components.
Optionally, the optical fiber strain sensor is configured to be in communication connection with an optical fiber grating demodulator, and the optical fiber grating demodulator is configured to obtain deformation information of the compliant component according to an optical signal of at least one optical fiber strain sensor, or directly obtain an output torque of the driving motor; or the measuring module is used for acquiring deformation information of the compliant component according to an optical signal of at least one optical fiber strain sensor, or directly acquiring the output torque of the driving motor.
Optionally, the measuring module includes a first measuring component and a second measuring component, the first measuring component is disposed on the fixing base, and the second measuring component is disposed on the fixing flange;
the first measuring component is used for obtaining a first numerical value of the second measuring component when the driving motor does not output torque, obtaining a second numerical value of the second measuring component when the driving motor outputs torque, and obtaining the rotation variation of the fixing flange according to the difference value of the first numerical value and the second numerical value.
Optionally, the first measuring component is a rotary encoder reading head, and the second measuring component is a rotary encoder code wheel.
Optionally, the measuring module is configured to obtain a rotation variation of the fixed flange according to a difference between the first value and the second value, and then obtain an output torque of the driving motor according to a relationship between a preset rotation variation of the fixed flange and the output torque of the driving motor, so as to obtain an acting force applied to the end effector.
Optionally, the fixing flange has a through hole, an internal spline is formed on an inner wall of the through hole, an external spline is formed on the driving shaft, and the external spline is matched with the internal spline to realize that the fixing flange and the driving shaft keep circumferential relative static.
Optionally, the number of the driving motors is multiple, the number of the measuring modules and the number of the fixing flanges are matched with the number of the driving motors, each driving motor is used for driving the end effector to complete a corresponding movement, and each measuring module is used for acquiring an output torque of the driving motor according to a rotation variation of a corresponding fixing flange, so as to acquire an acting force applied to the end effector, and finally acquire a resultant force of the acting forces applied to the end effector.
Optionally, the number of the driving motors is four, and the four driving motors are respectively used for realizing rotation, pitching, deflection and opening and closing of the end effector.
To achieve the above and other related objects, the present invention also provides a surgical instrument system including a surgical instrument including an end effector, and any one of the drive assemblies; the driving motor of the driving assembly is used for driving the end effector to move through the driving shaft.
Optionally, the surgical instrument further comprises an instrument box assembly and an instrument rod; the instrument rod is connected with the instrument box assembly and the end effector respectively; the instrument cartridge assembly is connected with the drive assembly.
In order to achieve the above objects or other related objects, the present invention further provides a surgical robot, including a robotic arm, a sterile assembly, and any one of the surgical instrument systems, wherein a distal end of the robotic arm is connected to the surgical instrument system; the mechanical arm is used for driving the surgical instrument to move, and the driving assembly is used for driving the end effector to move; the sterile assembly is connected with the drive assembly and the surgical instrument, respectively.
According to the driving assembly, the surgical instrument system and the surgical robot, the measuring module is arranged on the driving assembly, so that the implementation difficulty caused by the arrangement of the force sensing detection assembly at the tail end of the surgical instrument is avoided, and the problem that the force sensing assembly is easy to damage due to the fact that the surgical instrument needs to be sterilized before each use is also avoided. The measuring module on the driving assembly is not easy to be damaged due to frequent disinfection, the service life is prolonged, and the use cost is reduced. And because the measuring module is fixed relative to the driving module, the reliability problem can not be caused, and meanwhile, the whole system has a compact structure, the whole size of the system can not be increased, and the clinical use is convenient. Therefore, the measuring module is arranged on the driving assembly, so that the accuracy of force detection of the tail end of the instrument is improved, and the difficulty and the cost of force detection are reduced.
Drawings
Fig. 1 is a schematic view of a surgical robot provided in an embodiment of the present invention in operation.
FIG. 2 is a schematic view of the overall assembly of a surgical instrument system provided in accordance with an embodiment of the present invention;
FIG. 3 is an overall exploded view of a surgical instrument system provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an end effector provided in accordance with an embodiment of the present invention;
FIG. 5 is an assembled view of a drive assembly with a measurement module according to a first embodiment of the present invention;
FIG. 6 is an exploded view of a drive assembly with a measurement module according to a first embodiment of the present invention;
fig. 7 is a schematic arrangement diagram of a drive motor in the first embodiment of the invention;
FIG. 8 is a schematic structural view of a fixing base in the first embodiment of the present invention;
FIG. 9 is a top view of the structure of the fixing base in the first embodiment of the present invention;
fig. 10 is a partially enlarged view of a fixing flange in the first embodiment of the present invention;
FIG. 11 is a schematic diagram of a Wheatstone bridge in a first embodiment of the invention;
FIG. 12 is a schematic structural view of a fixing base in a second embodiment of the present invention;
FIG. 13 is a schematic diagram of a rotary encoder code wheel and readhead on a fixed base according to a third embodiment of this invention;
FIG. 14 is a structural diagram of a code wheel of a rotary encoder in a third embodiment of the present invention.
