CN115014184B - Sensor for detecting installation state of surgical instrument - Google Patents
Sensor for detecting installation state of surgical instrument Download PDFInfo
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- CN115014184B CN115014184B CN202210941658.7A CN202210941658A CN115014184B CN 115014184 B CN115014184 B CN 115014184B CN 202210941658 A CN202210941658 A CN 202210941658A CN 115014184 B CN115014184 B CN 115014184B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/225—Measuring circuits therefor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2287—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges constructional details of the strain gauges
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Heart & Thoracic Surgery (AREA)
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Abstract
The invention provides a sensor for detecting the installation state of a surgical instrument, which comprises a follow-up device, a pressure-sensitive device and a data acquisition and processing system, wherein the pressure-sensitive device at least comprises a pressure-sensitive conducting strip.
Description
Technical Field
The invention relates to the field of medical instruments for surgical operations, in particular to a sensor for detecting the installation state of a surgical instrument, the surgical instrument comprising the sensor, and a surgical manipulator and a surgical robot applying the sensor.
Background
In clinical practice of laparoscopic surgery, surgical robots are applied more and more widely in minimally invasive surgery, and how to quickly and accurately determine whether surgical instruments are installed in place is a technical problem to be solved. When the endoscope operation robot is used, the operation instrument box is used as a consumable and assembled with an instrument driving box of the operation robot through a quick-release interface, and the installation state of the operation instrument box needs to be detected due to the requirement of the operation robot on high reliability and safety.
A representative endoscopic surgical robot at present is a da vinci series surgical robot of the american direct vision surgery company. The company is provided with a set of non-contact hall effect sensors to detect whether the surgical instrument is installed in place.
Specifically, the hall effect sensor is used for detecting the assembling state of the surgical instrument in a non-contact mode, and the surgical robot is provided with a large number of micro direct current motors and a large number of sensor elements, so that the surgical robot and the surroundings have highly complex magnetic field environments, the magnetic field environments are influenced by a plurality of uncertain factors including electromagnetic influences generated by facilities of the surgical robot and electromagnetic influences from the external environment, if the installation state of the instrument box is judged to have high uncertainty only based on the detection of the hall sensor on the magnetic field intensity in a specific space, and the magnetic induction intensity is inversely proportional to the square of the distance from the magnet, the measurement has large nonlinearity, and the judgment has high difficulty and complexity.
Although the prior art provides a solution for determining the installation position of the surgical instrument by using a non-contact hall effect sensor, as described above, in the current state of the surgical robot, a large number of dc motors and various induction components are inevitably installed, and all the components generate a certain magnetic field induction, and the electromagnetic field combination inevitably generates an unpredictable and uncontrollable electromagnetic environment, which causes troubles for the application of the hall effect sensor. In practical application, on one hand, the surgical manipulator contains a large number of micro direct current motors, a large number of various sensors and various electronic components, which inevitably generate a complex magnetic field environment around the surgical manipulator; on the other hand, electromagnetic interference from the environment surrounding the operating room is complex and difficult to predict and control, and also electromagnetic interference from the natural environment, which all interfere and affect the accuracy and reliability of the determination of the installation state of the instrument box based on the hall sensor to different degrees.
Disclosure of Invention
In view of the defects and shortcomings in the prior art, an object of the present invention is to provide a sensor for detecting the installation state of a surgical instrument, which is not affected by the surrounding magnetic field environment and does not generate electromagnetic interference to the outside.
It is a further object of the present invention to provide a sensor for detecting the installation state of a surgical instrument that is small in overall size and easy to integrate in a compact mechanical structure.
Still another object of the present invention is to provide a pressure-sensitive conductive sheet having a pressure-sensitive resistance value obtained by directly measuring the resistance value, which ensures measurement reliability;
still another object of the present invention is to provide the pressure-sensitive conductive sheet of the present invention, which can continuously measure contact pressure, and can detect whether the adapter plate and the instrument box are installed at the correct working positions, and can monitor whether the adapter plate and the instrument box are loosened or not in the correct working positions in real time during use.
