CN116725702A

CN116725702A - Pressure measuring module

Info

Publication number: CN116725702A
Application number: CN202310661613.9A
Authority: CN
Inventors: 请求不公布姓名; 李涛
Original assignee: Suzhou Xiaowei Changxing Robot Co ltd
Current assignee: Suzhou Xiaowei Changxing Robot Co ltd
Priority date: 2023-06-06
Filing date: 2023-06-06
Publication date: 2023-09-12

Abstract

The present invention provides a pressure measurement module comprising: the device comprises a contact body, a base, an elastic connecting part and a sensor; the base is provided with a containing cavity recessed along a first direction, the contact body is contained in the containing cavity along the first direction, and the contact body and the base are arranged at intervals along the first direction to form a first gap; the contact body is connected with the base through the elastic connecting part in the circumferential direction; the sensor is arranged on the base and is positioned in the first gap; the contact body is for abutting against the first object and for transmitting pressure from the first object to the sensor. So configured, when tibia and femur exert pressure from different directions, the elastic connection portion can counteract and buffer radial component force, so that pressure can be more uniformly conducted to the sensor along the first direction, and measurement accuracy is effectively improved.

Description

Pressure measuring module

Technical Field

The invention relates to the technical field of medical instruments, in particular to a pressure measurement module suitable for a surgical robot system.

Background

The existing soft tissue balance measuring device, such as a joint pressure measuring device, is generally complex in structural design, and has large error of a detection result and is not accurate enough.

Some joint pressure measurement devices conduct joint pressure to a sensor by way of structural deformation to achieve a measured pressure. Because of the nonlinearity of the materials, when the pressure sensor is applied to stress detection in different occasions such as knee joints, the pressure value can be calculated only by an empirical formula or a calibration method, so that the error of a detection result is large and the accuracy is not high enough. In particular, the accuracy of detection is low when the tibia and femur exert pressure from different directions.

Disclosure of Invention

The invention aims to provide a pressure measurement module to solve the problems that the detection result of the existing joint pressure measurement device has larger error, and particularly, the accuracy is not enough when pressure is applied to tibia and femur from different directions.

In order to solve the above technical problem, the present invention provides a pressure measurement module for detecting pressure data between a first object and a second object, the pressure measurement module comprising:

the device comprises a contact body, a base, an elastic connecting part and a sensor;

the base is provided with a containing cavity recessed along a first direction, the contact body is contained in the containing cavity along the first direction, and the contact body and the base are arranged at intervals along the first direction to form a first gap; the contact body is connected with the base through the elastic connecting part in the circumferential direction;

the sensor is arranged on the base and is positioned in the first gap; the contact body is for abutting against the first object and for transmitting pressure from the first object to the sensor.

Optionally, the elastic connection part has an inner side and an outer side along the radial direction of the contact body, the outer side of the elastic connection part is connected with the base, and the inner side of the elastic connection part is connected with the contact body;

the inner side of the elastic connecting part is smaller than the deformation resistance along the radial direction of the contact body along the first direction.

Optionally, the elastic connection portion includes a flexible connection structure, and a cross section of the flexible connection structure along a radial direction of the contact body is in a bent shape with a turn.

Optionally, the flexible connection structure continuously surrounds the contact body in a circumferential direction of the contact body.

Optionally, the flexible connection structure comprises a plurality of reverse-folded sections, and the thickness and/or the length of the cross section of the reverse-folded sections in the radial direction of the contact body are adaptively determined according to different positions of the flexible connection structure in the circumferential direction of the contact body; alternatively, the number of the reverse-folded sections is adaptively determined according to different positions of the flexible connection structure in the circumferential direction of the contact body.

Optionally, the elastic connection portion includes a plurality of springs, and the plurality of springs are distributed around the circumference of the contact body; each spring is coiled and formed around the axis of the spring, and the axis of each spring is arranged at an angle with the first direction.

Optionally, the elastic connection part further includes a sealing member, and the sealing member is connected between the contact body and the base in a sealing manner to seal the spring.

