CN117653352A

CN117653352A - Surgical operation system and force feedback method

Info

Publication number: CN117653352A
Application number: CN202211057444.XA
Authority: CN
Inventors: 闫昱晟; 高元倩
Original assignee: Shenzhen Edge Medical Co Ltd
Current assignee: Shenzhen Edge Medical Co Ltd
Priority date: 2022-08-31
Filing date: 2022-08-31
Publication date: 2024-03-08

Abstract

The embodiment of the application provides a surgical operation system and a force feedback method, wherein the surgical operation system comprises a surgical instrument, an input device, a driving device and a controller, and a holding piece of the input device is used for controlling the opening and closing angle of the surgical instrument; the driving device comprises a first motor and a second motor for driving the surgical instrument to perform an opening and closing movement. The controller is used for determining whether the operation data of the first motor and the second motor are larger than a threshold value, if so, acquiring a first rotation angle of the holding piece at the moment, acquiring a second rotation angle of the holding piece which moves subsequently, and outputting feedback force to the holding piece based on the first rotation angle and the second rotation angle.

Description

Surgical operation system and force feedback method

Technical Field

The present application relates to the field of medical devices, and in particular, to a master-slave operated teleoperated surgical system and a force feedback method.

Background

Minimally invasive surgery refers to a surgical mode for performing surgery in a human cavity by using modern medical instruments such as laparoscopes, thoracoscopes and related devices. Compared with the traditional operation mode, the minimally invasive operation has the advantages of small wound, light pain, quick recovery and the like.

With the progress of technology, minimally invasive medical robotic techniques are becoming mature and widely used. Minimally invasive medical robotic assisted surgery systems generally include a master console and a slave operating device, with a doctor controlling the slave operating device through an input device controlling the master console, the slave operating device being configured to respond to control commands sent from the master console and to perform corresponding surgical operations. The instrument is coupled to a drive means of the slave manipulator for performing a surgical procedure, and the distal end of the instrument includes an end effector for performing the surgical procedure and a multi-degree-of-freedom articulation assembly coupled to the end effector.

When a doctor remotely operates the surgical robot auxiliary surgical system, the force applied to human tissues by the surgical instrument cannot be intuitively sensed, so that accidents, such as overlarge clamping force of the surgical instrument and damage to the tissues, can be caused.

Disclosure of Invention

Based thereon, the present application provides in a first aspect a surgical system comprising a surgical instrument comprising a grip; the input device comprises a holding piece, wherein the holding piece is used for controlling the opening and closing angle of the clamping part; the driving device comprises a first motor and a second motor, and the first motor and the second motor are used for driving the clamping part to execute opening and closing actions; a controller configured to:

Acquiring operation data of the first motor and the second motor;

determining whether operating data of the first motor and the second motor is greater than a first threshold;

if the operation data is larger than the first threshold value, acquiring a first rotation angle of the holding piece at the moment;

acquiring a second rotation angle of the holding piece, and outputting a feedback force to the holding piece based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle;

or if the operation data is larger than the first threshold value, acquiring a first opening and closing angle of the clamping part at the moment;

and acquiring a second opening and closing angle of the clamping part, and outputting feedback force to the holding piece based on the first opening and closing angle and the second opening and closing angle, wherein the second opening and closing angle is smaller than the first opening and closing angle.

In a specific embodiment, the operation data of the first motor and the second motor includes one of a current, a voltage, and a rotational speed of the first motor and the second motor.

In a specific embodiment, the surgical instrument further comprises a long shaft and a wrist, the grip being rotatably connected to the wrist, the wrist being rotatably connected to a distal end of the long shaft; the driving device comprises a third motor for driving the wrist to execute pitching action, and when the third motor drives the wrist to execute pitching action, the first motor and the second motor can be kept motionless so as to keep the opening and closing angle of the clamping part unchanged;

In a specific embodiment, the controller is further configured to:

acquiring operation data of a third motor;

determining whether the operational data of the third motor is greater than a second threshold;

if the operation data of the third motor is larger than the second threshold value, acquiring a third rotation angle of the holding piece at the moment;

acquiring a fourth rotation angle of the holding piece, and outputting a feedback force to the holding piece based on the third rotation angle and the fourth rotation angle, wherein the fourth rotation angle is smaller than the third rotation angle;

in a specific embodiment, the controller is further configured to:

acquiring operation data of a third motor;

if the operation data of the third motor is larger than the second threshold value, acquiring a first pitching angle of the wrist at the moment;

acquiring a second pitch angle of the wrist and outputting a feedback force to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is less than the first pitch angle;

in a specific embodiment, the surgical instrument further comprises a plurality of winches and a decoupling mechanism, wherein the plurality of winches are respectively used for receiving power input of the first motor and the second motor, the first winch is connected with the clamping part through a first pair of cables, the second winch is connected with the clamping part through a second pair of cables, the first pair of cables and the second pair of cables are wound on the decoupling mechanism, and when the first motor drives the wrist to rotate, the decoupling mechanism moves to increase the length of one pair of cables in the instrument box and the second pair of cables and reduce the length of the other pair of cables in the instrument box, so that the opening and closing angle of the clamping part is unchanged.

In a specific embodiment, the input device further comprises an actuator and a linkage assembly, one end of the linkage assembly is connected to the actuator, the other end is connected to the grip, and the actuator provides a feedback force to the grip based on the clamping force and through the linkage mechanism.

In a specific embodiment, the linkage mechanism includes a first link and a second link, one end of the first link is rotatably connected to the handle, the other end is rotatably connected to one end of the second link, and the other end of the second link is connected to the actuator.

In a specific embodiment, the input device comprises a housing, an actuator and a first sheave connected to the actuator, the first sheave being rotatably connected to the housing by a first pin, the first sheave being connected to the grip by a first cable, the actuator providing a feedback force to the grip based on the clamping force and by the first cable.

The present application provides, in a second aspect, a surgical system comprising a surgical instrument comprising a long shaft comprising a proximal portion and a distal portion, a drive device, and a controller; an end effector comprising a wrist rotatably connected to the distal end portion and a grip rotatably connected to the wrist;

The driving device comprises a plurality of motors, wherein a first motor and a second motor of the plurality of motors are used for driving the clamping part to execute opening and closing actions, and when a third motor of the plurality of motors drives the wrist to execute pitching actions, the first motor and the second motor can be kept motionless so as to keep the opening and closing angle of the clamping part unchanged;

the controller is configured to:

acquiring operation data of the third motor;

determining whether the operating data of the third motor is greater than a pre-stored threshold;

if the operation data of the third motor is larger than the threshold value, acquiring a first rotation angle of the holding piece at the moment;

or if the operation data of the third motor is greater than the threshold value, acquiring a first pitching angle of the wrist at the moment;

a second pitch angle of the wrist is obtained and a feedback force is output to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is greater than the first pitch angle.