The reference numerals are explained below:
100-a control end; 10-a main console; 200-an execution end; 20-a surgical trolley; 30-side cart; 40-patient; 50-a surgical instrument system; 300-a master controller; 1-a drive assembly; 11-a drive module; 101-a fixed base; 101 a-a fixed flange; 1011-through hole; 101 b-a compliant member; 102-a resistive strain gauge; 102 a-a first resistive strain gauge; 102 b-a second resistive strain gauge; 102 c-a third resistive strain gauge; 102 d-a fourth resistive strain gage; 202-fiber strain sensor; 402-rotary encoder code wheel; 403-rotary encoder readhead; 103-a circuit board; 1041 — a drive motor; 1042 — a drive shaft; 105-an output drive; 12-a cover plate; 13-a body; 2-a sterile assembly; 3-surgical instruments; 301-a kit assembly; 302-an instrument shaft; 303-an end effector; 304-a swing joint; 305-pitch joint.
Detailed Description
In order to make the content of the present invention more comprehensible, the present invention is further described below with reference to the accompanying drawings and examples. It is to be understood that the invention is not limited to the specific embodiments described below, and that general alternatives known to those skilled in the art are intended to be included within the scope of the invention. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
It should be understood that in the following description, references to "upper" and "lower" components may be made based on the accompanying drawings. Spatial terms such as "below …", "below …", "below", "above", and the like are intended to facilitate describing the positional relationship of one element to another element as illustrated in the figures, and may encompass a variety of different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented, such as rotated 90 degrees or at other orientations, and the spatially relative descriptors used herein interpreted accordingly. It should also be understood that in the following description, the term "connected" includes direct connection between systems, components and parts, and also includes connection between systems, components and parts through a medium, i.e. indirect connection. In addition, as used in this specification, the singular forms "a," "an," and "the" include plural referents unless the content clearly dictates otherwise; as used in this specification, "a plurality" includes at least two unless the content clearly dictates otherwise.
Fig. 1 is a schematic view illustrating a surgical robot according to an embodiment of the present invention in operation, fig. 2 is an assembly view illustrating a surgical instrument system according to an embodiment of the present invention, and fig. 3 is an exploded view illustrating the surgical instrument system according to an embodiment of the present invention.
As shown in fig. 1, an embodiment of the present invention provides a surgical robot, which includes a control end 100, a main controller 300, and an execution end 200. The control terminal 100 includes a main console 10, and the main console 10 is provided with a main manipulator. The execution end 200 includes a surgical trolley 20, a side cart 30 and the like. Wherein a patient 40 lies on the surgical trolley 20 for surgery. The side cart 30 is provided with a mechanical arm (not labeled in the figure) for mounting the surgical instrument system 50, the tail end of the mechanical arm is connected with the surgical instrument system 50, and the mechanical arm drives the surgical instrument 3 in the surgical instrument system 50 to move, so that the adjustment of the spatial pose of the surgical instrument 3 is realized. The control end 100 and the execution end 200 form a master-slave mapping relationship. That is, the main controller 300 includes a predetermined mapping relationship, that is, the mechanical arm, the surgical instrument 3 and the main manipulator have the predetermined mapping relationship, so that the main controller 300 receives the pose of the main manipulator, and controls the mechanical arm and the surgical instrument 3 to implement actions in various directions according to the movement of the main manipulator by combining the mapping relationship, thereby completing the operation.
As shown in fig. 2 and 3, an embodiment of the present invention also provides a surgical instrument system 50 including a drive assembly 1 and a surgical instrument 3. In addition, the surgical robot further comprises a sterile assembly 2, and the surgical instrument 3, the sterile assembly 2 and the driving assembly 1 are connected in sequence. Wherein the surgical instrument 3 includes an instrument cartridge assembly 301, an instrument rod 302, and an end effector 303. The drive assembly 1 is used for providing a driving force for an end effector 303 in the surgical instrument 3; the sterile assembly 2 is used to provide a power transmission medium to the drive assembly 1 and the surgical instrument 3 on both sides (e.g., sterile side and sterile side) of a sterile device (e.g., a sterile bag) such that the drive assembly 1 transmits power to the sterile assembly 2 and the sterile assembly 2 transmits power to the surgical instrument 3, thereby driving the respective joints of the end effector 303 of the surgical instrument 3. More specifically, the instrument pod assembly 301 is coupled to the drive assembly 1 via the sterile assembly 2.
The surgical instrument 3 further includes a transmission assembly respectively connected to the instrument cartridge assembly 301 and the end effector 303. The instrument cartridge assembly 301 is used to drive the movement of the end effector 303 through the transmission assembly. The instrument rod 302 has one end connected to the instrument cartridge assembly 301 and the other end connected to the end effector 303. Typically, the instrument box assembly 301 is provided with a transmission interface, and the transmission interface of the instrument box assembly 301 receives the torque transmitted from the sterile assembly 2 and drives the instrument rod 302 to rotate, so that the instrument rod 302 drives the end effector 303 to rotate. In general, transmission interfaces are also disposed in the driving assembly 1 and the sterile assembly 2, and the transmission interfaces in the driving assembly 1 and the sterile assembly 2 are matched with the transmission interface in the instrument box assembly 301, and these transmission interfaces are connected with each other to transmit the power provided by the driving assembly 1 to the end effector 303, so that the end effector 303 performs various actions.