Optionally, at least one of the contact body and the base is integrally formed with the elastic connection portion, is connected by casting, is welded or is bonded.

Optionally, the pressure measurement module further includes a guide member disposed on the base and spaced apart from the outer peripheral wall of the contact body along the circumferential direction of the contact body to form a second gap.

Optionally, the pressure measurement module further comprises a pressure equalization member; the pressure equalization piece is arranged between the contact body and the sensor; the hardness of the pressure equalization member is greater than that of the elastic connection portion, and the hardness of the pressure equalization member is less than that of the contact body.

In summary, the pressure measurement module provided by the present invention includes: the device comprises a contact body, a base, an elastic connecting part and a sensor; the base is provided with a containing cavity recessed along a first direction, the contact body is contained in the containing cavity along the first direction, and the contact body and the base are arranged at intervals along the first direction to form a first gap; the contact body is connected with the base through the elastic connecting part in the circumferential direction; the sensor is arranged on the base and is positioned in the first gap; the contact body is for abutting against the first object and for transmitting pressure from the first object to the sensor.

So configured, because the contact body passes through in the circumference the elastic connection portion with the base is connected, when tibia and femur exert pressure from different directions, the elastic connection portion can dispel and cushion radial component for pressure can more evenly be conducted to the sensor along first direction, has effectively improved measurement accuracy. Further, since the contact body is connected with the base through the elastic connection part in the circumferential direction, the sensor positioned in the first gap can be conveniently sealed, and external liquid pollution is prevented. In addition, the pressure measurement module has a simple structure, simplifies the complexity of design and manufacture, and also simplifies the difficulty of the pressure measurement algorithm.

Drawings

Those of ordinary skill in the art will appreciate that the figures are provided for a better understanding of the present invention and do not constitute any limitation on the scope of the present invention. Wherein:

FIG. 1 is a schematic diagram of an application scenario of a pressure measurement module according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a pressure measurement module according to an embodiment of the invention;

FIG. 3 is an axial cross-sectional schematic view of a pressure measurement module along a first direction according to an embodiment of the present invention;

FIG. 4 is a schematic illustration of a flexible connection structure of an embodiment of the present invention;

FIG. 5 is an axial cross-sectional schematic view of a flexible connection structure along a first direction in accordance with an embodiment of the present invention;

FIG. 6 is a schematic axial cross-sectional view of a contact body according to an embodiment of the present invention along a first direction;

FIG. 7 is a schematic view of the bottom of a contact according to an embodiment of the present invention;

FIG. 8 is a schematic view of a rigid support of an embodiment of the invention;

FIG. 9 is a schematic partial cross-sectional view of a rigid stent in accordance with an embodiment of the present invention;

FIG. 10 is a schematic partial cross-sectional view of a pressure measurement module of another preferred example of an embodiment of the invention;

FIG. 11 is a schematic cross-sectional view of another preferred example of an embodiment of the flexible connection structure along a second direction;

FIG. 12 is a schematic cross-sectional view of another preferred example of an embodiment of the flexible connection structure along a third direction;

FIG. 13 is an axial cross-sectional schematic view of a pressure measurement module along a first direction of yet another preferred example of an embodiment of the invention;

FIG. 14 is an enlarged partial schematic view of the pressure measurement module shown in FIG. 13;

FIG. 15 is a schematic view of a guide according to an embodiment of the invention;

fig. 16 is a schematic diagram of a circuit module according to an embodiment of the invention.

Detailed Description

The invention will be described in further detail with reference to the drawings and the specific embodiments thereof in order to make the objects, advantages and features of the invention more apparent. It should be noted that the drawings are in a very simplified form and are not drawn to scale, merely for convenience and clarity in aiding in the description of embodiments of the invention. Furthermore, the structures shown in the drawings are often part of actual structures. In particular, the drawings are shown with different emphasis instead being placed upon illustrating the various embodiments.