The present application provides in a second aspect a method of force feedback control of a surgical system comprising a surgical instrument, an input device, and a drive device, the surgical instrument comprising a grip portion; the input device comprises a holding piece, wherein the holding piece is used for controlling the opening and closing angle of the clamping part;

the driving device comprises a first motor and a second motor, and the first motor and the second motor are used for driving the clamping part to execute opening and closing actions;

the method comprises the following steps:

acquiring operation data of the first motor and the second motor;

determining whether operating data of the first motor and the second motor is greater than a pre-stored threshold;

if the operation data is larger than the threshold value, acquiring a first rotation angle of the holding piece at the moment;

or if the operation data is larger than the threshold value, acquiring a first opening and closing angle of the clamping part at the moment;

Drawings

FIG. 1 is a top view of a teleoperated surgical system for surgery according to one embodiment of the present application;

FIG. 2 is a schematic illustration of an instrument according to one embodiment of the present application;

FIG. 3A is a schematic diagram of a master console of a surgical system according to one embodiment of the present application;

FIG. 3B is a schematic diagram of an input device of a master console according to one embodiment of the present application;

FIG. 4 is a schematic view of a slave operating device of the surgical system of one embodiment of the present application;

FIG. 5 is a schematic illustration of a robotic arm of a slave manipulator according to one embodiment of the present application;

FIGS. 6A-6D are schematic illustrations of an end effector of a surgical instrument according to one embodiment of the present application;

FIGS. 7A-7B are schematic illustrations of the end effector of the embodiment shown in FIGS. 6A-6D performing a pitch motion;

FIG. 8A is a schematic view of the interior structure of the instrument pod of the surgical instrument illustrated in FIGS. 6A-6D;

FIGS. 8B-8C are schematic illustrations of the instrument pod decoupling process of FIG. 8A;

9A-9B are schematic illustrations of an end effector of a surgical instrument according to another embodiment of the present application;

FIG. 10A is a schematic view of the interior structure of the instrument pod of the surgical instrument illustrated in FIGS. 9A-9B;

FIGS. 10B-10C are schematic illustrations of the instrument pod decoupling process of FIG. 10A;

FIG. 11A is a schematic illustration of a handle of an input device according to one embodiment of the present application;

FIG. 11B is a cross-sectional view of the handle of FIG. 11A from one perspective;

FIG. 11C is a cross-sectional view of the handle of FIG. 11A from another perspective;

FIG. 12 is a force analysis schematic of an end effector grip of one embodiment of the present application;

FIG. 13A is a schematic illustration of a handle of an input device according to one embodiment of the present application;

fig. 13B is a perspective view of the embodiment handle shown in fig. 13A.

Detailed Description

In order to facilitate an understanding of the present application, a more complete description of the present application will now be provided with reference to the relevant figures. Preferred embodiments of the present application are shown in the accompanying drawings. This application may, however, be embodied in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and not limiting.

It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present, or intervening elements may also be present. When an element is referred to as being "coupled"/"coupled" to another element, it can be directly coupled to the other element or intervening elements may also be present and may also be present as an interaction of the two elements through the signal. The terms "vertical," "horizontal," "left," "right," "above," "below," and similar expressions as used herein are for the purpose of illustration and do not denote a unique embodiment, it being understood that these spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., an element or feature described as "below" or "beneath" other element or feature would be oriented "above" the other element or feature if the device were turned over in the figures. Thus, the example term "below" may include both an orientation above and below.

The terms "distal" and "proximal" are used herein as directional terms that are conventional in the art of interventional medical devices, wherein "distal" refers to the end that is distal to the surgeon during the procedure and "proximal" refers to the end that is proximal to the surgeon during the procedure.

The term "tool" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the tool comprising an end effector, which may be a surgical instrument for performing a surgical procedure, such as an electrocautery, a jaw, a stapler, a scissor, an imaging device (e.g., an endoscope or ultrasonic probe), and the like. Some tools used in embodiments of the present application further include providing the end effector with an articulating component (e.g., an articulation assembly) such that the position and orientation of the end effector can be manipulated to move with one or more mechanical degrees of freedom relative to the instrument shaft. Further, the end effector includes jaws that also include functional mechanical degrees of freedom, such as opening and closing. The tool may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the tool and one or more system elements.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The terms "and/or" and/or "as used herein include any and all combinations of one or more of the associated listed items.

Teleoperated surgical system of one embodiment of the present application as shown in fig. 1, the teleoperated surgical system includes a master console 10 and a slave operating device 20, the master console 10 being remotely communicatively connected to the slave operating device 20, the slave operating device 50 including a plurality of robotic arms 21, a plurality of instruments and/or imaging devices being detachably mounted on the different robotic arms 21, respectively. The surgeon S can remotely operate the control instruments and/or the imaging device on the main console 10, the main console 10 is configured to transmit control signals to the slave operating device 20 and display images acquired from the operating device 20 according to the operation of the surgeon S, the surgeon S can observe three-dimensional stereoscopic imaging in the patient 'S body provided by the imaging system through the main console 10, and the surgeon S can control the slave operating device 10 to perform related operations (e.g., perform surgery or acquire images in the patient' S body) with an immersive sense by observing the images in the three-dimensional body of the patient. The master control station 10 and the slave operation device 20 may be remotely operated in the same room, may be placed in different rooms, and may even be located in different cities.

The main control console 10 is also connected to an electronic equipment cart C in remote communication, and the electronic equipment cart C is connected to the main control console 10 and the slave operation device 20, and the electronic equipment cart 30 may include electronic equipment such as an energy generation device and an image signal processing device. In the present embodiment, the master console 10 and the slave operating device 20 and the electronic device cart C perform remote communication by using a wired ethernet communication method, but the remote communication is not limited to wired ethernet communication, and may also be other wired methods, for example, including but not limited to serial ports, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, for example, including but not limited to WiFi, NB, zigbee, bluetooth, RFID, etc.

Teleoperated surgical systems also typically include an imaging system that enables an operator to view the surgical site from outside the patient's body. The vision system typically includes an imaging device (e.g., an endoscope) having video image capturing capabilities and one or more video display devices for displaying captured images. Generally, imaging devices include optics of one or more imaging sensors (e.g., CCD or CMOS sensors) that are to acquire images within the patient's body. The one or more imaging sensors may be positioned at a distal end with an imaging device and signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on a video display device.

One or more cannulas are connected to the distal end of the robotic arm 21, the cannulas being inserted over the body of a patient P lying on the operating table T. The assistant a attaches the tool 30 to the robot arm 21 or replaces/reloads the tool 30 from the robot arm 21 according to the operation condition, and inserts the tool 30 into the body of the patient P through a cannula after attaching the tool 30 to the robot arm 21. Surgeon S, assistant a, and anesthesiologist B constitute the basic surgical team.

Tool 30 may be a surgical instrument such as an electrocautery, a jaw, a stapler, an ultrasonic blade, etc. for performing a surgical procedure, or may be an imaging device (e.g., an endoscope) or other surgical tool for capturing images. In some embodiments, as shown in fig. 2, the tool 30 includes a drive box 31, a long shaft 32, and an end effector 33, the drive box is used to receive power input on the mechanical arm 21 and transmit the power input to the end effector 33, and the end effector 33 may be a device for performing surgery, such as a jaw, an ultrasonic blade, or the like; but also imaging means such as image sensors.

As shown in fig. 3A, the main console 100 of one embodiment of the present application includes a display device 101, an armrest, first and second input devices 102, 103, a viewing apparatus 104, and a plurality of pedals 105, with the two input devices 102, 103 being used to control different instruments or imaging devices, respectively. The display device 101 is used for displaying the image acquired by the imaging system, for example, the display device 101 is a three-dimensional imaging display device. The surgeon S observes the image displayed by the display device 101 through the observation means 104. The armrest 11 is used to rest the surgeon's arm and/or hand, and in some embodiments, the armrest may be omitted, or the viewing device 104 omitted, as may be desired, and the surgeon's hand may be directly viewed.

The surgeon S controls the tool movement of the slave operation device 20 by operating the first and second input devices 102, 103, and the control signal processing system of the master control console 10 processes the input signals of the input device 102 and issues control signals to the slave operation device 20, and the slave operation device 20 responds to the control signals of the master control console 100 and performs corresponding operations, i.e., master-slave control. In some embodiments, the control signal processing system may also be provided in the slave operation device 20, for example in a base of the slave operation device 20.