To solve the above technical problems, the present invention provides a sensor for detecting the installation state of a surgical instrument, comprising
The follow-up device at least comprises a rod-shaped structure which can move along with the detection target object, and the tail end of the rod-shaped structure is provided with an elastic pressing block;
the pressure-sensitive device at least comprises a pressure-sensitive conducting strip, the pressure-sensitive conducting strip is provided with an insulator on a pressure detection surface, and the pressure-sensitive conducting strip is led out of the insulator in an electric connection mode through an electrode;
the data acquisition and processing system at least comprises an acquisition circuit and a main control chip, wherein the acquisition circuit can acquire original data of the pressure-sensitive conducting strip, and the main control chip is used for calculating a corresponding pressure value of the pressure-sensitive conducting strip and comparing the pressure value with a pressure threshold value preset in the system to judge the installation state of the surgical instrument.
Furthermore, the follow-up device also comprises a base, and the rod-shaped structure is arranged in the through hole on the base in a penetrating way and can move along the axial direction of the through hole. Preferably, the base can be a part of the surgical robot driving box, or can be arranged independently of the surgical robot driving box and fixedly connected with the surgical robot driving box,
furthermore, the rod-shaped structure comprises a guide rod, a convex shoulder is arranged on the guide rod, a limiting seat is arranged in the through hole, and the upper end face of the convex shoulder is pressed on the limiting seat to limit the sliding of the guide rod.
Furthermore, the follow-up device also comprises an elastic device sleeved on the rod-shaped structure, and the elastic device drives the guide rod to automatically reset.
Furthermore, the elastic device is a spring, and the spring is used for being matched with the limiting seat and the shoulder and providing restoring force for the guide rod.
Further, the shoulder is formed integrally with the guide rod, and its outer peripheral surface is fitted inside the through hole to allow the guide rod to move smoothly in the axial direction of the through hole.
Furthermore, the shoulder at least has a sliding surface or more than three sliding surfaces are in sliding contact with the inner circumferential surface of the through hole, or one or more sliding surfaces and one or more sliding surfaces are in sliding contact with the inner circumferential surface of the through hole.
Further, the elastic pressing block is made of rubber or rubber-like elastic materials.
Further, the pressure-sensitive device also at least comprises a rigid lining plate, and the pressure-sensitive conducting strip is arranged between the lining plate and the insulator. Preferably, the insulator is an insulating film.
Furthermore, the lining board is a printed circuit board, and the pair of electrodes are printed on the printed circuit board, are respectively arranged at two ends of the pressure-sensitive conducting strip and are electrically connected with the pressure-sensitive conducting strip.
Further, the electrodes are arranged on one side of the pressure-sensitive conducting sheet, and the contact surface of each electrode and the pressure-sensitive conducting sheet is coated with conductive glue.
Furthermore, the data acquisition and processing system at least comprises a voltage dividing resistor and a filter circuit, wherein the voltage dividing resistor is connected with one electrode of the pressure-sensitive conducting strip in series; the acquisition circuit is electrically connected with the filter circuit.
The invention also provides a surgical manipulator, wherein the tail end of the surgical manipulator is provided with a linear driving module, the linear driving module is provided with an instrument driving box, the instrument driving box is connected with an instrument box and a switching plate, and the instrument driving box is at least internally provided with the sensor for detecting the installation state of the surgical instrument.
Furthermore, the top end of the guide rod of the sensor penetrates out of the upper surface of the instrument driving box, and the top end of at least one guide rod abuts against the adapter plate so as to detect whether the adapter mounting is in place or whether the adapter mounting is loosened in the using process.
Further, an adapter plate is arranged between the instrument box and the instrument driving box, holes for the guide rods of the sensor to pass through are formed in the adapter plate, and the top end of at least one guide rod passes through the hole in the adapter plate to abut against the instrument box so as to detect the installation state of the instrument box, namely whether the instrument box is installed at the correct position and whether the instrument box is loosened in use.
The invention also provides a surgical robot, which at least comprises the surgical manipulator.
The invention has the technical effects that:
based on the characteristics of the pressure-sensitive conductive sensor, the invention combines the technical conditions of the surgical robot, utilizes the change of the distance between the instrument box and the instrument driving box and the change of the distance between the adapter plate and the instrument driving box when the surgical instrument is assembled or used, converts the change into the pressure deformation of the pressure-sensitive conductive sheet and further converts the pressure deformation into the resistance change of the pressure-sensitive conductive sheet, and utilizes the detection circuit to detect the resistance change caused by the deformation of the pressure-sensitive conductive sheet, thereby calculating the resistance value of the pressure-sensitive conductive sheet by detecting the change of the output voltage of the pressure-sensitive conductive sheet, further calculating the deformation of the pressure-sensitive conductive sheet, namely the distance change between the adapter plate, the instrument box and the instrument driving box, and also directly calculating the distance change among the instrument box, the adapter plate and the instrument driving box to detect and judge the installation state or the use state of the surgical instrument.