As used in this disclosure, the singular forms "a," "an," and "the" include plural referents, the term "or" are generally used in the sense of comprising "and/or" and the term "several" are generally used in the sense of comprising "at least one," the term "at least two" are generally used in the sense of comprising "two or more," and the term "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance or number of features indicated. Thus, a feature defining "first," "second," "third," or the like, may explicitly or implicitly include one or at least two such features, with "one end" and "another end" and "proximal end" and "distal end" generally referring to the corresponding two portions, including not only the endpoints. Furthermore, as used in this disclosure, "mounted," "connected," and "disposed" with respect to another element should be construed broadly to mean generally only that there is a connection, coupling, mating or transmitting relationship between the two elements, and that there may be a direct connection, coupling, mating or transmitting relationship between the two elements or indirectly through intervening elements, and that no spatial relationship between the two elements is to be understood or implied, i.e., that an element may be in any orientation, such as internal, external, above, below, or to one side, of the other element unless the context clearly dictates otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, directional terms, such as above, below, upper, lower, upward, downward, left, right, etc., are used with respect to the exemplary embodiments as they are shown in the drawings, upward or upward toward the top of the corresponding drawing, downward or downward toward the bottom of the corresponding drawing.

The following description refers to the accompanying drawings.

As shown in fig. 1 and 2, an embodiment of the present invention provides a pressure measurement module for detecting pressure data between a first object 91 and a second object 92, the pressure measurement module including: a contact body 1, a base 2, an elastic connection part 3 and a sensor 4; the base 2 is provided with a containing cavity 20 recessed along a first direction, the contact body 1 is contained in the containing cavity 20 along the first direction, and the contact body 1 and the base 2 are arranged at intervals along the first direction to form a first gap; the contact body 1 is connected with the base 2 through an elastic connecting part 3 in the circumferential direction; the sensor 4 is arranged on the base 2 and is positioned in the first gap; the contact body 1 is intended to abut against the first object 91 and to transmit pressure from the first object 91 to the sensor 4.

In some application scenarios, the first object 91 may be, for example, a femoral prosthesis and the second object 92 may be, for example, a tibial prosthesis or tibia. That is, the pressure measurement module provided in this embodiment can be used to measure the pressure value between the joints, and determine the balance condition of the soft tissue and the balance condition of the joint space according to the pressure value. Of course, in other application scenarios, the pressure measurement module of the present embodiment is not limited to be applied in actual surgery, but may also be applied in some application scenarios of operation training or calibration of knee prosthesis, where the pressure between the femoral prosthesis and the tibial prosthesis may be provided based on mechanical devices, which is not limited by the present invention.

For ease of description, the first direction is defined herein as the direction of the axis of the tibia and femur when straightened (i.e., the direction of the axis to which the leg is fitted when straightened), and is generally in the vertical direction in fig. 1 and 2. It has been found that if the pressure conduction between a first object (e.g., a femoral prosthesis) and a second object (e.g., a tibial prosthesis or tibia) is in a first direction, the accuracy of the pressure detection is high. However, when the tibia and femur are pressurized from different directions (e.g., a scene that is angled to a first direction, such as a knee flexion or deflection), the sensor is subjected to a component of force in a radial direction (i.e., a direction perpendicular to the first direction) in addition to the axial direction (i.e., the direction along the first direction), resulting in reduced pressure detection accuracy.

So configured, since the contact body 1 is connected with the base 2 in the circumferential direction through the elastic connection portion 3, when the tibia and the femur exert pressure from different directions, the elastic connection portion 3 can counteract and cushion the radial component force, so that the pressure can be more uniformly conducted to the sensor 4 along the first direction, and the measurement accuracy is effectively improved. Further, since the contact body 1 is connected to the base 2 through the elastic connection portion 3 in the circumferential direction, it is possible to easily form a seal against the sensor 4 located in the first gap, preventing contamination of the external liquid. In addition, the pressure measurement module has a simple structure, simplifies the complexity of design and manufacture, and also simplifies the difficulty of the pressure measurement algorithm.

