CN117838304B

CN117838304B - Zero position detection structure, zero position detection method, instrument driving box and surgical robot

Info

Publication number: CN117838304B
Application number: CN202410232923.3A
Authority: CN
Inventors: 金存山; 史文勇
Original assignee: Kochi Medical Technology Beijing Co ltd
Current assignee: Kochi Medical Technology Beijing Co ltd
Priority date: 2024-03-01
Filing date: 2024-03-01
Publication date: 2024-06-25
Anticipated expiration: 2044-03-01
Also published as: CN117838304A

Abstract

The invention provides a zero position detection structure, a zero position detection method, an instrument driving box and a surgical robot. The zero detection structure comprises: a motor having an output; the speed reducer is connected with the output end of the motor, is concentrically arranged with the motor and is provided with an output shaft; the distance measuring sensor is arranged opposite to the output shaft; the motor is configured to rotate an output shaft of the speed reducer, the output shaft having a first slot, and the distance measurement sensor is configured to detect a distance between the output shaft and the output shaft of the speed reducer to output a zero signal to determine a zero position when the first slot passes a position of the distance measurement sensor. The zero detection structure has the advantages of simple structure, reliable detection, reliable process and low cost.

Description

Zero position detection structure, zero position detection method, instrument driving box and surgical robot

Technical Field

At least one embodiment of the invention relates to a zero position detection structure, a zero position detection method, an instrument driving box and a surgical robot.

Background

Minimally invasive surgical robots generally consist of a doctor console and a patient surgical platform. The patient operation platform is provided with one or more multi-shaft operation arms, the operation instrument is arranged on the operation arms, various actions of the instrument are driven by the instrument driving box, the control instruction from the doctor console is received, and corresponding operation actions are completed under the action coordination with the operation arms.

Disclosure of Invention

At least one embodiment of the invention provides a zero detection structure and a detection method, an instrument driving box and a surgical robot, in particular to a zero detection structure and a detection method of a motor output end in the instrument driving box and a surgical robot with the zero detection structure.

At least one embodiment of the present invention provides a zero position detection structure of a motor output end of an instrument drive box applied to a surgical robot, comprising: a motor having an output; the speed reducer is connected with the output end of the motor, is concentrically arranged with the motor and is provided with an output shaft; the distance measuring sensor is arranged opposite to the output shaft; the motor is configured to rotate an output shaft of the speed reducer, the output shaft has a first slot, and the distance measurement sensor is configured to detect a distance between the motor and the output shaft of the speed reducer to output a zero signal to determine a zero position when the first slot passes a position of the distance measurement sensor.

For example, the distance measuring sensor is located on an extension of the radius of the output shaft of the decelerator.

For example, the ranging sensor includes a reflective photo detection sensor.

For example, the first slot is a recess located at an edge of the output shaft.

For example, the relative position of the distance measuring sensor and the axis of the output shaft of the speed reducer is fixed.

The embodiment of the invention also provides an instrument driving box which comprises any zero detection structure and is provided with a containing cavity, and the motor and the speed reducer are both positioned in the containing cavity.

For example, the instrument drive cartridge has a mounting base and an upper cover with a second slot to form a detection cavity such that the output shaft and the range sensor face each other within the detection cavity.

For example, the detection chamber is a darkroom.

For example, the instrument drive cartridge has a plurality of separate receiving chambers, each of which has a motor and a decelerator coupled to the motor, each decelerator having a first slot therein.

For example, the instrument drive cartridge has at least five independent receiving cavities, each motor corresponding to at least one ranging sensor, a plurality of ranging sensors being distributed on both sides of the instrument drive cartridge.

For example, at least two distance measuring sensors located on the same side of the instrument drive cartridge are connected as a unitary structure.

For example, the zero detection structure further comprises a circuit board, the ranging sensor is connected with the circuit board, the instrument driving box is provided with a clamping groove structure, and the circuit board is fixed through the clamping groove structure.

For example, the clamping groove structure comprises a first clamping groove structure and a second clamping groove structure, the mounting seat is provided with the first clamping groove structure, the upper cover is provided with the second clamping groove structure, and the first clamping groove structure and the second clamping groove structure are matched to fix the circuit board.