The specific technical effects of the invention comprise the following items:
1. the invention completely designs a detection sensor of the installation state of a surgical instrument based on a contact sensor, a surgical manipulator and a surgical robot based on the sensor by utilizing the technical characteristics of a pressure-sensitive conducting strip, designing a follow-up device and a pressure-sensitive device and combining a specific data acquisition and processing system.
The sensor solves the technical difficulties that the existing sensor based on the Hall sensing effect is easy to be interfered by environment electromagnetism, has a complex structure and is difficult to be further miniaturized, and the problems that the data acquired by utilizing the Hall sensing is easy to be distorted, difficult to acquire and difficult to process, complex in detection structure, large in size, high in cost, difficult to operate, poor in detection reliability and the like are solved.
The detection device based on the contact sensor adopts the following device with simple structure and reliable operation and the pressure-sensitive device matched with the following device, has short integral operation stroke, sensitive reaction of the pressure-sensitive conducting strip, no electromagnetic interference of the surrounding environment, simple structure, safety, reliability, convenient miniaturization and miniaturization, and small adaptability change of the instrument box and the instrument driving box, low cost and convenient operation and use.
2. The follow-up device can utilize the end part or the edge part of the instrument box or the instrument driving box as a base, the base is provided with a through hole, a guide rod for applying pressure to the pressure-sensitive device is arranged in the through hole, and the guide rod is ensured to move in a limited range through a spring sleeved on the guide rod and a shoulder arranged on the guide rod, particularly the shoulder is combined with the spring, so that the guide rod can be ensured to move along with the pressing of the instrument box or the adapter plate at any time when the guide rod is in a non-moving state or the instrument box, the adapter plate and the instrument driving box are separated and retracted, and a new round of detection is carried out. The structure has sensitive and reliable follow-up performance, and ensures that the installation state of the surgical instrument can be detected at any time.
3. The pressure-sensitive device comprises a pressure-sensitive conducting strip and a pressure-sensitive device covered with an insulating film, wherein the pressure-sensitive device comprises the insulating film and a rigid lining plate arranged below the pressure-sensitive conducting strip, because the use environment is a surgical operation, in order to avoid unstable performance or damage of the pressure-sensitive conducting strip caused by liquid input in the operation or liquid output by a human body contaminating the pressure-sensitive conducting strip. The insulating film can provide waterproof and other liquid-proof protection for the pressure-sensitive conducting strip, and can further improve the influence of external electric or magnetic environment on the pressure-sensitive conducting strip; the rigid lining plate can provide rigid protection for the pressure-sensitive conducting strip, prevent the pressure-sensitive conducting strip from being damaged due to mechanical deformation such as bending and the like, and ensure the stability of the electrical characteristics of the pressure-sensitive conducting strip.
4. The data acquisition and processing system utilizes the series-connected divider resistor and the filter circuit to stably output the voltage of the voltage-sensitive conducting strip, utilizes the ADC acquisition circuit to acquire the voltage value, and outputs data to the main control chip to analyze and judge the data. Because there is a specific linear functional relation between the deformation quantity of the pressure-sensitive conducting strip and the resistance, the pressure-resistance sensor obtains the pressure value to which it is subjected by directly measuring the resistance value of the sensing strip, and it is easier to ensure the measuring reliability.
These and other features, aspects, and advantages of the present application will become better understood with reference to the following description. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Drawings
A full and enabling disclosure of the present application, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
fig. 1 is a schematic structural view of a detection sensor according to the present invention.
Fig. 2 is a schematic structural diagram of an embodiment of the detection sensor of the present invention.
Fig. 3 shows the installation of fig. 2.
Fig. 4 is a schematic view showing one embodiment of the pressure-sensitive device of the present invention.
Fig. 5 is a schematic view showing another embodiment of the pressure-sensitive device of the present invention.
FIG. 6 is a schematic circuit diagram of the data acquisition and processing system of the present invention.
Fig. 7 is a schematic structural view of the surgical robot.
Fig. 8 is a partially enlarged view of fig. 7.
FIG. 9 is an exploded view of the instrument cartridge and instrument drive cartridge.