Further, referring to fig. 2, the elastic connection portion 3 has an inner side and an outer side along the radial direction of the contact body 1, the outer side of the elastic connection portion 3 is connected with the base 2, and the inner side of the elastic connection portion 3 is connected with the contact body 1; wherein the inner side of the elastic connection portion 3 has a deformation resistance in the first direction smaller than the deformation resistance in the radial direction of the contact body 1. In an alternative example, the contact body 1 has a substantially circular plate shape, the upper surface of which has a curved surface 11 matching the femoral prosthesis. The axis of the contact body 1 is arranged in a first direction. The elastic connection portion 3 is disposed outside the contact body 1 in the circumferential direction of the contact body 1, and therefore it can be understood that the inner side of the elastic connection portion 3 means a side close to the central axis of the contact body 1, and the outer side of the elastic connection portion 3 means a side distant from the central axis of the contact body 1.

The deformation resistance in a certain direction referred to herein means the resistance of the inner side of the elastic connection portion 3 to deformation in a certain direction. In a popular sense, the inner side of the elastic connection portion 3 is relatively easy to deform in a first direction (i.e., up-down direction in fig. 2), and relatively difficult to deform in a radial direction (i.e., front-back, left-right direction in fig. 2). This results in the contact body 1, when subjected to a pressure force in an angle to the first direction, being less absorbed by the elastic connection 3 in the axial direction, most of which is conducted to the sensor 4, while the radial force component in a direction perpendicular to the first direction is more absorbed by the elastic connection 3, so that the radial force component is conducted less to the sensor 4, thereby effectively improving the measurement accuracy.

In an alternative exemplary embodiment, the base 2 includes a carrier 21 and a rigid support 22, where the carrier 21 is substantially flat, and the rigid support 22 is disposed around an edge of the carrier 21 and forms a receiving cavity 20 together with the carrier 21. The rigid support 22 and the supporting body 21 can be fixedly connected by adopting glue bonding, welding and other modes, and can also be connected by adopting a fastening mode, a screw mode and other modes. Thereby, the outer side of the elastic connection portion 3 is connected to the rigid bracket 22. Of course, in other embodiments, the carrier 21 and the rigid support 22 may be integrally formed.

Further, the first object 91 and the second object 92 can relatively rotate around a rotation axis perpendicular to the first direction in a reference plane, and the extending direction of the rotation axis is a second direction (the second direction is the horizontal direction in fig. 3); the direction perpendicular to the second direction and perpendicular to the first direction is a third direction (the third direction is a direction along the line of sight of the observer in fig. 3, that is, a direction perpendicular to the drawing plane). It will be appreciated that the first and second objects 91, 92 are respectively connected to the femur and tibia, and are capable of rotating about the knee joint (or knee joint prosthesis), in which case the plane in which the rotation of the two occurs, i.e. the reference plane, may be, for example, a plane parallel to the sagittal plane of the human body. The axis of rotation and the second direction are understood to be perpendicular to the sagittal plane, i.e. left-right with respect to the human body. While the third direction is perpendicular to both the second direction and the first direction, it is understood that the third direction is relative to the human body, i.e. the front-to-back direction.

The elastic connection parts 3 have different deformation resistance strength at both sides of the contact body 1 along the second direction; and/or, in the third direction, the elastic connection portions 3 differ in deformation resistance strength on both sides of the contact body 1. It has been found that in practice the pressure conduction in the femur and tibia is often uneven in the lateral and anterior directions. Preferably, in the second direction (i.e., the left-right direction), the elastic connection portion 3 has relatively high deformation resistance on the side away from the sagittal plane (i.e., the outer side), and relatively low deformation resistance on the side closer to the sagittal plane (i.e., the inner side). The comparison of the deformation resistance here refers to the comparison between different areas around the contact body 1 of the same elastic connection 3. For example, the examples shown in fig. 1 to 3 include two elastic connection portions 3, and there is no comparability between the two elastic connection portions 3. It should be further noted that the example shown in fig. 1 to 3 is a knee prosthesis with only one leg, and the two contact bodies 1 are included on the same side of the sagittal plane. Preferably, in the third direction (i.e., the front-rear direction), the elastic connection portion 3 has relatively high deformation resistance on the front side and relatively low deformation resistance on the rear side. So configured, it is able to conform more to the anatomical features of the human body.