For example, the accommodating cavity includes a first accommodating cavity and a second accommodating cavity, the mounting seat has the first accommodating cavity, the upper cover has the second accommodating cavity, the first clamping groove structure protrudes from the first accommodating cavity in an axial direction of the accommodating cavity, and the second clamping groove structure includes a concave cavity.

The embodiment of the invention also provides a surgical robot which is provided with the zero detection structure or the instrument driving box.

The embodiment of the invention also provides a zero position detection method applied to the motor output end of the instrument driving box of the surgical robot, which comprises the following steps: the motor is adopted to drive the output shaft of the speed reducer to rotate; and detecting a distance between the speed reducer and an output shaft of the speed reducer by adopting a distance measuring sensor so as to output a zero position signal when a first slot on the output shaft of the speed reducer passes the position of the distance measuring sensor to determine a zero position.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following brief description of the drawings of the embodiments will make it apparent that the drawings in the following description relate only to some embodiments of the present invention and are not limiting of the present invention.

Fig. 1A and fig. 1B are schematic perspective views of a zero detection structure with an upper cover removed according to an embodiment of the present invention.

Fig. 2A and 2B are schematic perspective views of a motor and a reducer in a zero detection structure according to an embodiment of the present invention.

Fig. 3 is a schematic diagram of a detection principle of a zero detection structure according to an embodiment of the present invention.

Fig. 4 is a schematic perspective view of a circuit board and a ranging sensor disposed on the circuit board in a zero detection structure according to an embodiment of the present invention.

Fig. 5 is a schematic perspective view of a mounting seat in a zero detection structure according to an embodiment of the present invention.

Fig. 6A is an assembly schematic diagram of a mounting base and a circuit board in a zero detection structure according to an embodiment of the present invention.

Fig. 6B is an assembly schematic diagram of a mounting base and a circuit board with a ranging sensor mounted therein in a zero detection configuration according to an embodiment of the present invention.

Fig. 7A to 7C are schematic diagrams illustrating assembly of an upper cover and a circuit board in a zero detection structure according to an embodiment of the present invention.

FIG. 8A is a top view of an upper cover in a zero detection configuration provided by an embodiment of the present invention.

Fig. 8B is an assembly schematic diagram of an upper cover and a circuit board with a distance measurement sensor mounted therein in a zero detection structure according to an embodiment of the present invention.

Fig. 9 is an assembly schematic diagram of an upper cover, a circuit board with a distance measuring sensor and an output shaft of a speed reducer in a zero detection structure according to an embodiment of the present invention.

FIG. 10 is a schematic diagram of a detection chamber in a zero detection configuration provided by an embodiment of the present invention.

Fig. 11 is a schematic diagram of a zero detection method according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.

Unless defined otherwise, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The terms "first," "second," and the like, as used herein, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.

The motion of a plurality of motors in the instrument driving box is taken as the original power output of the instrument motion through the speed reducer, the motion combination is complex, the rotation direction is changeable, the processes of design, processing, assembly and the like are complex, and the zero position of the output shaft of the speed reducer is very important to the precision of the operation motion; the instrument drive cassette is located near the distal end of the arm and is required to be as small and lightweight as possible. Therefore, a simple and reliable zero detection design is needed.

At present, the common magnetic encoder has high requirements on a motor factory in a motor angle analysis mode, generally needs to be installed on a motor, has complex process and is easy to lose efficacy under the influence of high temperature and magnetic field. The instrument driving box distributes a plurality of permanent magnet motors to repeatedly act in a small space, and the local heat is larger. There are also manufacturers to increase extra drive mechanism and export the motor rotation action to bigger space in proportion to detect, but increased the complexity of structure, easily formed error accumulation, space design degree of difficulty and cost increase.

The embodiment of the invention provides a zero detection structure, a detection method and a surgical robot with the zero detection structure, and has the advantages of simple structure, reliable detection, reliable process, low cost and the like.

The zero detection structure and the zero detection method provided by the embodiment of the invention are described below with reference to the accompanying drawings.

At least one embodiment of the invention provides a zero position detection structure and a detection method, in particular to a detection structure and a detection method for zero position of an output end of a motor in an instrument driving box.

As shown in fig. 1A to 10, at least one embodiment of the present invention provides a zero detection structure, including: a motor 1, a decelerator 2, and a distance measuring sensor 3.