Reference numerals:
1-base, 2-through hole, 3-spring, 4-guide rod, 5-pressing block, 6-sensing piece, 7-lining plate, 8-shoulder, 9-1-limiting seat, 9-2-limiting seat, 10-guide rod seat, 11-first bearing, 12-guide rod, 13-spring, 14-second bearing, 15-pressing block, 16-pressure-sensitive sensor and 17-printed circuit board.
100-mechanical arm, 110-linear driving module, 120-instrument box, 130-instrument driving box and 140-adapter plate;
601-pressure sensitive conducting sheet, 602-insulating protective film, 603-electrode A, 604-electrode B, 605-voltage dividing resistor, 606-filter circuit, 607-ADC sampling circuit and 608-main control chip.
Detailed Description
Reference now will be made in detail to embodiments of the present application, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the application, not limitation of the application. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. As used in this specification, the terms "first," "second," and the like may be used interchangeably to distinguish one element from another and are not intended to indicate the position or importance of each element. As used in the specification, the terms "a," "an," "the," and "said" are intended to mean that there are one or more of the elements, unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements.
Referring now to the drawings, in which like numerals represent like elements throughout the several views, the present invention will be further explained with reference to specific embodiments.
As shown in fig. 1, the detection sensor of the present invention includes a base 1, a follower, a pressure-sensitive device and a data acquisition and processing system, wherein the follower includes a guide rod 4, a spring 3, a shoulder 8 and a guide rod seat 10, the shoulder 8 is disposed on the guide rod 4, the shoulder 8 is stepped, and an outer edge surface of the shoulder 8 cooperates with a through hole to guide the guide rod 4. The guide rod 4 is formed integrally with the guide rod seat 10 or detachably connected with the guide rod seat, the guide rod 4 and the spring 3 are arranged in the through hole 2 of the base 1, and the guide rod 4 can slide up and down in the through hole 2.
In the first embodiment of the invention, both ends of the through hole 2 are provided with the limiting seats 9-1 and 9-2, wherein the limiting seat at the upper end of the through hole 2 is detachably fixed on the through hole 2. Alternatively, the stopper seat 9-1 at the upper end of the through-hole 2 may be a flange or a cover seat having a central hole, or may be connected to the through-hole 2 in a screw manner. The spring 3 is sleeved on the guide rod 4, the convex shoulder 8 and the spring 3 are positioned between the upper limiting seat and the lower limiting seat (9-1 and 9-2), one end of the spring 3 is pressed against the lower limiting seat 9-2, the other end of the spring 3 is pressed against the lower side of the stepped convex shoulder 8, when the top end of the guide rod 4 is not pressed, the upper end face of the convex shoulder 8 is pressed against the upper limiting seat under the elastic force action of the spring 3, and guide grooves for the guide rod 4 to slide in a reciprocating manner are formed in the upper limiting seat and the lower limiting seat (9-1 and 9-2). The shoulder 8 can be tightly attached to the through hole 2 and limited by the through hole 2 to slide back and forth in the through hole, and the outer edge of the guide rod 4 abuts against the inner walls of the guide grooves arranged on the upper and lower limiting seats (9-1 and 9-2) and can slide back and forth in the guide grooves. The two guide grooves are matched with the convex shoulders 8 arranged on the guide rod 4 to slide in the through hole 2, three-point guide positioning is formed, shaking during sudden pressure on the top of the guide rod can be effectively avoided, and the precision of pressure measurement is improved.
In another embodiment, the through hole 2 of the base 1 is provided with an upper limit seat 9-1, the spring 3 is sleeved on the guide rod of the guide rod 4, one end of the spring is fixed on the limit seat 9-1, the other end of the spring is fixed on the guide rod seat 10, the convex shoulder 8 is arranged in the through hole 2 on the upper end face of the limit seat 9-1 and is matched with the through hole 2 to guide the guide rod 4, and when the top end of the guide rod 4 is not pressed, the guide rod seat 10 is abutted against the lower end face of the base 1 under the action of the spring tension of the guide rod 4.
The lower end of the guide rod seat 10 is provided with a pressing block 5, and the pressing block 5 is a block made of a material with certain elasticity and used for moving along with the guide rod 4 and pressing a pressure-sensitive device arranged below.
The briquette 5 may be made of a material having suitable elasticity, including rubber, modified rubber, or a polyurethane material having elasticity.