It will be appreciated that the different deformation strengths of the inner side of the elastic connection 3 in different directions and the variation of the deformation strengths of the different areas of the elastic connection 3 can be adjusted by the different materials, structures or shapes of the elastic connection 3. Optionally, at least one of the contact body 1 and the base 2 is integrally formed with, cast-connected to, welded to or glued to the elastic connection 3. The following is described by way of several exemplary examples.

Referring to fig. 2 to 12, in some embodiments, the elastic connection portion 3 includes a flexible connection structure 30, and a cross section of the flexible connection structure 30 along a radial direction of the contact body 1 has a bent shape with a turn. The cross-section of the flexible connection structure 30 may include, for example, a U-shape (as in fig. 3-5), a V-shape, a W-shape, or a wave shape (as in fig. 10-12), etc., with the reverse direction along the first direction. The reverse direction refers to the direction of turning, and for example, the openings and bottoms of the U are arranged along the first direction, and the bottoms of the U are reverse, which corresponds to a rotation of 180 degrees along the first direction. Similarly, V-shaped, W-shaped or wavy, etc. shapes, which are also folded back in a first direction according to similar principles. The arrangement can be such that the inner side of the elastic connection portion 3 has a smaller deformation resistance in the first direction than in the radial direction of the contact body 1. Further, the flexible connection structure 30 is curved with a reverse fold, and tearing at the junction of the elastic connection portion 3 and the contact body 1 and the base 2 can be reduced or avoided.

Optionally, the shore hardness of the flexible connection structure 30 is no greater than 30, preferably 20-30, and more preferably 25. In one exemplary embodiment, the material of the flexible connection structure 30 may optionally include silicone, soft PVC, polyurethane, thin wall PEEK, or resin, etc., preferably silicone.

Referring to fig. 3 to 9, alternatively, the flexible connection structure 30 continuously surrounds the contact body 1 in the circumferential direction of the contact body 1, that is, the flexible connection structure 30 is annular. Since the flexible connection structure 30 is continuously annular in the circumferential direction of the contact body 1, it also has a certain tightness, and can be used for closing the first gap, so as to reduce or prevent the sensor 4 from being contaminated by external liquid (such as blood, etc.).

In an alternative example, the contact body 1 has an inner concave engagement groove 12 (see fig. 6) on its outer periphery, and the flexible connection structure 30 has an inner periphery with an adapted engagement protrusion 31. Preferably, the engagement groove 12 and the engagement protrusion 31 are circumferentially continuous, and the engagement protrusion 31 is capable of being engaged into the engagement groove 12, thereby restricting the relative axial positions of both the flexible connection structure 30 and the contact body 1 in the first direction. The fitting connection of the engaging groove 12 and the engaging projection 31 can further improve the sealing performance.

Optionally, the bottom surface of the contact body 1 is further provided with a plurality of positioning holes 13, the flexible connection structure 30 is provided with a plurality of positioning columns 32 matched with the positioning holes 13, and the positioning columns 32 can be inserted into the positioning holes 13, so that the relative circumferential positions of the flexible connection structure 30 and the contact body 1 are limited. The shape of the positioning hole 13 and the positioning post 32 is not limited in this embodiment, and may be, for example, cylindrical, conical, square, or the like.

Optionally, the base 2 (e.g. on the rigid support 22) has a plurality of mounting holes 23 formed along the first direction, and the compliant coupling structure 30 has a compliant mounting post 33. The mounting posts 33 can snap into the mounting holes 23 to effect connection of the flexible connection structure 30 to the base 2. Also, the present embodiment is not limited to the shape of the mounting hole 23 and the mounting post 33, and may be, for example, cylindrical, conical, square, or the like. Preferably, the plurality of mounting holes 23 and the mounting posts 33 are uniformly spaced apart in the circumferential direction.