Further, as shown in fig. 4, the end effector 303 may include a swing joint 304, wherein the rotational axis R1 of the swing joint 304 is perpendicular to the axis R2 of the instrument lever 302. The drive interface on the instrument pod assembly 301 receives torque transmitted from the sterile assembly 2 and also drives the swing joint 304 in rotation. The swing joint 304 is used for driving the end effector 303 to perform a deflecting motion around the rotation axis R1. Preferably, the end effector 303 further comprises a pitch joint 305, and the rotation axis R1 of the roll joint 304 is perpendicular to the rotation axis R3 of the pitch joint 305. The axis of rotation R3 of the pitch joint 305 is also perpendicular to the axis R2 of the instrument bar 302. The drive interface on the instrument cartridge assembly 301 receives torque transmitted from the sterile assembly 2 and also drives the pitch joint 305 to rotate. The pitch joint 305 is used for driving the end effector 303 to perform a pitch motion around the rotation axis R3. Thus, the drive assembly 1 can control the pitch, yaw, and roll motions of the end effector 303, respectively. Preferably, the end effector 303 comprises an end effector component that performs an opening and closing motion, such as a scissor tip. The drive assembly 1 may also control the opening and closing movement of the end effector 303. It will be appreciated by those skilled in the art that the end effector 303 of the surgical instrument 3 may also be configured with other forms of motion, such as an end effector 303 having only three degrees of freedom, i.e., no opening and closing motion, etc. The present embodiment is not particularly limited thereto.
As shown in fig. 5 and 6, the driving assembly 1 includes a housing and a driving module 11 disposed in the housing. The housing of the drive assembly 1 is connected to the end of a robotic arm. Further, the end of the mechanical arm comprises a movable joint, and the housing of the driving assembly 1 is disposed on the movable joint and moves along with the movement of the movable joint. The housing comprises in particular a cover plate 12 and a body 13. The body 13 is a container with an open end. The drive module 11 is entirely housed within the body 13. The cover plate 12 is detachably or non-detachably attached to the open end of the body 13 to seal the body 13 and facilitate supporting and protecting the driving module 11. Further, the instrument lever 302 is disposed outside the housing, and preferably the instrument lever 302 is disposed at a middle position a (see fig. 3) of the housing, an axis of which is parallel to the central axis of the driving assembly 1, and the instrument lever 302 is disposed along the axis of the middle position a. Further, the side of the body 13 is provided with a mounting groove (not labeled), and the instrument rod 302 is movably disposed in the mounting groove.
The sterile assembly 2 is located on a sterile device, such as a sterile bag, and is removably connected to the drive assembly 1. Further, aseptic unit 2 includes aseptic board and sets up the driving disk (transmission interface) on aseptic board, aseptic board detachably set up in the apron 12 of casing, aseptic unit 2's driving disk is connected with drive module 11 and instrument box subassembly 301 respectively. The surgical device 1 is removably attached to the sterile plate via a device cartridge assembly 301. Further, instrument box subassembly 301 includes the instrument box and sets up the driving plate in the instrument box, aseptic board is connected to instrument box detachably, the driving plate in instrument box subassembly 301 is connected with the driving plate in aseptic subassembly 2.
As shown in fig. 6 to 7, the driving module 11 includes a driving motor 1041 and a driving shaft 1042, and the driving motor 1041 is used for driving the end effector 303 of the surgical instrument 3 to move through the driving shaft 1042. With reference to fig. 8 to 9, the driving assembly 1 further includes fixing flanges 101a, the number of the fixing flanges 101a is equal to the number of the driving motors 1041, and each fixing flange 101a is connected to the driving shaft 1042 of a corresponding one of the driving motors 1041 and keeps circumferentially relatively stationary with the driving shaft 1042. Specifically, the fixing flange 101a has a through hole 1011, and the through hole 1011 is used for mounting the driving shaft 1042.
Further, the driving assembly 1 further includes a fixing base 101 and an output driving member 105 (i.e., a transmission interface), wherein the fixing base 101 has a through mounting hole, and a fixing flange 101a is rotatably disposed in the mounting hole. Optionally, the fixing flange 101a is connected to the fixing base 101. As shown in fig. 6, the driving shaft 1042 is connected to an output driving member 105, and the output driving member 105 is connected to a transmission disc in the sterile assembly 2, so that the driving motor 1041 outputs torque through the driving shaft 1042 and the output driving member 105 to drive the end effector 303 to move. Further, the output driving member 105 is a resilient column, and may be directly connected to the driving shaft 1042 or may be connected to the driving shaft 1042 through a coupling member.
The number of drive motors 1041 corresponds to the number of degrees of freedom of the end effector 303. If the end effector 303 performs opening and closing, pitching, yawing and self-rotating movements, the number of the driving motors 1041 is four, and the four driving motors 1041 are respectively used for realizing the self-rotating, pitching, yawing and opening and closing movements of the end effector 303. It should be understood that the number of the driving motors 1041 is not limited by the present invention, that is, is not limited to four exemplified herein.