The pressure-sensitive device comprises a sensing piece 6 and a lining plate 7, wherein the sensing piece 6 is a pressure-sensitive conducting strip, and the sensing piece 6 is laid on the lining plate 7. The backing plate 7 of the present invention is a relatively rigid plate structure that provides further support and protection for the sensor chip 6.
In order to provide protection for the pressure-sensitive conductive sheet and prevent accidental electric or magnetic influences, the upper end of the sensor sheet 6 is covered with an insulating film.
A more preferred embodiment is to arrange the backing plate 7 with a printed circuit board and to combine the output electrodes of the sensor plate 6 with the printed circuit of the printed circuit board.
Fig. 2 and 3 provide a preferred embodiment of a detection sensor.
In the preferred embodiment of the invention, the detection sensor comprises a base 1, a follow-up device, a pressure-sensitive device and a data acquisition and processing system, wherein the follow-up device comprises a guide rod 12, a spring 13 and a pressing block 15, a convex shoulder is formed on the guide rod 12, the convex shoulder is in a step shape, the spring 13 is sleeved on the guide rod 12, one end of the spring is abutted against the convex shoulder, the other end of the spring is abutted against a spring seat (not shown in the figure) fixed in a through hole, and the spring 13 can be arranged to move downwards along with the guide rod 12 to be in a compressed state and provide restoring force for driving the guide rod 12 to move upwards.
In this embodiment, the first bearing 11 is used to replace the retainer 9-1 disposed at the upper side of the through hole 2 in the first embodiment, and the second bearing 14 is used to replace the retainer 9-2 disposed at the lower side of the through hole 2 in the first embodiment. The first bearing 11 and the second bearing 14 are fixedly arranged in the through hole 2, and the guide rod 12 can slide back and forth under the support of the first bearing 11 and the second bearing 14. The first bearing 11 and the second bearing 14 are plastic bearings.
As shown in fig. 2 and 3, a pressing block 15 is arranged at the lower end of the guide rod 12, the pressure-sensitive device comprises a pressure-sensitive sensor 16 and a lining plate 7, the pressure-sensitive sensor 16 is arranged on a printed circuit board 17, the pressure-sensitive sensor 16 is positioned right below the pressing block 15, the pressing block 15 moves downwards along with the guide rod 12 to vertically press against the pressure-sensitive sensor 16 and apply positive pressure on the pressure-sensitive sensor 16, and the pressure-sensitive sensor 16 comprises a pressure-sensitive conductive sheet. Other circuit components may also be disposed on the printed circuit board 17.
The pressure-sensitive conductive sheet 601 is configured with two electrodes, the electrode a603 and the electrode B604 are respectively disposed above and below the pressure-sensitive conductive sheet 601 and are respectively bonded to the pressure-sensitive conductive sheet 601 through conductive glue, and the output ends of the electrode a603 and the electrode B604 respectively extend from two ends of one side of the pressure-sensitive conductive sheet 601. The pressure-sensitive device further comprises an insulating film 602, the insulating film 602 is arranged outside the pressure detection surface of the pressure-sensitive conductive sheet, and the insulating film 602 and the pressure-sensitive conductive sheet 601 are arranged on the backing plate 7.
Fig. 5 provides another embodiment of the pressure-sensitive device, the electrode a603 and the electrode B604 are arranged under the pressure-sensitive conductive sheet 601 in a comb structure and are mutually inserted and distributed, and are respectively adhered to the pressure-sensitive conductive sheet 601 through conductive glue, the output ends of the electrode a603 and the electrode B604 respectively extend from two ends of one side of the pressure-sensitive conductive sheet 601, the insulating film 602 is arranged outside the pressure detection surface of the pressure-sensitive conductive sheet, and the insulating film 602 and the pressure-sensitive conductive sheet 601 are arranged on the lining board 7.
The backing 7 is preferably a printed circuit board on which the electrodes a603 and B604 may be printed.
As shown in fig. 6, the data collecting and processing system includes a voltage dividing resistor 605, a filter circuit 606, an ADC collecting circuit 607, and a main control chip 608, wherein the ADC collecting circuit can obtain the raw data of the pressure-sensitive conductive sheet, and the main control chip calculates the corresponding pressure value of the pressure-sensitive conductive sheet and compares the pressure value with the preset pressure threshold in the system to determine the installation state of the surgical instrument.