Further, in addition to the flexible connection structure 30 being configured to engage the contact body 1 and the base 2 (e.g., the rigid support 22), in some embodiments, the flexible connection structure 30 may be integrally formed, integrally cast or integrally bonded to the contact body 1 and the base 2. In the first example, the contact body 1 and the rigid support 22 are manufactured by machining, and then the flexible connection structure 30 is directly poured between the contact body 1 and the rigid support 22 by means of die sinking, so as to form a pouring connection. In the second example, the flexible connection structure 30 is formed by die casting, and then the flexible connection structure 30 is bonded to the contact body 1 and the rigid support 22, respectively. In the third example, the contact body 1 and the rigid support 22 are formed by die casting, and then the flexible connection structure 30 is integrally formed with the contact body 1 and the rigid support 22 by using different molding temperatures of materials. For example, the contact body 1 and the rigid support 22 can bear the temperature of 300 ℃, and the mold opening pouring temperature of the flexible connecting structure 30 is selected to be about 200 ℃, so that the contact body 1, the rigid support 22 and the flexible connecting structure 30 can be integrally formed by utilizing the temperature difference to perform secondary mold opening. Which is advantageous in improving the sealing effect and withstanding the tearing force. In a fourth example, the flexible connection structure 30 may be integrally formed with the rigid support 22, and the material of the flexible connection structure 30 may be consistent with the material of the rigid support 22, such as PEEK or PC. The flexible connection 30 achieves its low deformation resistance by its shape being configured as a thin-walled, folded-back curve.

Referring to fig. 10 to 12, optionally, the flexible connection structure 30 includes a plurality of folded-back sections 14, and the thickness and/or length of the cross section of the folded-back sections 14 in the radial direction of the contact body 1 are adaptively determined according to different positions of the flexible connection structure 30 in the circumferential direction of the contact body 1; alternatively, the number of return sections 14 is adapted to different positions of the flexible connection structure 30 in the circumferential direction of the contact body 1. The folded-back sections 14 are sections of the flexible connection 30, each of which changes the direction of extension, in a radial cross section of the contact body 1. For example, as shown in fig. 10 to 12, the flexible connection structure 30 comprises 7 return sections 14 (14 a to 14 g) on one side in the radial direction of the contact body 1, which each form a 90 ° turn with respect to each other. The length of the return sections 14 is the distance of each return section 14 along its own extension, while the thickness of the return sections 14 refers to the distance of each return section 14 along a direction perpendicular to its own length. Taking the folded-back section 14b in fig. 10 to 12 as an example, it extends along the first direction, so that the length direction is the extending distance along the first direction, and the thickness direction is the distance along the direction perpendicular to the first direction. It will be appreciated that the different lengths and thicknesses of the return sections 14 can affect the deformation resistance of the overall flexible connection structure 30, and that in order to increase the deformation resistance of the flexible connection structure 30 on a radial side of the contact body 1, the thickness of the return sections 14 can be increased, or the length of the return sections 14 can be correspondingly reduced, such that the overall flexible connection structure 30 becomes thicker on a radial side of the contact body 1 (e.g., the left-hand portion of the flexible connection structure 30 of fig. 11). In contrast, in order to reduce the deformation resistance of the flexible connection structure 30 on one side in the radial direction of the contact body 1, the thickness of the folded-back section 14 may be reduced, or the length of the folded-back section 14 may be increased accordingly, so that the entire flexible connection structure 30 becomes thinner on one side of the contact body 1 (as in the right-hand portion of the flexible connection structure 30 of fig. 11). Furthermore, the number of return sections 14 may also affect the deformation resistance strength of the flexible connection structure 30 (as in the different examples of fig. 5 and 10, the flexible connection structure 30 includes a different number of return sections 14). Based on the above-mentioned studies, the length, thickness or number of the folded-back sections 14 of the flexible connection structure 30 at different circumferential positions can be selected to be determined according to the requirements of the flexible connection structure 30 at different positions in the circumferential direction of the contact body 1.