In some embodiments, as shown in fig. 3B, the first input device 102 includes a handle 1021, a wrist joint assembly 1030, and an elbow joint assembly 1040, the handle 1021 being for the surgeon to hold, and movement of the wrist joint assembly 1030 being used to change the pose of the first input device 102, e.g., the pose of the handle 1021. The elbow joint assembly 1040 is used to change the position of the first input device 102, such as the position of the handle 1021.

The wrist assembly 1030 includes a plurality of wrist joints 1301, 1032, 1033, 1034, each of the wrist joints 1301, 1032, 1033, 1034 being rotatably connected to each other by an L-shaped link, wherein the wrist joint 1031 rotates about its axis X1, the wrist joint 1032 rotates about its axis X2, the wrist joint 1033 rotates about its axis X3, the wrist joint 1034 rotates about its axis X4, and each of the wrist joints 1301, 1032, 1033, 1034 rotates about its respective axis to change the attitude of the input device 102. In some embodiments, the gestures of the input device 102 include gestures of the intersection of axis X1, axis X2, axis X3, and axis X4.

The elbow joint assembly 1040 includes a plurality of elbow joints 1041, 1042, 1043, with the elbow joint 1041 rotating about its axis X5, the elbow joint 1042 rotating about its axis X6, the elbow joint 1043 rotating about its axis X7, and each elbow joint 1041, 1042, 1043 rotating about a respective axis to change the position of the input device 102.

The wrist assembly 1030 and the elbow assembly 1040 include a plurality of motors for driving movement of the wrist assembly 1030 and the elbow assembly 1040. In some embodiments, controller 250 controls wrist joint assembly 1030 by controlling one or more motors of wrist joint assembly 1030 to move such that the pose of first input device 102 and/or second input device 103 follows the pose of the instrument tip; alternatively, the pose of the first input device 102 and/or the second input device 103 is aligned with the pose of the instrument tip.

In some embodiments, as shown in fig. 4, the slave manipulator 200 includes a plurality of robotic arms 210, 220, 230, 240 and a controller 2500, the plurality of robotic arms 210, 220, 230, 240 may be of the same configuration or of different configurations, the plurality of tools 310, 320, 330, 340 are mounted on the plurality of robotic arms 210, 220, 230, 240, specifically, a first instrument 310 of the plurality of tools is detachably mounted on a first robotic arm 210 of the plurality of robotic arms, a second instrument 320 is detachably mounted on a third robotic arm 230, a third instrument 330 is detachably mounted on a fourth robotic arm 240, and an imaging device 340 of the plurality of tools is detachably mounted on the second robotic arm 220. In other embodiments, the instrument and image device may be interchanged with the mounted robotic arm, e.g., the third instrument 330 and imaging device 320 may be interchanged with the mounted robotic arm, with the imaging device 340 mounted on the third robotic arm 230 and the second instrument 320 mounted on the second robotic arm 220 after interchange.

The controller 2500 is configured to control the articulation of the drive robots 210, 220, 230, 240, as well as the movement of the instruments 310, 320, 330 and the imaging device 340 in response to control signals from the master console 100 or from the operating device 20. The controller 2500 may be disposed in the base of the slave operation device 200, and in some embodiments, the controller 2500 may be disposed on each robot arm, and it is understood that the controller 2500 may be disposed in the master control station 100. In some embodiments, the controller 2500 is the same control device as the control signal processing system described above, or the controller 2500 and the control signal processing system described above are different control devices provided in the slave operation device 20 and the master control station 10, respectively.

As shown in fig. 5, taking the first arm 210 of the plurality of arms as an example, the arm 210 includes a parallelogram mechanism 211 and a holding arm 212, the driving device 213 is slidably disposed on the holding arm 212, the driving device 213 is used for driving the end effector 313 of the surgical instrument 310 to act, and the parallelogram mechanism 211 is used for rotating the surgical instrument 310 around a remote center of motion. The driving device 213 includes a plurality of motors 213a, 213b,213c,213d, the plurality of motors 213a, 213b,213c,213d are coupled to a transmission device in the instrument case 311 after the instrument case 311 is mounted to the driving device 213, the plurality of motors 213a, 213b,213c,213d drive the long shaft 312 and the end effector 313 to operate by driving the transmission device, wherein the first motor 213a and the second motor 213b are used for driving the end effector 313 to perform an opening and closing operation, the third motor 213c is used for driving the end effector 313 to perform a pitching operation, and the fourth motor 213d is used for driving the long shaft 312 to rotate. In some embodiments, the drive 213 and the cartridge 311 may be connected therebetween by a sterile adapter.

In the case of the end effector of the prior art having a kinematic coupling, two or more motors are required to engage in a single degree of freedom of motion of the end effector when the end effector is actuated by the drive mechanism, e.g., a motor that drives the jaws of the end effector 313 open and close is required to not only drive the jaws open and close, but may also cooperate to perform a decoupling motion when the end effector 313 performs a pitch motion.

Motion decoupling of end effectors of surgical instruments

In one embodiment, as shown in fig. 6A, the end effector 150 comprises a first support 210 and a wrist 220, the distal end of the first support 210 comprises a first leg 314 and a second leg 315, the proximal end of the first support 210 comprises a chassis 316, one end of the chassis 316 is connected to a long axis, the first leg 314 and the second leg 315 extend from the other end of the chassis 316 toward the distal end of the end effector 150, and the first leg 314, the second leg 315, and the chassis 316 form a generally clevis configuration.

A first pin 311 and a second pin 312 are disposed between the first and second struts 314 and 315, the first and second pins 311 and 312 being fixedly coupled to the first and second struts 314 and 315 side by side, wherein the first pin 311 is closer to the bottom frame 316 of the first bracket 210 than the second pin 312.

For better illustration of the structure of the proximal end of the end effector 150, the first bracket 210 is not shown in fig. 6B and 6C, and as shown in fig. 6B and 6C, the first pin 311 is provided with a first pulley block including a first pulley 211, a second pulley 212, a third pulley 213 and a fourth pulley 214 sequentially provided on the first pin 311, the second pin 312 is provided with a second pulley block including a fifth pulley 215, a sixth pulley 216, a seventh pulley 217 and an eighth pulley 218 sequentially provided on the second pin 312, and all of the first pulley 211 to the eighth pulley 218 are for guiding the driving cable, and since all of the pulleys for guiding the driving cable are provided on the first bracket 210 and no pulley is provided on the wrist 220, the volume of the wrist 220 can be made smaller, so that the end effector 150 is smaller and there is no risk of the pulleys falling off.

The wrist 220 is provided with a third strut 317, a fourth strut 318 and a pitch wheel 319, the third strut 317 and the fourth strut 318 extending from the pitch wheel 319 along the distal end of the end effector 150, the third strut 317, the fourth strut 318 and the pitch wheel 319 forming a generally U-shaped frame, the pitch wheel 319 being mounted on the second pin 312, the wrist 220 being rotatable about the AA' of the axis of the second pin 312 to effect pitch movement of the end effector 150.

A third pin 313 is arranged between the third strut 317 and the fourth strut 318, and the third pin 313 is perpendicular to the first pin 311 and the second pin 312. The clamping part 260 of the end effector 150 includes a first clamping member 261 and a second clamping member 262, the first clamping member 261 and the second clamping member 262 being rotatably disposed on the wrist 220 by a third pin 313, the first clamping member 261 and the second clamping member 262 being rotatable about an axis BB' of the third pin 313 to effect opening and closing and yaw movements of the clamping part 260, the first clamping member 261 and the second clamping member 262 being jaws for clamping tissue, or a stapler for suturing, or a cautery for electro-cautery, or the like.

The drive cables provided at the end effector 150 include a first pair of cables 151 and a second pair of cables 152 for manipulating the opening and closing and yaw movements of the end effector 150, and a third pair of cables 153 for manipulating the pitch movements of the end effector 150, the first pair of cables 151 including a first drive cable 151A and a second drive cable 151B. The second pair of cables 152 includes a third drive cable 152A and a fourth drive cable 152B, and the third pair of cables 153 includes a fifth drive cable 153A and a sixth drive cable 153B.