When the pressure block 5 applies pressure to the pressure-sensitive conductive sheet 6, the resistance of the pressure-sensitive conductive sheet 6 changes, a voltage signal in a linear relation with the resistance value is obtained through the series-connection voltage-dividing resistor 605, after the voltage signal passes through the filter circuit 606, the original data is obtained through the ADC acquisition circuit 607, the pressure value is calculated through the main control chip 608, and the installation state of the surgical instrument is judged according to the pressure threshold value preset on the main control chip.
The sensor for detecting the installation state of the surgical instrument of the invention has the following working principle:
the target to be detected presses down the guide rod 4, the guide rod 4 drives the pressing block 5, the pressing block 5 is in contact with the pressure-sensitive conducting strip 6 and applies pressure on the pressure-sensitive conducting strip 6, the pressure-sensitive conducting strip 6 is pressed to cause resistance change, original data are obtained through the data acquisition and processing system, the pressure value is calculated, comparison is carried out through the original data and the pressure value, and the position and the assembly state of the target to be detected are judged according to the comparison result.
As shown in fig. 7 and 8, the detection apparatus for detecting the status of the surgical instrument according to the present invention is disposed at the end of the robot arm 100 of the surgical robot, the linear driving module 110 is disposed at the end of the robot arm 100, the instrument driving box 130 is connected to the slider of the linear driving module 110, and the instrument driving box 130 is assembled with the instrument driving box 120 as a consumable through a quick-release interface.
An adapter plate 140 is arranged between the instrument box 120 and the instrument driving box 130, before the surgical robot works normally, the adapter plate 140 and the instrument box 120 are sequentially assembled on the instrument driving box 130 through quick-release interfaces, and when the instrument box 120 is installed correctly, the instrument box 120, the adapter plate 140 and the instrument driving box 130 are in close fit without looseness.
As shown in fig. 9, the detecting device for detecting the state of the surgical instrument is disposed in the surgical instrument box, and specifically, two detecting devices are fixedly disposed inside the instrument driving box 130, the top ends of the guide rods 4 of the detecting devices penetrate through the upper surface of the instrument driving box 130, the top end of one guide rod 4 is pressed against the lower end surface of the adapter plate 140, a hole corresponding to the other guide rod 4 is disposed on the adapter plate 140, and the top end of the other guide rod 4 can penetrate through the hole and is pressed against the lower surface of the instrument box 120.
Preferably, four detection devices may be configured in the surgical instrument box, two detection devices are used for detecting whether the adapter plate 140 is installed in place (correct working position) or whether there is looseness during use, and the other two detection devices are used for detecting whether the instrument box 120 is installed in place or is in the correct working position (whether there is looseness during use). When four detection devices are configured, two guide rods are pressed against the lower surface of the adapter plate 140, and two holes corresponding to the top ends of the guide rods are formed in the adapter plate 140, so that the guide rods pass through the adapter plate 140 and are pressed against the lower surface of the instrument box 120.
When the adaptor plate 140 is assembled with the instrument driving box 130, the adaptor plate 140 drives the guide rod 4, the guide rod 4 moves, and the detection device corresponding to the guide rod detects and judges whether the adaptor plate 140 is installed in place. When the surgical instrument is used and the adapter plate 140 loosens, the pressure applied to the guide rod changes, the data acquisition and preprocessing system of the detection device detects the current pressure value, the current pressure value is compared with a preset threshold value, then the loosening state of the adapter plate is judged, and the main control chip sends out a warning.
When the instrument box 120 is assembled with the instrument driving box 130, the top end of the guide rod 4 passes through the hole on the adapter plate 140 and is pressed against the lower surface of the instrument box, when the instrument box is assembled, the corresponding guide rod 4 moves, and the detection device corresponding to the guide rod detects and judges whether the instrument box 120 is installed in place. When the surgical instrument box 120 is loosened in the using process, the pressure applied to the guide rod is changed, the data acquisition and preprocessing system of the detection device detects the current pressure value, and after the current pressure value is compared with the preset threshold value, the loosening state of the instrument box 120 is judged, and the main control chip gives out a warning.
The detection device has small overall dimension and is convenient to be integrated in a compact mechanical structure; the guide rod is guided for multiple times, so that the guide rod pushes the pressing block to apply positive pressure to the pressure-sensitive device, the accuracy of pressure measurement is improved, the resistance value of the sensing piece is directly measured to obtain the pressure value, and the measurement reliability is ensured; the sensor is not influenced by the interference of the external electromagnetic environment, does not generate electromagnetic interference to the outside, and is particularly important for medical instruments.