Referring to fig. 13 and 14, in other embodiments, the elastic connection portion 3 includes a plurality of springs 34, and the plurality of springs 34 are distributed around the circumference of the contact body 1; each spring 34 is coiled around its own axis, the axis of each spring 34 being arranged at an angle to the first direction. The spring 34 can be connected to the rigid support 22 and the contact body 1 at both ends along the respective axes, for example by means of an integral die-opening. In the example shown in fig. 13 and 14, the axis of the spring 34 extends generally horizontally and is slightly inclined inwardly downwardly at an acute angle to the first direction. It will be appreciated that due to the configuration of the spring 34, its resistance to deformation in its own radial direction is less than its resistance to deformation in its own axial direction. Thereby achieving the effect of counteracting and buffering the radial force component.

Optionally, the elastic connection portion 3 further includes a sealing member 35, and the sealing member 35 is sealingly connected between the contact body 1 and the base 2 to seal the spring 34. It will be appreciated that the spring 34 is not configured to seal, and therefore, in order to seal the sensor 4 in the first gap, a seal 35 may be additionally provided along with the spring 34. The sealing member 35 may be, for example, a thin-walled flexible body, and the material thereof may be TPU or silicone, and the wall thickness (the thickness along the radial direction of the spring 34) is about 0.1mm, and the sealing member 35 may be fixedly connected to the rigid support 22 and the contact body 1 by means of gluing (such as silicone glue), welding (such as high-frequency welding), or integral injection molding. It will be appreciated that since the seal 35 is a thin-walled flexible body, it does not substantially impede pressure transmission. Preferably, the elastic connection part 3 includes upper and lower seals 35 provided on upper and lower sides of the spring 34, respectively.

Referring to fig. 14 and 15, preferably, the pressure measurement module further includes a guide member 5, and the guide member 5 is disposed on the base 2 and spaced apart from the outer peripheral wall of the contact body 1 in the circumferential direction of the contact body 1 to form a second gap 50. The guide 5 serves to limit the radial position of the contact body 1. When the contact body 1 is accommodated in the accommodating chamber 20, a certain space exists between the outer peripheral wall thereof and the rigid support 22. The guiding member 5 plays a role in guiding the contact body 1, and can guide the contact body 1 to move along the first direction when being pressed, so that radial sliding of the contact body 1 is reduced or avoided, and the pressure detection precision can be improved. The width of the second gap 50 (the distance in the radial direction of the contact body 1) is, for example, about 0.2 mm.

Optionally, please continue to refer to fig. 15 in combination with fig. 3, the pressure measurement module further includes a pressure equalization member 6; the pressure equalization member 6 is arranged between the contact body 1 and the sensor 4; the hardness of the pressure equalization member 6 is greater than the hardness of the elastic connection portion 3, and the hardness of the pressure equalization member 6 is less than the hardness of the contact body 1. When the contact body 1 is pressed, two sides of the pressure equalization member 6 along the first direction are respectively abutted against the contact body 1 and the sensor 4, the material of the pressure equalization member 6 is, for example, silica gel or other flexible materials, the shore hardness of the material is not more than 90, for example, about 80 is selected, the pressure equalization member 6 has the function of resolving a part of component force which is angled to the first direction through self deformation, so that the conduction pressure of the contact body 1 is uniformly distributed on the sensor 4, and the measurement accuracy is further improved.

Optionally, referring to fig. 16, the pressure measurement module further includes a circuit module 71 and a circuit connector 72, and the base 2 includes a circuit receiving cavity 24, where the circuit receiving cavity 24 may be disposed on the rigid support 22, for example, and closed by a sealing cover 25. The rigid support 22 has a through hole 26, and the circuit module 71 is disposed in the circuit accommodating cavity 24 and connected to the circuit connecting member 72, where the circuit connecting member 72 passes through the through hole 26 and is connected to the sensor 4 through the lead 73. So configured, the entire circuit module 71 is sealed in the circuit accommodation chamber 24, preventing contamination of external liquid. Preferably, a sealing structure or sealant can be additionally filled between the circuit connecting member 72 and the through hole 26 to improve the sealing performance of the circuit accommodating cavity 24.