As shown in fig. 6C and 6D, on the end effector 150 side, the first pair of cables 151 are wound around the first pulley block and the second pulley block in the opposite manner to the second pair of cables 152 are wound around the first pulley block and the second pulley block, the first driving cable 151A of the first pair of cables 151 is wound around the first pulley block and the second pulley block in the same manner as the second driving cable 151B is wound around the first pulley block and the second pulley block, and the third driving cable 152A of the second pair of cables 152 is wound around the first pulley block and the second pulley block in the same manner as the fourth driving cable 152B is wound around the first pulley block and the second pulley block. Specifically, the proximal end of the first drive cable 151A is coupled to a transmission within the instrument box 170, and the distal end of the first drive cable 151A extends toward the distal end of the end effector 150 after being directed over the front of the first pulley 211 and continues along the distal end of the end instrument 150 after being directed over the rear of the fifth pulley 215 and finally secured to the first clamp 261. The second drive cable 151B extends toward the distal end of the end effector 150 after being guided through the front of the fourth pulley 214, and continues to extend toward the distal end of the end effector 150 after being guided through the rear of the eighth pulley 218 and finally is secured to the first clamp 261. The distal end of the third drive cable 152A extends distally of the end effector 150 after being directed rearward of the second pulley 212 and continues distally of the end effector 150 after being directed forward of the sixth pulley 216 and is secured to the second clamp 262, and the distal end of the fourth drive cable 152B extends distally of the end effector 150 after being directed rearward of the third pulley 213 and continues distally of the end effector 150 after being directed forward of the seventh pulley 217 and transitions to the second clamp 262.

The proximal ends of the fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables 153 are received in the annular groove 319A of the pitch wheel 319 at the distal ends thereof, respectively, and the ends of the fifth drive cable 153A and the sixth drive cable 153B are secured within the wrist 220, respectively, to drive rotation of the wrist 220 along the axis AA ', whereby the wrist 220 drives the first gripping portion 230 and the second gripping portion 240 together in pitch motion along the axis AA'.

The coupling between the third pair of cables 153 and the first and second pairs of cables 151, 152 of the end effector 150 is described in detail below, and when the end effector 150 is to be made to perform a pitching motion, the instrument box 170 is required to retract the fifth drive cable 153A or the sixth drive cable 153B of the third pair of cables 153 so that the wrist 220 drives the first clamping portion 230 and the second clamping portion 240 together to pitch about the first axis AA ', as shown in fig. 7A and 7B, and the winch 171 in the instrument box 170 is required to retract the sixth drive cable 153B so that the wrist 220 and the first clamping portion 230 and the second clamping portion 240 are required to pitch about the first axis AA', and if the end effector 150 is to perform only a pitching motion, it is required to maintain the cable portions of the first pair of cables 151, the second pair 152 between the second pulley block and the clamping portions constant, otherwise yaw or opening and closing motion of the end effector 150 is caused.

In order for the end effector 150 to successfully rotate through the pitch angle α of the target, if the target pitch angle through which the end effector 150 is required to rotate is α, as the instrument pod 170 is retracting the sixth drive cable 153B, as shown in fig. 6A-6D, then if the end effector 150 is required to rotate through the angle α from the position in fig. 6D to the position in plane B of fig. 7A, then the wrap angle of the first and second drive cables 151A and 151B on the fifth and eighth pulleys 215 and 218, respectively, must be increased by a length L, where l=α×r1, and the wrap angle of the respective third and fourth drive cables 152A and 152B on the sixth and seventh pulleys 216 and 217, respectively, is decreased by a length L, respectively, in order for the end effector 150 to successfully rotate through the pitch angle α of the target.

If the pitch motion of the end effector 150 is to be performed such that the lengths of the first and second drive cables 151A, 151B on the end effector 150 must be increased or decreased simultaneously, the lengths of the third and fourth drive cables 152A, 152B on the end effector must be decreased or increased simultaneously, so the movement of the third pair of cables 153 is limited to the first and second pairs of cables 151, 152.

Such a relationship in which a change of one element is affected/limited by another element is referred to as a coupling relationship, i.e., there is a coupling relationship between one element and another element. For the first pair of cables 151, the second pair of cables 152, and the third pair of cables 153, this coupling relationship allows for movement of either cable between the second pair of cables 152 and the third pair of cables 153, which can cause undesired movement of the other cables, resulting in undesired movement of the end effector. This coupling relationship results in the end effector's pitch and yaw motions being interrelated and independent of each other such that the end effector 150 is not able to properly perform a surgical procedure. It is therefore desirable to decouple the third pair of cables 153 from the first pair of cables 151 and/or the second pair of cables 152 so that movement of the third pair of cables 153 is no longer limited to the first pair of cables 151 and/or the second pair of cables 152 and movement therebetween can be independent of, do not interfere with or affect each other, and such decoupling is referred to as decoupling.

For how to decouple the above coupling, a conventional decoupling method uses a software algorithm, but the conventional software decoupling method cannot decouple the end effector of the type of the present invention, the present invention proposes a mechanical decoupling scheme in which a mechanical decoupling mechanism is provided in the instrument box 170 of the surgical instrument 120, so as to decouple the first pair of cables 151, the second pair of cables 152 and the third pair of cables 153.

Referring now to FIG. 8A, a schematic view of an instrument pod 170 according to an embodiment of the invention is shown, the instrument pod 170 being adapted to receive power input and drive the end effector shown in FIG. 6A. The instrument pod 170 includes a first capstan 171 and a second capstan 172 for driving the end effector 150 to perform an opening and/or a yaw motion, a third capstan 173 for driving the end effector 150 to pitch motion, and a fourth capstan 174 for driving the long shaft 160 to spin motion. The first and second driving cables 151A and 151B of the first pair of cables 151 are wound around the first winch 171 in opposite winding manners, the third and fourth driving cables 152A and 152B of the second pair of cables 152 are wound around the second winch 172 in opposite winding manners, the fifth and sixth driving cables 153A and 153B of the third pair of cables 153 are wound around the third winch 173 in opposite winding manners, and the seventh and eighth driving cables 154A and 154B are wound around the fourth winch 174 in opposite winding manners, respectively.

When the first motor 213a in the driving device 132 drives the first winch 171 to rotate, the first winch 171 pulls or releases the first driving cable 151A or the second driving cable 151B to rotate the first clamping member 261 about its third pin 313, and when the second motor in the driving device 132 drives 213B the second winch 172 to rotate, the second winch 172 pulls or releases the second driving cable 152A, the third driving cable 152B to rotate the second clamping member 262 about the third pin 313. When the third motor 213c in the drive 132 drives the third capstan 173 to rotate, the third capstan 173 pulls or releases the fifth and sixth drive cables 153A, 153B to rotate the wrist 220 about the axis AA' of the second pin 312 to effect the end effector 150 to perform a pitch motion. When the fourth motor in the drive 132 drives the fourth capstan 174 to rotate with its shaft 174A, the fourth capstan 174 retracts or releases either the seventh drive cable 154A or the eighth drive cable 154B to effect a spinning motion that drives the long shaft 160.

The instrument box 170 further includes a decoupling mechanism for decoupling the third pair of cables 153 from the first pair of cables 151, the second pair of cables 152 on one side of the end effector 150, the decoupling mechanism including a decoupling wheel 1761 and a carriage 176, the carriage 176 including a support frame 1762 and first and second guide portions 1763, 1764 connected at opposite ends of the support frame 1762, the first and second drive cables 151a,151B being wound around the first guide portion 1763, the third and fourth drive cables 152A, 152B being wound around the second guide portion 1764, the decoupling wheel 1761 being connected to the support frame 1762 by the first and second decoupling cables 1767, 1768, the decoupling wheel 1761 manipulating movement of the carriage 176 by driving the first and second decoupling cables 1767, 1768.