In addition, the driving assembly 1 further includes a measuring module, configured to obtain a rotation variation of the fixed flange 101a, so as to obtain an output torque of the driving motor 1041 according to the rotation variation of the fixed flange, and further obtain an acting force applied to the end effector 303. It should be understood that, when the driving motor 1041 outputs a torque, in order to keep the driving motor 1041 balanced, the torque received by the fixing flange 101a should be equal (equal in magnitude) to the torque received by the driving shaft 1042, therefore, the torque received by the fixing flange 101a can be determined according to the rotation variation of the fixing flange 101a rotating along with the driving shaft 1042, the torque received by the fixing flange 101a is the torque output by the driving motor 1041, and further, according to the output torque of the driving motor 1041, the acting force between the end effector 303 and the surrounding tissue is obtained through conventional conversion. It will be appreciated that the measurement module and drive module 11 are both disposed within the housing.
In some embodiments, the measurement module includes a compliant component 101b and a measurement component, the fixed flange 101a is connected to the fixed base 101 through the compliant component 101b, and the compliant component 101b is configured to deform when the fixed flange 101a rotates along with the driving shaft 1042, at this time, the measurement component is configured to measure deformation information of the compliant component 101b corresponding to a rotation variation of the fixed flange 101a, so as to obtain an output torque of the driving motor 1041 according to the deformation information of the compliant component 101b, and further obtain an acting force applied to the end effector 303. It should be understood that, due to the arrangement of the compliant component 101b, the fixed flange 101a and the fixed base 101 form a flexible connection, so that when the driving motor 1041 outputs power, the fixed flange 101a will be subjected to a torsion of the same magnitude according to the moment balance principle, and at this time, the compliant component 101b is subjected to a force deformation, which can be monitored by the measuring component. Further, the measuring component includes a sensing element disposed on the compliant component 101b, and the sensing element is configured to sense deformation information of the compliant component 101 b.
As shown in fig. 8, the sensing element may be a resistance strain gauge 102, and the measuring module is configured to obtain deformation information of the compliant component 101b according to an electrical signal of the resistance strain gauge, or directly obtain an output torque of the driving motor 1041. Further, the measuring component comprises at least four resistance strain gauges 102, wherein at least two resistance strain gauges 102 are arranged on the compression side of the compliant component 101b, and at least two resistance strain gauges 102 are arranged on the tension side of the compliant component 101 b. It should be understood that the position of the resistance strain gauge 102 on the compliant component 101b is not particularly limited as long as the sensitive direction of the resistance strain gauge 102 is consistent with or opposite to the strain trend generated by the moment, and the change trend of the strain in two of the four resistance strain gauges 102 is opposite. Typically, the resistive strain gage 102 is affixed to the compliant member 101b in a more sensitive area, which can be determined by computer simulation. In addition, the measuring component further includes a circuit board 103 (fig. 6) disposed on the fixed base 101, the circuit board 103 and the fixed base 101 are both provided with notches (not labeled) avoiding the mounting grooves, wherein the circuit board 103 and the output driving member 105 are located on two opposite sides of the fixed base 101. Further, the circuit board 103 includes a measuring circuit, the measuring circuit is configured to obtain an electrical signal of the resistance strain gauge 102, and the measuring module is configured to obtain deformation information of the compliant component 101b according to the electrical signal of the resistance strain gauge 102, or directly obtain an output torque of the driving motor 1041. Further, as shown in fig. 11, the measuring circuit includes a wheatstone bridge electrically connected to at least four of the resistive strain gauges 102, and the measuring module is configured to obtain the output torque of the driving motor 1041 according to the output voltage of the wheatstone bridge and a preset relationship between the output voltage and the output torque of the driving motor. It should be understood that the measurement circuit includes, but is not limited to, a wheatstone bridge, and the present invention is not limited to the structure of the measurement circuit.
In more detail, as shown in fig. 10, 4 resistance strain gauges 102 are respectively defined as a first resistance strain gauge 102a, a second resistance strain gauge 102b, a third resistance strain gauge 102c and a fourth resistance strain gauge 102d, the 4 resistance strain gauges 101 are sequentially arranged along the circumferential direction, optionally, the first resistance strain gauge 102a and the second resistance strain gauge 102b are arranged on two opposite sides of the same compliant component 101b, the third resistance strain gauge 102c and the fourth resistance strain gauge 102d are arranged on two opposite sides of the other same compliant component 101b, and the directions of two-to-two strain of the four resistance strain gauges 102 are opposite.
Further referring to fig. 11, the resistance corresponding to the first resistance strain gauge 102a is R1, the resistance corresponding to the second resistance strain gauge 102b is R2, the resistance corresponding to the third resistance strain gauge 102c is R3, and the resistance corresponding to the fourth resistance strain gauge 102d is R4, these resistance strain gauges form a wheatstone bridge, the wheatstone bridge is powered by a power supply, and the power supply voltage is defined as U. The Wheatstone bridge has the advantages of high precision, low requirement on a required test circuit, good anti-interference capability, small temperature drift coefficient and the like. In the wheatstone bridge, when there is no torque output, the difference of the resistance values of the resistors R1 and R2 of the upper bridge is required to be as small as possible, and the difference of the resistance values of the resistors R3 and R4 of the lower bridge is also required to be as small as possible. Therefore, when the driving motor 104 outputs torque through the driving shaft 1042 to drive the end effector 303, torque of the same magnitude acts on the compliant member 101b, and the torque causes the compliant member 101b to deform, the resistance strain gauge 102 adhered to the compliant member 101b also deforms, and the resistance of the resistor corresponding to the resistance strain gauge 102 also changes, which causes the output voltage U0 to change, for example, R1 becomes larger, R2 becomes smaller, R4 becomes larger, R3 becomes smaller, and the output voltage U0 becomes larger.