The pressure-sensitive sensing piece is used for continuously measuring the contact pressure, so that whether the adapter plate and the instrument box are installed at the correct working positions or not can be detected, and whether the adapter plate and the instrument box are loosened or not and the correct working positions or not can be monitored in real time in the using process.
The above description is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that other modifications and improvements may be made based on the technical solution and the inventive spirit disclosed in the present invention, and these modifications and improvements based on the present invention should be covered by the scope of the present invention. This written description uses examples to disclose the application, including the best mode, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the application is defined by the claims, and may include other embodiments that occur to those skilled in the art. Such other embodiments are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.
Claims (13)
1. A linear driving module is arranged at the tail end of the surgical manipulator, an instrument driving box is arranged on the linear driving module, the instrument driving box is connected with an instrument box and a transfer plate, and at least one sensor for detecting the installation state of a surgical instrument is arranged in the instrument driving box; the sensor includes:
the follow-up device at least comprises a rod-shaped structure which can move along with the detection target object, and the tail end of the rod-shaped structure is provided with an elastic pressing block;
the pressure-sensitive device at least comprises a pressure-sensitive conducting strip, an insulator is arranged on the pressure detection surface of the pressure-sensitive conducting strip, and the pressure-sensitive conducting strip is led out of the insulator in an electrically connected mode through an electrode;
the data acquisition and processing system comprises an acquisition circuit and a main control chip, wherein the acquisition circuit can acquire original data of the pressure-sensitive conducting strip, and the main control chip is used for calculating a corresponding pressure value of the pressure-sensitive conducting strip and judging the installation state of the surgical instrument by comparing the pressure value with a pressure threshold value preset in the system;
the top end of a guide rod of the sensor penetrates out of the upper surface of the instrument driving box, and the top end of at least one guide rod abuts against the adapter plate; the adapter plate is arranged between the instrument box and the instrument driving box, a hole for the guide rod of the sensor to pass through is formed in the adapter plate, and the top end of at least one guide rod passes through the adapter plate and abuts against the instrument box.
2. A surgical manipulator according to claim 1, wherein said follower means further comprises a base, said rod-like structure being disposed through a through-hole in said base and axially movable along said through-hole.
3. The surgical manipulator according to claim 2, wherein said follower means further comprises resilient means disposed around said rod-like structure, said resilient means urging said rod-like structure to automatically return to its original position.
4. The surgical manipulator according to claim 3, wherein the rod-like structure includes a guide rod, a shoulder is disposed on the guide rod, a limiting seat is disposed in the through hole, and an upper end surface of the shoulder abuts against the limiting seat to limit the sliding of the guide rod.
5. A surgical manipulator according to claim 4, wherein said resilient means is a spring arranged to cooperate with the abutment and shoulder to provide a restoring force.
6. A surgical manipulator according to claim 4 wherein said shoulder is formed integrally with the guide rod and has an outer edge surface which engages the interior of the through-bore to provide for smooth movement of the guide rod axially along the through-bore.
7. A surgical manipulator according to claim 6 wherein said shoulder has at least one sliding surface or three or more sliding points in sliding contact with the inner circumference of the through hole, or one or more sliding surfaces in sliding contact with one or more sliding points in sliding contact with the inner circumference of the through hole.
8. A surgical manipulator according to claim 1, wherein said resilient compression block is formed of rubber or a rubber-like resilient material.
9. The surgical manipulator according to claim 1, wherein said pressure sensitive device further includes at least one rigid backing, and the pressure sensitive conductive strip is disposed between the backing and the insulator.
10. The surgical manipulator according to claim 9, wherein said backing is a printed circuit board on which said pair of electrodes are printed in electrical communication with the pressure sensitive conductive pads.
11. The surgical manipulator according to claim 9, wherein said electrodes are disposed on one side of the pressure-sensitive conductive sheet, and a contact surface of said electrodes with the pressure-sensitive conductive sheet is coated with conductive glue.
12. The surgical manipulator according to claim 1, wherein said data acquisition and processing system further comprises at least a voltage divider resistor and a filter circuit, said voltage divider resistor being connected in series with one electrode of said pressure sensitive conductive strip; the acquisition circuit is electrically connected with the filter circuit.
13. A surgical robot, characterized in that it comprises at least one surgical manipulator according to any one of claims 1-12.
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