Based on the pressure measurement module as described above, embodiments of the present invention also provide a surgical robotic system comprising an articulation pressure measurement module as described above. Other components and structures of the surgical robotic system may be referenced in the prior art and will not be described further herein.

In summary, in the pressure measurement module and the surgical robot system provided by the present invention, the pressure measurement module includes: the device comprises a contact body, a base, an elastic connecting part and a sensor; the base is provided with a containing cavity recessed along a first direction, the contact body is contained in the containing cavity along the first direction in the axial direction, and the contact body and the base are arranged at intervals along the first direction to form a first gap; the contact body is connected with the base through an elastic connecting part in the circumferential direction; the sensor is arranged on the base and is positioned in the first gap; the contact body is for abutting against the first object and for transmitting pressure from the first object to the sensor. So dispose, because the contact body passes through elastic connection portion and base connection in circumference, when tibia and femur exert pressure from different directions, elastic connection portion can dispel and cushion radial component for pressure can more evenly be conducted to the sensor along first direction, has effectively improved measurement accuracy. Further, since the contact body is connected with the base through the elastic connection part in the circumferential direction, the sensor positioned in the first gap can be conveniently sealed, and external liquid pollution is prevented. In addition, the pressure measurement module has a simple structure, simplifies the complexity of design and manufacture, and also simplifies the difficulty of the pressure measurement algorithm.

It should be noted that the above embodiments may be combined with each other. The above description is only illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and any alterations and modifications made by those skilled in the art based on the above disclosure shall fall within the scope of the appended claims.

Claims

1. A pressure measurement module for detecting pressure data between a first object and a second object, the pressure measurement module comprising: the device comprises a contact body, a base, an elastic connecting part and a sensor;

2. The pressure measurement module of claim 1, wherein the elastic connection portion has an inner side and an outer side in a radial direction of the contact body, the outer side of the elastic connection portion being connected to the base, the inner side of the elastic connection portion being connected to the contact body;

3. The pressure measurement module of claim 1, wherein the resilient connection comprises a flexible connection structure having a reverse bend-shaped cross-section along a radial direction of the contact body.

4. A pressure measurement module according to claim 3, wherein the flexible connection structure continuously surrounds the contact body in the circumferential direction of the contact body.

5. A pressure measurement module according to claim 3, wherein the flexible connection structure comprises a plurality of return sections, the thickness and/or length of the cross section of the return sections in the radial direction of the contact body being adapted to be determined according to the different positions of the flexible connection structure in the circumferential direction of the contact body; alternatively, the number of the reverse-folded sections is adaptively determined according to different positions of the flexible connection structure in the circumferential direction of the contact body.

6. The pressure measurement module of claim 1, wherein the resilient connection comprises a plurality of springs distributed circumferentially around the contact body; each spring is coiled and formed around the axis of the spring, and the axis of each spring is arranged at an angle with the first direction.

7. The pressure measurement module of claim 6, wherein the resilient connection further comprises a seal sealingly connected between the contact body and the base to seal the spring.

8. The pressure measurement module of claim 1, wherein at least one of the contact body and the base is integrally formed with, cast-connected to, welded to, or bonded to the resilient connection.

9. The pressure measurement module of claim 1, further comprising a guide disposed on the base and spaced apart from the outer peripheral wall of the contact body along the circumference of the contact body, forming a second gap.

10. The pressure measurement module of claim 1, further comprising a pressure equalization member; the pressure equalization piece is arranged between the contact body and the sensor; the hardness of the pressure equalization member is greater than that of the elastic connection portion, and the hardness of the pressure equalization member is less than that of the contact body.