The output voltage U0 is calculated according to the following principle:
U0＝UDB＝UAB-UAD (1)
Figure BDA0002875691460000131
Figure BDA0002875691460000132
when in use
Figure BDA0002875691460000133
When it is, then
Figure BDA0002875691460000134
Where Δ R is a variation of the resistance values of the first resistive strain gauge 102a and the second resistive strain gauge 102b, and Δ R' is a variation of the resistance values of the third resistive strain gauge 102c and the fourth resistive strain gauge 102 d. When the arrangement positions of the 4 resistance strain gauges 102 are equivalent and the materials and shapes of the compliant members 101b are the same, it can be considered that Δ R is equivalent to Δ R'.
It should be appreciated that the U0 change is proportional to the torque output by the drive motor 1041 through the drive shaft 1042, and therefore, the signal U0 is calibrated to determine the output torque of the drive motor 1041. In this way, the output torque of the drive motor 1041 that drives the end effector 303 can be obtained by the resistance strain gauge 102.
Further, the measuring module comprises at least two compliant components 101b, and the fixing flange 101a is connected with the fixing base 101 through at least two compliant components 101 b. At least four resistance strain gauges 102 are at least arranged on two compliant members 101b, and the directions of strain of every two of the four resistance strain gauges 102 are opposite to form a wheatstone bridge shown in fig. 11. In an embodiment of the present invention, the measuring module includes three compliant components 101b, and the compliant components 101b are symmetrically arranged in the circumferential direction of the fixing flange 101a, wherein two resistive strain gauges 102 are respectively disposed on any two compliant components 101b, and the strain directions of the two resistive strain gauges 102 on each compliant component 101b are opposite, for example, a first resistive strain gauge 102a and a second resistive strain gauge 102b are disposed on the same compliant component 101b and located on two opposite sides in the circumferential direction, so that the strain directions of the first resistive strain gauge 102a and the second resistive strain gauge 102b are opposite, a third resistive strain gauge 102c and a fourth resistive strain gauge 102d are disposed on the other compliant component 101b and located on two opposite sides in the circumferential direction, so that the strain directions of the third resistive strain gauge 102c and the fourth resistive strain gauge 102d are opposite, wherein, the first and third resistive strain gages 102a and 102c have the same strain direction, and the second and fourth resistive strain gages 102b and 102d have the same strain direction.
Preferably, the circuit board 103 further includes an amplifying circuit, and the amplifying circuit is configured to condition and amplify the electrical signal output by the wheatstone bridge. Further, the measuring module includes a calculating unit, configured to obtain deformation information of the compliant component 101b according to the conditioned and amplified electrical signal, and obtain the output torque of the driving motor, or directly obtain the output torque of the driving motor. Furthermore, according to the configuration of the surgical instrument, the output torque of the driving motor is converted into the clamping force of the end effector, the deflection force and/or the rotating force of the end joint through a transmission component such as a wire wheel and a wire by using the lever principle, the pulley principle and the like, and finally the resultant force of the end effector on the acting force of the surrounding tissues is calculated. Further, the related functions of the computing unit may be implemented by an external processing device such as the main controller 300.
In this embodiment, the number of the measurement modules, the number of the fixing flanges 101a, and the number of the driving motors 1041 are matched, if the number of the driving motors 1041 is multiple, the number of the measurement modules is multiple, each driving motor 1041 is matched with a corresponding fixing flange 101a through the driving shaft 1042, and each measurement module is configured to obtain an output torque of the driving motor 1041 according to a rotation variation of a corresponding fixing flange 101a, further obtain an acting force applied to the end effector 303, and finally obtain a resultant force of the acting forces applied to the end effector 303.
Further, as shown in fig. 7 and 8, the driving shaft 1042 is connected with the fixed flange 101a by a spline. Optionally, an external spline (i.e., a protrusion, not shown) is disposed on the driving shaft 1042, an internal spline (i.e., a groove, not labeled) is disposed in the through hole 1011 of the fixed flange 101a, and the fixed flange 101a and the driving shaft 1042 are circumferentially kept relatively stationary by the cooperation between the external spline and the internal spline.
In an alternative embodiment, as shown in fig. 12, the sensing element 102 may also be an optical fiber strain sensor 202, and each measuring component includes at least one optical fiber strain sensor 202. The optical fiber strain sensor 202 is configured to output an optical signal, so as to obtain deformation information of the compliant component 101b corresponding to a rotation variation of the fixing flange 101a according to the optical signal. Further, the fiber strain sensor 202 is used to connect with an external fiber grating demodulator. The fiber grating demodulator is used for acquiring deformation information of the compliant component 101b corresponding to the rotation variation of the fixing flange 101a according to an optical signal output by at least one fiber strain sensor 202, and at the moment, the circuit board 103 can be cancelled. In other embodiments, the deformation information of the compliant member 101b corresponding to the rotation variation of the fixed flange 101a can also be obtained by the calculation unit in the measurement module. At this time, the computing unit is configured to obtain deformation information of the compliant component 101b corresponding to a rotation variation of the fixing flange 101a or directly obtain an output torque of the driving motor according to an optical signal of at least one optical fiber strain sensor 202. It will be appreciated that the number of fiber strain sensors 202 is at least comparable to the number of degrees of freedom of the end effector 303.