The decoupling wheel 1761 and the third capstan 173 may be disposed on the same shaft 173A, with the decoupling wheel 1761 rotating coaxially with the third capstan 173. The decoupling wheel 1761 and the third winch 173 have different radii, the radius of the decoupling wheel 1761 being R2 and the radius of the third winch 173 being R2, wherein R2< R2, the decoupling wheel 1761 moves the carriage 176 by pulling or releasing either the first decoupling cable 1767 or the second decoupling cable 1768.

The decoupling process is illustrated in fig. 8B, when the third winch 173 is rotated in the counterclockwise (first direction), the third winch 173 pulls the sixth drive cable 153B and simultaneously releases the fifth drive cable 153A, such that the wrist 220 of the end effector 150 is rotated about the axis AA' of the second pin 312 as in fig. 7A and 7B, and the entire end effector 150 performs a pitching motion. Since the decoupling wheel 1761 rotates coaxially with the third winch 173, when the decoupling wheel 1761 pulls the second decoupling cable 1768 and simultaneously releases the first decoupling cable 1767, if the arc length traversed by the decoupling wheel 1761 is L/2, the carriage 176 moves L/2 distance in the direction a under the pulling of the second decoupling cable 1768, when the length of the first and second drive cables 151A, 151B within the instrument box 170 will simultaneously decrease by L due to the movement of the carriage 176, and correspondingly, the length of the third and fourth drive cables 152A, 152B within the instrument box 170 will simultaneously increase by L.

Whereby the decrease in length of the first and second drive cables 151A, 151B within the instrument box 170 is equal to the increase in wrap angle length of the first and second drive cables 151A, 151B on the fifth and eighth pulleys 215, 218, respectively, and the increase in length of the third and fourth drive cables 152A, 152B within the instrument box 170 is equal to the decrease in wrap angle length of the third and fourth drive cables 152A, 152B on the sixth and seventh pulleys 216, 217, respectively. Conversely, as shown in fig. 8C, when the third winch 173 and the decoupling wheel 1761 are rotated clockwise (in the second direction) together, the length of the first and second drive cables 151A, 151B within the instrument box 170 increases by an amount equal to the amount of reduction required for the wrap angle lengths of the first and second drive cables 151A, 151B on the fifth and eighth pulleys 215, 218, respectively, and the length of the third and fourth drive cables 152A, 152B within the instrument box 170 decreases by an amount equal to the amount of increase required for the wrap angle lengths of the third and fourth drive cables 152A, 152B on the sixth and seventh pulleys 216, 217. Whereby the amount of change in length of the first and second cables on the side of the end effector due to the pitch motion of the end effector is provided entirely by the change in length of the first and second cables within the instrument box 170, and therefore the movement of the third pair of cables will no longer be limited by the first and second pairs of cables, the decoupling mechanism effecting decoupling of the third pair of cables from the first and second pairs of cables.

In order to enable an accurate and controllable decoupling of the third pair of cables 153 from the first pair of cables 151, the second pair of cables 152 in the decoupling mechanism, the decoupling wheel 1761 of the decoupling mechanism drives the carriage 176 all the time in a straight line and the length changes of the first, second, third and fourth drive cables 151A, 151B, 152A, 152B resulting from the movement of the decoupling member 176 are all the time linear.

As shown in fig. 9A, which is a schematic structural view of an end instrument 250 according to an embodiment of the present invention, the end instrument 250 includes a wrist 410 having a generally U-shaped structure, a first bracket 510, and a clamping portion 610 and a driving cable. The distal ends of the first pair of cables 251 are mounted on a first grip 611 of the grip 610, the proximal ends of which are connected to a first capstan in the instrument box 270, and the distal ends of the second pair of cables 252 are mounted on a second grip 612 of the grip 610, the proximal ends of which are connected to a capstan in the instrument box 270, the first pair of cables 251 and the second pair of cables 252 cooperatively operate the first grip 611 and the second grip 612 to rotate about the axis BB' of the first pin 512, effecting opening, closing, and yaw movement of the end instrument 250. A third pair of cables 253 are mounted on the wrist 410 at their distal ends and are connected to a third winch within the instrument box 270 at their proximal ends.

The first pair of cables 251 includes a first drive cable 251A and a second drive cable 251B, and the second pair of cables includes 252A third drive cable 252A and a fourth drive cable 252B. The first pulley block 320 is fixed on the wrist 410 and the second pulley block 330 is mounted on a first bracket 510, wherein the first pulley block 320 comprises first, second, third and fourth pulleys 321, 322, 323, 324 and the second pulley block 330 comprises fifth, sixth, seventh and eighth pulleys 325, 326, 327, 328.

The first pair of cables 251 and the second pair of cables 252 are wound in the same manner on the first pulley block 320 and the second pulley block 320, but the first drive cable 251A and the second drive cable 251B of the first pair of cables 251 are wound in opposite manners on the first pulley block 320 and the second pulley block 330, and the third drive cable 252A and the fourth drive cable 252B of the second pair of cables 252 are wound in opposite manners on the first pulley block 320 and the second pulley block 330. Specifically, the first drive cable 251A is guided through the front of the first pulley 321 and then through the rear of the fifth pulley 325 and then extends through the first bracket 510 into the long shaft 160; the second drive cable 251B is guided over the rear of the third pulley 323 and then over the front of the seventh pulley 327 and then through the first bracket 510 into the long shaft 160. Third drive cable 252A extends through wrist 210 into long axis 160 after being guided by the front of second pulley 322 and then through the rear of sixth pulley 326, and fourth drive cable 352B extends through wrist 410 into distal long axis 160 after being guided by the rear of fourth pulley 324 and then through the front of eighth pulley 228.

There is also a coupling relationship between the third pair of cables 253 and the first pair of cables 251, the second pair of cables 252 in this embodiment. Specifically, as shown in fig. 9B, when the instrument cartridge 270 of the surgical instrument releases the fifth drive cable 253A of the third pair of cables 253 and retracts the sixth drive cable 253B of the third pair of cables 253, the desired end effector 250 pitch motion is rotation of the wrist 410 of the end effector 250 and the grip 610 together about the axis AA' of the second pin 511 in a clockwise direction and the grip 610 does not move about the first pin 412 during rotation.

However, as the drive cables are wound in the manner described above, the angular wrap lengths of the first drive cable 251A of the first pair of cables 351 and the third drive cable 252B of the second pair of cables 252 on the fifth pulley 325 and the sixth pulley 326, respectively, will increase as the angular wrap lengths of the second drive cable 252B and the fourth drive cable 252B on the seventh pulley 227 and the eighth pulley 228, respectively, will decrease during the counterclockwise rotation of the wrist 410 and the clamp 610 together about the axis AA' of the second pin 412, from the dotted line position to the solid line position in the figure, which is undesirable, and the coupling relationship between the third pair of cables 253 and the first pair of cables 251, 252 will also exist.

The present invention thus also provides a cartridge that can decouple the surgical instrument 250 described above, as shown in fig. 10A, the cartridge 270 comprising a first capstan 271 and a second capstan 272 for driving the distal instrument 250 to perform opening, closing, yaw, a third capstan 273 for driving the distal instrument 250 to perform pitching motion, and a fourth capstan 274 for driving the long shaft 160 to perform autorotation motion. The proximal ends of the first and second drive cables 251A, 251B of the first pair of cables 251 are wound around the first capstan 271 in an opposite winding manner, the proximal ends of the third and fourth drive cables 252A, 252B of the second pair of cables 252 are wound around the second capstan 272 in an opposite winding manner, the fifth and sixth drive cables 253A, 253B of the third pair of cables 253 are wound around the third capstan 273 in an opposite winding manner, and the sixth and seventh drive cables 254A, 254B of the fourth pair of cables are wound around the fourth capstan 274 in an opposite winding manner, respectively.