The present invention has no particular limitation on the arrangement of the optical fiber strain sensor 202 on the compliant member 101b, as long as the optical fiber sensitive direction coincides with the strain direction of the moment. For example, the optical fiber strain sensor 202 is attached horizontally to a compliant member 101 b. The present embodiment has no particular limitation on the type of the optical Fiber strain sensor 202, and is, for example, a Fiber Grating, preferably a Fiber Bragg Grating (FBG). The fiber grating demodulator is located separately from the fiber strain sensor 202 and connected thereto by an optical fiber, such as the fiber grating demodulator is located on a patient operating trolley. The optical fiber here may be a general optical fiber.
Taking fiber bragg grating as an example, in the sensing process, a fiber bragg grating demodulator sends out a broadband light source to enter the fiber strain sensor 202 through an optical fiber, and the fiber strain sensor 202 modulates optical waves under the action of external force and temperature change; the light wave with the external modulation information is reflected by the optical fiber strain sensor 202 and enters a receiving device inside the fiber grating demodulator for demodulation.
According to the theory of fiber coupling mode, the resonance equation of the fiber bragg grating is as follows:
λB＝2neffΛ (5)
in formula (5), λBIs the central wavelength of the fiber Bragg grating; n iseffIs the core effective refractive index; and Λ is the grating period.
From this, it can be seen that the center wavelength of the optical fiber strain sensor 202 is refracted by the effective value of the core neffAnd the grating period Λ. Differentiation of equation (5) yields:
ΔλB＝2ΔneffΛ+2neffΔΛ (6)
from the formula (6), neffAnd/or lambda changes, the central wavelength lambda of the fiber Bragg gratingBDrift may also occur. Wherein: delta lambda is the variation of the grating period; Δ neffIs the change in the effective index of the core.
Due to the fact thatWhether the fiber bragg grating is stretched or compressed, the grating period Λ is caused to vary. In addition, the elasto-optical effect of the fiber Bragg fiber determines the effective refractive index n of the fiber Bragg fibereffIt must change with the change of the external stress state. In addition, the pitches of the fiber grating are distributed along the axial direction of the fiber, so that under the action of external conditions such as temperature, pressure and the like, the fiber generates axial strain, the refractive index is changed, the pitch is changed, and the wavelength of reflected light is changed. The relationship between the change of the central wavelength of the reflected light and the temperature T and the strain epsilon is as follows:
Figure BDA0002875691460000171
wherein: alpha is alphafIs the thermal expansion coefficient of the Bragg grating; peThe elasto-optic coefficient of the Bragg grating; delta T is the temperature change of the fiber Bragg grating; delta epsilon is the strain change of the fiber Bragg grating; xi is the thermo-optic coefficient of the Bragg grating; delta lambdaBIs the change in the center wavelength of the fiber bragg grating.
Thus, the wavelength shift of the bragg grating caused by the stress strain can be expressed by the following formula:
ΔλB＝λB(1-Pe)Δε＝KΔε (8)
in the formula (8), K is the sensitivity for measuring strain.
The wavelength shift of the bragg grating caused by the temperature change can be expressed by the following formula:
ΔλB＝KTΔT＝(αf+ξ)ΔT (9)
in the formula (9), KTIs a temperature dependent sensitivity. Therefore, under the same temperature environment, the fiber grating temperature compensation sensor can overcome the influence of temperature on strain measurement. This therefore makes the stress strain the most direct external factor reflecting the wavelength shift that causes the grating bragg.
Therefore, the change in the grating bragg wavelength is proportional to the torque output by the drive motor 1041 through the drive shaft 1042. The center wavelength of the fiber bragg grating is calibrated to determine the output torque of the force driving motor 1041. In this way, the output torque of the drive motor 1041 that drives the end effector 303 can be obtained. Further, the force between the end effector 303 and the surrounding tissue is converted by a conventional technique according to the output torque of the driving motor 1041.
In this embodiment, when the fixing flange 101a is connected to the fixing base 101 through at least two compliant components 101b, at least one optical fiber strain sensor 202 is disposed on each compliant component 101b, or at least one optical fiber strain sensor 202 is disposed on a part of the compliant components 101b, for example, the measurement module includes three compliant components 101b, and the compliant components 101a are symmetrically arranged in the circumferential direction, and at this time, at least one optical fiber strain sensor 202 is preferably disposed on each of the three compliant components 101b, so as to improve the accuracy and precision of detection. In other embodiments, at least one of the optical fiber strain sensors 202 may be disposed on one or two of the compliant members 101b, i.e., one or two of the three compliant members 101b are provided with optical fiber strain sensors 202.
In addition to directly sensing the deformation of the compliant member 101b, the measuring member can also directly measure the rotation angle of the fixing flange 101a when rotating with the driving shaft 1042. At this time, the measuring module includes a first measuring part provided on the fixed base 101 and a second measuring part provided on the fixed flange 101 a; the first measuring component is used for obtaining a first value of a second measuring component when the driving motor 1041 does not output torque, and obtaining a second value of the second measuring component when the driving motor 1041 outputs torque, and further obtaining a rotation variation of the fixing flange 101a according to a difference value between the first value and the second value.