The instrument cartridge 270 further includes a decoupling mechanism for decoupling the third pair of cables 253 from the first pair of cables 251, the second pair of cables 252 on one side of the end effector 250, the decoupling mechanism including a decoupling wheel 275 and a carriage 276, the decoupling wheel 275 being disposed coaxially with the third capstan 273, the carriage 276 including a support frame 2761 and guide wheels 2763, 2764 disposed at opposite ends of the support frame 2761. The first drive cable 251A and the third drive cable 252A are guided by the first guide portion 2763 and then enter the long shaft 160, and the second drive cable 251B and the fourth drive cable 152B are guided by the second guide portion 2764 and then enter the long shaft. The decoupling wheel 275 is used to actuate movement from the carriage 276 to vary the length of the first pair of cables 251 and the second pair of cables 252 within the instrument box to decouple the third pair of cables from the first pair of cables and the second pair of cables.

As shown in fig. 10B, when the third capstan 273 is rotated in the first direction (counterclockwise), the third capstan 273 pulls the fifth drive cable 253B and simultaneously releases the fourth drive cable 253A, thereby rotating the wrist 220 of the end instrument 250 along the axis AA' of the second pin 511. Because the decoupling wheel 275 is disposed coaxially with the third capstan 273, rotation of the decoupling wheel 275 in a first direction releases the first decoupling cable 2765 and simultaneously retracts the second decoupling cable 2766 to thereby draw the support frame 2761 of the carriage 276 to move in the direction a within the instrument box 270, thereby simultaneously decreasing the length of the first drive cable 251A and the third drive cable 252A within the drive device and simultaneously increasing the length of the second drive cable 251B and the fourth drive cable 252B within the drive device.

As shown in fig. 10C, when the third capstan 273 and the decoupling wheel 275 rotate together in a second direction opposite to the first direction, the entire decoupling process is reversed from the process of rotating the third capstan 273 and the decoupling wheel 275 in the first direction, and thus the resulting change in the drive cable and the decoupling cable is reversed from the movement in the first direction.

Whereby the amount of change in the wrap angle length of the first drive cable 151A of the first pair of cables 251 and the third drive cable 152A of the second pair of cables required for pitch movement of the end effector 250 over the fifth pulley 225 and the sixth pulley 226, respectively, and the amount of change in the wrap angle length of the second drive cable 151B and the fourth drive cable 152B over the seventh pulley 227 and the eighth pulley 228, respectively, are provided by the amount of change in the length of the first drive cable 151A and the third drive cable 152A within the drive device, and the amount of change in the length of the second drive cable 152B and the fourth drive cable 152B within the drive device, all caused by movement of the decoupling mechanism from the decoupling member 176, such that movement of the third pair of cables is no longer limited by the first pair of cables, the second pair of cables, and precise decoupling between the third pair of cables and the first pair of cables, the second pair of cables is achieved.

After the mechanical decoupling, the driving motor for driving the clamping part to move only drives the clamping part to move, so that the decoupling is not needed, in other words, when the third motor 213c drives the wrist of the surgical instrument to move in a pitching manner, the first motor 213a and the second motor 213b can be fixed, and therefore, the opening and closing angle of the clamping part of the end effector is maintained unchanged. The change in the operating data (e.g., abrupt change in current) of the first and second motors 213a,213b driving the movement of the clamping member at this time is only due to clamping to the human tissue, so that the clamping force applied to the human tissue by the clamping portion can be determined by the operating data and force feedback is provided to the input device based on the clamping force.

One embodiment of the present invention also provides an input device with force feedback, as shown in fig. 11A, in which the handle 1130 of the input device is rotatably connected to the wrist joint 1031, the handle 1130 includes a housing 1131 and a grip 1133, the grip 1133 is rotatably mounted on the housing 1131, the housing 1131 further includes a handle 1132, and an operator holds the handle 1132 like a pistol grip while using the handle 1130, and holds the grip 1133 with fingers.

As shown in fig. 11B, 11C, the handle 1130 further includes a force feedback device including a force feedback motor 1201, a transmission cable 1203, and a first sheave 1204, the force feedback motor 1201 being connected to the first sheave 1204 by the transmission cable 1203. The bracket 1134 of the holding member 1133 is connected with the first rope pulley 1204 through the second rope pulley 1205, the second rope pulley 1205 and the first rope pulley 1204 are arranged on the same pin shaft 1135, the encoder 1207 is fixed below the first rope pulley 1204 and is coaxially arranged with the first rope pulley 1204 and the second rope pulley 1205, and is used for detecting the rotation angle of the first rope pulley 1204 and the second rope pulley 1205. In some embodiments, the first sheave 1204 and the second sheave 1205 may not be disposed on the same pin, e.g., the first sheave 1204 and the second sheave 1205 are disposed on different pins, the first sheave 1204 and the second sheave 1205 being directly connected by a cable or gear.

The bracket 1134 is connected to the second sheave 1205 by first and second actuating cables 1206a,1206b, the first and second actuating cables 1206a,1206b extending along opposite sides of the bracket 1134, one end of the first actuating cable 1206a and one end of the second actuating cable 1206b being secured to respective sides of the bracket 1134, the first and second actuating cables 1206a,1206b being wrapped around the second sheave 1205 in an opposite manner, and the other end of the first actuating cable 1206a and the other end of the second actuating cable 1206b being secured to the second sheave 1205. In some embodiments, the first actuation cable 1206a and the second actuation cable 1206b extend in grooves in both side walls of the bracket 1134.

In one embodiment, the grip 1133 is rotatably connected to the housing 1131 by a second pin 1136, and the second pin 1136 is parallel to the first pin 1135, so that the first drive cable 1206a and the second drive cable 1206b are not easily slid out of the grooves of the side walls of the bracket 1133 when the grip 1133 is rotated.

When the operator presses the grip 1133, the bracket 1133 of the grip 1133 rotates in the clockwise direction CW as shown, the second sheave 1205 rotates counterclockwise by the pulling of the first actuating cable 1206a, and when the operator pulls the grip 1133, the grip 1133 rotates in the counterclockwise CCW direction about the second pin 1133, the second actuating cable 1206b pulls the first sheave 1135 to rotate clockwise. The encoder 1207 can detect the rotation angle of the second sheave 1205, thereby obtaining the rotation angle of the grip 1133, and the controller of the surgical system controls the opening and closing angle of the clamping portion of the end effector of the surgical instrument according to the rotation angle of the grip 1133.

In some embodiments, a compressed spring (not shown) is provided between the leg 1134 of the grip 1133 and the housing 1131, and after the operator releases the grip 1133, the spring returns to rotate the grip 1133 in the counterclockwise CCW direction.

After the clamping portion 260 of the surgical instrument clamps the human tissue R, the force applied to the tissue R by the clamping action of the clamping portion 260 is as shown in fig. 12, and the interaction force of the surgical instrument with the human tissue during the operation of clamping the human tissue is generally considered as the clamping operation force, and can be decomposed into the three-dimensional axial force F along the end tool coordinate system _g 、F _s 、F _t Wherein F is _g Representing the tooth surface clamping force of the surgical instrument on human tissue, F _s Represents radial tangential force, F _t Indicating the axial tension. Since the first clamping member 261 and the second clamping member 262 in the clamping portion 260 are individually controlled by the cable and generate interaction forces during contact with human tissue, the three-dimensional axial force F can be applied _g 、F _s 、F _t Further decompose to the firstOn the tooth surface of the clamping part 261 and being a three-dimensional axial component F _g ′、F _s ′、F _t ' and second clamping part 262 tooth surface are three-dimensional axial force components F _g ″、F _s ″、F _t The force decomposition relationship can be expressed by the following formula

Wherein,representing force F _t Is equivalent to force vector +.>And-> Representing vector force->Is the scalar value of +.>And->

After the clamping portions 260, 610 of the surgical instruments 150, 250 are clamped to the human tissue, the driving cables driving the clamping portions to move are caused to generate tensile deformation, so that currents of the first motor 213a and the second motor 213b driving the clamping portions to rotate generate sudden large changes, and after the mechanical decoupling, the first motor 213a and the second motor 213b do not participate in the decoupling movement any more, the two motors independently drive the clamping portion first clamping member and the second clamping member respectively, the sudden changes of currents of the two motors indicate that the clamping portions are clamped to the human tissue, and the magnitude of the clamping force of the clamping portions when clamped to the tissue can be obtained by inputting the current change into a pre-stored force feedback model of 'the operating force-current change of the clamping portions'.

In one embodiment, the "grip operational force-current variation" force feedback model further includes two grip tangential forces F of the grip _s The relation between the current variation of the third motor 213c and the current variation of the third motor 213c can enable the two clamping members of the clamping portions 261, 610 to be subjected to the tooth surface tangential force after the clamping portions 260, 610 of the surgical instruments 150, 250 are clamped to human tissues, the tooth surface tangential force is perpendicular to the clamping force, the current of the third motor 213c is suddenly changed due to the existence of the tooth surface tangential force, and the magnitude of the tooth surface tangential force which is not clamped can be obtained by inputting the current variation of the third motor 213c into a force feedback model.

In some embodiments, the mathematical relationship between the current variation amounts of the first motor 213a, the second motor 213b and the third motor 213c and the clamping force of the clamping part measured by the pressure sensor is calibrated by the calibration device, and the force feedback model of the operation force-current variation amount of the clamping part is finally obtained according to the mathematical relationship.

The force feedback motor 1201 provides a feedback force to the grip 1133 based on the magnitude of the grip detected by the current through the first and second motors 213a, 213b, e.g., the controller of the force feedback device converts the detected grip force of the grip 240, 610 into an input current to the force feedback motor 1201, and the force feedback motor 1201 outputs a corresponding resistance force based on the input current, which may be equal to or proportional to the magnitude of the grip force of the grip 260, 610. Because the first rope pulley 1204 and the second rope pulley 1205 are arranged on the same pin shaft, the resistance output by the feedback motor 1201 is transmitted to the holding piece 1133 through the transmission cable 1203, the first rope pulley 1204 and the second rope pulley 1205, so that an operator can feel the resistance provided by the feedback motor 1201 when operating the handle, and can intuitively feel the resistance of the end effector of the instrument when clamping the tissue, and the operation is safer.

In one embodiment, as shown in fig. 13A, 13B, a handle 2130, the handle 2130 includes a housing 2131 and two grip pieces 2133A,2133B, the two grip pieces 2133A,2133B are rotatably connected to the housing 2131 by two first pins 2134a,2134B, respectively, and the operation can control the opening and closing angle of the grip portion of the end effector of the surgical instrument by pinching the two grip pieces 2133.

The handle 2130 further includes a force feedback device including a link assembly including two first links 2201a,2201b, one end of the two first links 2201a,2201b being rotatably connected to the two grip members 2133a,2133b through two second pins 2135a,2135b, respectively, and the other end of the two first links 2201a,2201b being rotatably connected to one end of the second link 2202 through a third pin 2136, and the other end of the second link 2202 being connected to the force feedback actuator 2201, and a force feedback actuator 2201.

Similar to the cable-driven embodiment described above, the controller of the force feedback device senses the magnitude of the clamping force of the clamping portion by the current of the first motor 213a and the second motor 213b, and the controller of the force feedback device translates the sensed clamping force of the clamping portion into an input current to the force feedback brake 2201, which in turn inputs resistance to the grip clips 2133a,2133b via the linkage assembly to provide force feedback to the operator.

In one embodiment, the force feedback actuator 2201 is connected to the second link 2202 by a third link 2203, the second link 2202 moves in a straight line, the direction of movement of which is perpendicular to the first pins 2134a, 213b, the second pins 2135a,2135b and the third pin 2136, and the straight line movement of the second link 2202 moves the third link 2203, thereby transferring the movement of the second link 2202 to the force feedback actuator 2201, whereby the force feedback actuator 2201 can detect the movement of the second link 2202, whereby the force feedback actuator 2201 detects the opening and closing angle of the grip 2133a and the grip 2133 b.

In one embodiment, a spring 2205 is also provided between the two grip members 2133a,2133b, the spring 2205 providing a resilient return force to move the two grip members 2133a,2133b away from each other after the operator releases the grip members 2133a,2133 b.

In one embodiment, the controller of the force feedback device detects the magnitude of the grip tangential force by the current of the third motor, and the controller of the force feedback device converts the detected grip force of the grip into an input current to the force feedback motor 1201 or the force feedback brake 2201, which inputs resistance to the grip 1133 or grips 2133a,2133b through the linkage assembly according to the input current to provide force feedback to the operator including the grip tangential force.

It will be appreciated that in some embodiments, other operation data of the first motor 213a and the second motor 213b may be used to create a mathematical model of the clamping force and the operation data of the clamping portion, for example, a mathematical model of "clamping force-rotation speed variation of the clamping portion", "clamping force-moment variation of the clamping portion", "clamping force-voltage variation of the clamping portion", etc. may be created.

In one embodiment, the force feedback device provides force feedback to the grip 1133 according to a force feedback model related to the angle of opening and closing of the grip 1133. Specifically, the force feedback device enables the force feedback model based on whether the end effector of the surgical instrument is clamped to human tissue, e.g., the surgical system pre-stores threshold currents associated with the first motor 213a and the second motor 213b, and when the force feedback device detects that the currents of the first motor 213a and the second motor 213b are greater than the first threshold current, the force feedback model is enabled. The force feedback model is related to the opening and closing angle of the gripping members 1133, 2133 of the handle, when the controller of the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, the controller obtains a first rotation angle of the gripping members 1133, 2133 at this time, and obtains a second rotation angle of the gripping members 1133, 2133 after moving from the first rotation angle in real time, wherein the second rotation angle is smaller than the first rotation angle, the rotation angle refers to an included angle between the gripping members and a center line of the handle, and the rotation angle refers to an included angle γ between the gripping members 1133 and the center line X1 of the handle 1130, taking fig. 11C as an example. The feedback motor 1201 or the force feedback actuator 2201 of the force feedback device provides feedback force to the grip based on the first and second rotational angles of the grip. The feedback force is obtained based on the first rotation angle and the second rotation angle, namely, the first rotation angle and the second rotation angle are input into the force inverse model, so that the feedback force is obtained. The force feedback model is as follows:

F _mg ＝k ₁ (θ _mg -θ _grip )+k ₂ (θ _mg -θ _grip ) ² +…+k _n (θ _mg -θ _grip ) ⁿ

F in the force feedback model _mg For feedback force, θ _mg For the first rotation angle of the gripping member, θ _grip For the second rotation angle of the holding piece, k ₁ 、k ₂ 、…、k _n And the constant coefficient is represented and is obtained by measurement and calibration in the modeling process. Feedback motor 1201 or force feedback actuator 2201 is responsive to feedback force F _mg A feedback force is output to the grip.

The controller of the force feedback device may be located within the input device, may be located within the main console 10, or may be located from the operating device 20, for example, using the controller 2500 within the operating device 20 to perform the controller function of the force feedback device, it being understood that the controller of the force feedback device may be located anywhere in the surgical system.