As further shown in fig. 13 and 14, the second measuring member is a rotary encoder code wheel 402, the first measuring member is a rotary encoder read head 403, and the rotary encoder code wheel 402 is disposed on the fixed flange 101a and coaxially arranged. The rotary encoder readhead 403 is positioned on the fixed base 101 such that the rotary encoder readhead 403 remains stationary relative to the fixed base 101, thereby measuring the rotational angle of the rotary encoder disc 402 as the fixed flange 101a rotates with the drive shaft 1042 using the rotary encoder readhead 403. As the mounting flange 101a rotates with the drive shaft 1042, the rotary encoder readhead 403 will detect the angular change in the rotary encoder disk 402 due to micro-strain. More specifically, when the driving motor 1041 does not output torque force, the code wheel reading P1 (first numerical value) of the rotary encoder at the position at this time is recorded, and when the driving motor 1041 outputs torque, the rotary encoder reading head 403 will sense the micro-motion generated by the code wheel, and the code wheel reading of the rotary encoder at this time is P2 (second numerical value). While the change in the code wheel reading of the rotary encoder (the difference between P2 and P1) is proportional to the torque output by the drive motor 104. The strain value of the signal is calibrated to determine the output torque of the driving motor 1041. At this time, the compliant member 101b may be eliminated, and the compliant member 101b may remain, so that it is not necessary to measure the strain of the compliant member 101b again. Furthermore, the calculation unit may be in communication connection with the rotary encoder, so that the calculation unit obtains the rotation variation of the fixed flange 101a according to the difference between the first value and the second value, and then obtains the output torque of the driving motor according to a preset relationship between the rotation variation of the fixed flange 101a and the output torque of the driving motor 1041, so as to obtain the acting force applied to the end effector 303.
It should be noted that the present invention is not limited to the type of the measuring unit, and the manner of processing the information output from the measuring unit is not limited, and the information may be processed by an external device or a unit provided in the system. In addition, the structure of the sterile module 2 is not particularly limited in the present invention, and generally, a conventional sterile module 2 can be used. In addition, the invention has no requirement on the type of the end effector 303, can be selected from parts needing deflection and opening and closing movement, such as straight scissors, arc scissors, electric coagulation forceps, needle holders, forceps, grasping forceps and the like, and can be used for realizing actions of shearing, suturing, knotting and the like in the operation process. Also, the drive assembly is typically a conventional drive mechanism, such as a flexible drive mechanism, including a drive wire and a drive wheel, not described in detail. In addition, the shape of the compliant component 101b is not limited, including but not limited to the structure with the curved upper surface shown in the figure, and in addition, the fixing flange 101a and the compliant component 101b are generally of an integrated structure, and the processing mode has no requirement. Further, in fig. 8, the resistive strain gauge 102 to be mounted on the compliant member 101b is also drawn out by a lead wire to explain its position on the compliant member 101 b.
In summary, according to the driving assembly, the surgical instrument system and the surgical robot of the present invention, the measurement module is disposed on the driving assembly, and the measurement module is located between the driving module and the sterile assembly, so as to avoid the implementation difficulty caused by disposing the force sensing detection assembly at the end of the surgical instrument, and also avoid the problem that the force sensing assembly is easily damaged due to the need of sterilization before each use of the surgical instrument. In addition, the measuring module is not easy to be damaged due to frequent disinfection, the service life is prolonged, and the use cost is reduced. And because the measuring module is fixed relative to the driving motor, the reliability problem can not be caused, and meanwhile, the whole system has a compact structure, the whole size of the system can not be increased, and the clinical use is convenient.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the present invention.

Claims (22)

1. A drive assembly comprises a shell, a drive module, a measuring module and a fixed flange; the driving module comprises a driving motor and a driving shaft; the drive motor is accommodated in the housing; the drive motor is used for driving the end effector of the surgical instrument to move through the drive shaft;
the fixed flange is connected with the driving shaft, and the fixed flange and the driving shaft are kept relatively static in the circumferential direction; the measuring module is used for acquiring the rotation variation of the fixed flange so as to acquire the output torque of the driving motor according to the rotation variation of the fixed flange, and further acquiring the acting force applied to the end effector.
2. The drive assembly of claim 1, further comprising a fixed base having a mounting hole therethrough, the fixed flange being rotatably disposed within the mounting hole.
3. The drive assembly of claim 2, wherein the measurement module comprises a compliant component and a measurement component;
the fixed flange is connected with the fixed base through the compliant component; the compliant member is configured to deform when the mounting flange rotates with the drive shaft;
the measuring component is used for measuring deformation information of the compliant component corresponding to the rotation variation of the fixed flange, so as to obtain the output torque of the driving motor according to the deformation information of the compliant component, and further obtain the acting force applied to the end effector.
4. The drive assembly of claim 3, wherein the measurement member comprises a sensor disposed on the compliant member; the sensing element is used for sensing deformation information of the compliant component.
5. The drive assembly of claim 4, wherein the sensing element is a resistive strain gauge;
the measuring component also comprises a circuit board which is arranged on the fixed base;
the circuit board comprises a measuring circuit, and the measuring circuit is used for acquiring an electric signal of the resistance strain gauge; the measuring module is used for acquiring deformation information of the compliant component according to the electric signal or directly acquiring output torque of the driving motor.
6. The drive assembly of claim 5, wherein the measurement member includes at least four resistive strain gages, at least two of which are disposed on a side of the compliant member in compression and at least two of which are disposed on a side of the compliant member in tension;
the measuring circuit comprises a Wheatstone bridge which is electrically connected with at least four resistance strain gauges;
the measuring module is used for obtaining the output torque of the driving motor according to the output voltage of the Wheatstone bridge and the relation between the preset output voltage and the output torque of the driving motor.
7. The drive assembly of claim 6, wherein the measurement module comprises at least two compliant members, the fixed flange being connected to the fixed base by at least two compliant members; the at least four resistance strain gauges are arranged on the at least two compliant components, and the directions of strain of every two of the four resistance strain gauges are opposite.
8. The drive assembly according to claim 7, wherein the measurement module comprises three compliant members symmetrically arranged in a circumferential direction of the fixed flange;
two resistance strain gauges are respectively arranged on any two compliant components; the strain directions of the two resistance strain gauges on each compliant component are opposite.
9. The drive assembly according to any of claims 5-8, wherein the circuit board further comprises an amplification circuit for conditioning and amplifying the electrical signal;
the measuring module is used for acquiring deformation information of the compliant component according to the electric signal processed by the amplifying circuit or directly acquiring output torque of the driving motor.
10. The drive assembly of claim 4, wherein the sensing element is a fiber optic strain sensor;
the measuring means comprises at least one of the optical fibre strain sensors; the optical fiber strain sensor is used for outputting optical signals so as to obtain deformation information of the compliant component corresponding to the rotation variation of the fixed flange according to the optical signals.
11. The drive assembly of claim 10, wherein the measurement module includes at least two compliant members, the fixed flange being connected to the fixed base by at least two compliant members;
and arranging at least one optical fiber strain sensor on each compliant component, or arranging at least one optical fiber strain sensor on part of the compliant components.
12. The drive assembly of claim 11, wherein the measurement module comprises three of the compliant members, symmetrically arranged in a circumferential direction of the mounting flange;
at least one optical fiber strain sensor is arranged on each of the three compliant components, or at least one optical fiber strain sensor is arranged on one or two compliant components.
13. The drive assembly according to any one of claims 10 to 12, wherein the optical fiber strain sensor is configured to be in communication connection with a fiber grating demodulator, and the fiber grating demodulator is configured to obtain deformation information of the compliant member according to an optical signal of at least one optical fiber strain sensor, or directly obtain an output torque of the drive motor; or the measuring module is used for acquiring deformation information of the compliant component according to an optical signal of at least one optical fiber strain sensor, or directly acquiring the output torque of the driving motor.
14. The drive assembly of claim 2, wherein the measurement module comprises a first measurement component disposed on the fixed base and a second measurement component disposed on the fixed flange;
the first measuring component is used for obtaining a first numerical value of the second measuring component when the driving motor does not output torque, obtaining a second numerical value of the second measuring component when the driving motor outputs torque, and obtaining the rotation variation of the fixing flange according to the difference value of the first numerical value and the second numerical value.
15. The drive assembly of claim 14, wherein the first measurement member is a rotary encoder readhead and the second measurement member is a rotary encoder code wheel.
16. The drive assembly according to claim 15, wherein the measuring module is configured to obtain a rotation variation of the fixed flange according to a difference between the first value and the second value, and obtain an output torque of the driving motor according to a preset relationship between the rotation variation of the fixed flange and the output torque of the driving motor, so as to obtain the acting force applied to the end effector.
17. The drive assembly as claimed in claim 1, wherein the mounting flange has a through bore with internal splines formed on an inner wall thereof and external splines formed on the drive shaft, the external splines cooperating with the internal splines to effect relative circumferential repose of the mounting flange and the drive shaft.
18. The drive assembly according to claim 1, wherein the number of the driving motors is plural, the number of the measuring modules and the number of the fixing flanges are matched with the number of the driving motors, each of the driving motors is configured to drive the end effector to perform a corresponding movement, and each of the measuring modules is configured to obtain an output torque of the driving motor according to a rotation variation of a corresponding one of the fixing flanges, so as to obtain an acting force applied to the end effector, and finally obtain a resultant force of the acting forces applied to the end effector.
19. The drive assembly of claim 18, wherein the number of the drive motors is four, and four of the drive motors are respectively used for realizing the rotation, pitch, yaw and opening and closing movements of the end effector.
20. A surgical instrument system comprising a surgical instrument and the drive assembly of any of claims 1-19; the surgical instrument includes an end effector; the driving motor of the driving assembly is used for driving the end effector to move through the driving shaft.
21. A surgical instrument system as recited in claim 20, wherein the surgical instrument further comprises an instrument cartridge assembly and an instrument rod, the instrument rod being coupled to the instrument cartridge assembly and the end effector, respectively, the instrument cartridge assembly being coupled to the drive assembly.
22. A surgical robot comprising a robotic arm, a sterile assembly, and the surgical instrument system of claim 20 or 21, the robotic arm having a distal end connected to the surgical instrument system; the mechanical arm is used for driving the surgical instrument to move, and the driving assembly is used for driving the end effector to move; the sterile assembly is connected with the drive assembly and the surgical instrument, respectively.
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