In one embodiment, the force feedback device provides feedback force to the grip 1133 according to a force feedback model related to the angle at which the two grips of the jaws 260, 610 of the instrument open and close. Specifically, when the controller of the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, a first opening and closing angle of the clamping portion at this time is obtained, and an actual second opening and closing angle of the clamping portion after the clamping portion moves from the first opening and closing angle is obtained in real time, wherein the second opening and closing angle is smaller than the first opening and closing angle, the opening and closing angle refers to an opening and closing angle between two clamping pieces of the clamping portion, and the opening and closing angle is zero when the clamping portion is closed. Feedback motor 1201 provides feedback force to the handle based on this first angle and the second angle that opens and shuts, namely first angle and the second degree that opens and shuts are input to the force feedback model in to obtain the clamping force of clamping part, force feedback device is according to this clamping force output feedback force to the grip, and force feedback model is as follows in this embodiment:

F _ug ＝k ₁ (θ _ug -θ _tool )+k ₂ (θ _ug -θ _tool ) ² +…+k _n )θ _ug -θ _tool ) ⁿ

F in the force feedback model _ug For the clamping force of the clamping part, theta _ug A first opening and closing angle theta of the clamping part _tool K is the second opening and closing angle ₁ 、k ₂ 、…、k _n And the constant coefficient is represented and is obtained by measurement and calibration in the modeling process. Feedback motor 1201 or force feedback actuator 2201 is responsive to clamping force F _ug A feedback force is output to the grip.

It will be appreciated that in some embodiments, it may also be determined whether the clamping portion of the instrument is clamped to tissue by detecting other operational data of the first motor 213a and the second motor 213b, such as operational data of the voltage, rotational speed, torque, etc. of the first motor 213a and the second motor 213 b.

In one embodiment, the force feedback device provides feedback forces to the grips 1133, 2133 that include grip tangential force dependence according to a force feedback model that is related to the pitch angle of the wrist 220. The surgical system pre-stores a second current threshold associated with the third motor 213c, and when the controller of the force feedback device detects that the current of the third motor 213c exceeds the second current threshold, obtains a third angle of rotation of the grip 1133, 2133 at that time, and obtains in real time a fourth angle of rotation of the grip 1133, 2133 after movement from the third angle of rotation, wherein the fourth angle of rotation is less than the third angle of rotation. The force feedback motor 1201 or the force feedback actuator 2201 of the force feedback device provides a feedback force comprising a tangential force to the grip based on the third and fourth angles of rotation of the grip 1133, 2133. How to obtain the feedback force through the force feedback model and the third and fourth rotation angles of the gripping member can refer to the above embodiment, and will not be described herein.

In one embodiment, the force feedback device provides feedback force to the grip 1133, 2133 according to a force feedback model related to the pitch angle of the wrist 220, 410 of the instrument. Specifically, when the controller of the force feedback device detects that the current of the third motor 213c is greater than the second threshold current, a first pitch angle of the wrists 220, 410 is obtained at this time, and an actual second pitch angle of the wrists after the wrists move from the first pitch angle of the wrists is obtained in real time, wherein the first pitch angle is smaller than the second pitch angle. Force feedback motor 1201 or brake 2201 provides a feedback force to the grip based on the first pitch angle of the wrist and the second pitch angle of the grip. Namely, the first pitch angle and the second pitch angle of the wrist are input into a force reaction model, so that tangential force of a clamping part is obtained, and a force feedback device outputs feedback force to a holding piece according to the tangential force of the clamping part, wherein the force feedback model in the embodiment is as follows:

F _vg ＝k ₁ (θ _vg -θ _wrist )+k ₂ (θ _vg -θ _wrist ) ² +…+k _n (θ _vg -θ _wrist ) ⁿ

f in the force feedback model _vg Is the tangential force of the clamping part, theta _vg For a first pitch angle of the wrist, θ _wrist For a second pitch angle, k of the wrist ₁ 、k ₂ 、…、k _n And the constant coefficient is represented and is obtained by measurement and calibration in the modeling process. Feedback motor 1201 or force feedback actuator 2201 based on tangential force F _vg A feedback force is output to the grip.

The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.

Claims

1. A surgical system, comprising:

a surgical instrument comprising a grip;

the input device comprises a holding piece, wherein the holding piece is used for controlling the opening and closing angle of the clamping part;

A controller configured to:

acquiring operation data of the first motor and the second motor;

2. The surgical system of claim 1, wherein the operational data of the first motor and the second motor comprises one of a current, a voltage, and a rotational speed of the first motor and the second motor.

3. The surgical system of claim 1, wherein the surgical instrument further comprises a long shaft and a wrist, the grip being rotatably coupled to the wrist, the wrist being rotatably coupled to a distal end of the long shaft; the driving device comprises a third motor for driving the wrist to execute pitching action, and when the third motor drives the wrist to execute pitching action, the first motor and the second motor can be kept motionless so as to keep the opening and closing angle of the clamping part unchanged.

4. The surgical system of claim 3, wherein the controller is further configured to:

acquiring operation data of a third motor;

and acquiring a fourth rotation angle of the holding piece, and outputting feedback force to the holding piece based on the third rotation angle and the fourth rotation angle, wherein the fourth rotation angle is smaller than the third rotation angle.

5. The surgical system of claim 3, wherein the controller is further configured to:

acquiring operation data of a third motor;

a second pitch angle of the wrist is obtained and a feedback force is output to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is less than the first pitch angle.

6. A surgical system according to claim 3, wherein the surgical instrument further houses a plurality of capstans and a decoupling mechanism in the instrument box, first and second capstans of the plurality of capstans being adapted to receive power input from the first and second motors, respectively, the first capstan being coupled to the clamp by a first pair of cables and the second capstan being coupled to the clamp by a second pair of cables, the first and second pairs of cables being wound around the decoupling mechanism, the decoupling mechanism being movable to increase the length of one of the first and second pairs of cables in the instrument box and decrease the length of the other pair of cables in the instrument box as the first motor drives the wrist to rotate, thereby maintaining the opening and closing angle of the clamp unchanged.

7. The surgical system of claim 1, wherein the input device further comprises an actuator and a linkage assembly, one end of the linkage assembly being connected to the actuator and the other end being connected to the grip, the actuator providing a feedback force to the grip based on the clamping force and through the linkage mechanism.

8. The surgical system of claim 7, wherein the linkage mechanism comprises a first link and a second link, one end of the first link being rotatably coupled to the handle and the other end being rotatably coupled to one end of the second link, the other end of the second link being coupled to the actuator.

9. The teleoperated surgical system of claim 1, wherein the input device includes a housing, an actuator, and a first sheave coupled to the actuator, the first sheave rotatably coupled to the housing by a first pin, the first sheave coupled to the grip by a first cable, the actuator providing a feedback force to the grip based on the clamping force and by the first cable.

10. A surgical system, comprising:

surgical instrument comprising

A long shaft comprising a proximal portion and a distal portion;

an end effector comprising a wrist rotatably connected to the distal end portion and a grip rotatably connected to the wrist;

A controller, the controller further configured to:

acquiring operation data of the third motor;

11. A method of force feedback control of a surgical system, the teleoperated surgical system comprising a surgical instrument, an input device and a drive device, the surgical instrument comprising a clamping portion;

the method comprises the following steps:

acquiring operation data of the first motor and the second motor;

acquiring a second rotation angle of the holding piece based on the first rotation angle and the second rotation angle

Outputting a feedback force to the grip, wherein the second angle of rotation is less than the first angle of rotation;

or if the operation data is greater than the threshold value, acquiring a first opening of the clamping part at the moment

An angle of engagement;