As shown in fig. 2A and 2B, the motor 1 has an output terminal 101. The decelerator 2 is connected to the output terminal 101 of the motor 1 and is disposed concentrically with the motor 1, and has an output shaft 201.

As shown in fig. 1A and 1B, the distance measuring sensor 3 is disposed opposite to the output shaft 201. As shown in fig. 1A to 2B, the motor 1 is configured to rotate an output shaft 201 of the reduction gear 2. As shown in fig. 1A, 1B, 2B, and 3, the output shaft 201 has a first slot NC1, and the range sensor 3 is configured to detect a distance between it and the output shaft 201 of the speed reducer 2 to output a zero signal to determine a zero position when the first slot NC1 passes the position of the range sensor 3.

The zero detection structure provided by the embodiment of the invention can carry out zero detection on the output end of the motor (the output shaft of the speed reducer), and has the advantages of simple structure, reliable detection, reliable process and low cost.

As shown in fig. 1A, 1B, 2B, and 3, the first slot NC1 is located at an edge position of the output shaft 201. The first slot NC1 is provided such that the output shaft 201 has a recess, that is, the first slot NC1 is a recess located at an edge of the output shaft 201, so that a distance between the output shaft 201 and the ranging sensor 3 varies at the first slot NC1 during one rotation. The distance here refers to the pitch. That is, the distance between the output shaft 201 and the distance measuring sensor 3 refers to the distance between the edge of the output shaft 201 and the distance measuring sensor 3.

For example, as shown in fig. 1A, 1B, 2B, and 3, the relative positions of the ranging sensor 3 and the axis of the output shaft 201 of the speed reducer 2 are fixed. That is, the relative position of the ranging sensor 3 and the axis of the output shaft 201 of the speed reducer 2 does not change. Fig. 3 shows an axis A0 of the output shaft 201 of the reduction gear 2. In fig. 3, the axis A0 is perpendicular to the paper surface. The axis A0 may be a rotation axis of the output shaft 201. Due to the arrangement of the first slot NC1, the distance between the ranging sensor 3 and the edge of the decelerator 2is changed.

For example, as shown in fig. 1A, 1B, 6B, 9, and 10, in order to facilitate accurate ranging, the ranging sensor 3 is located on an extension of the radius of the output shaft 201 of the speed reducer 2. Fig. 10 shows an axis A0 of the output shaft 201 of the reduction gear 2 (which can be regarded as the center of the output shaft 201). The distance measuring sensor 3 faces the axis of the output shaft 201 of the speed reducer 2.

For example, in the embodiment of the present invention, the minimum distance between the distance measuring sensor 3 and the output shaft 201 of the speed reducer 2 is in the order of millimeters. For example, the minimum distance between the distance measuring sensor 3 and the output shaft 201 of the decelerator 2 is 3-5 mm, but is not limited thereto.

In the embodiment of the invention, the axis A0 of the output shaft 201 of the speed reducer 2 may also be referred to as the axis A0 of the speed reducer 2. The axis A0 may be a rotation axis of the output shaft 201.

For example, as shown in fig. 4, the null signal comprises a pulse signal. That is, the distance measuring sensor 3 forms an output signal into a pulse form by a change in the distance between it and the output shaft 201, and a zero position can be obtained by the output signal. As shown in fig. 4, in the pulse position, i.e., the zero position of the motor output. The form of the null signal is not limited to that shown in fig. 4 and may be as desired.

The distance measuring sensor 3 is used to measure the distance between the output shaft 201 and the distance measuring sensor 3. For example, as shown in fig. 3, the ranging sensor 3 includes a reflective photoelectric detection sensor.

As shown in fig. 3, the distance measuring sensor 3 detects the distance between itself and the output shaft 201 of the speed reducer. When the motor rotates to drive the output shaft of the speed reducer to rotate, the distance of the first slotting NC1 changes greatly when passing through the position of the distance measuring sensor, and the distance measuring sensor 3 generates a pulse signal under the driving of an electric signal correspondingly, and the pulse signal is processed and shaped by the conditioning circuit to be used as a zero position.

As shown in fig. 3, the conditioning circuit includes a resistor, but is not limited thereto. The voltage V1 between the two resistors R1 and R2 in fig. 3 may be 5V, but is not limited thereto. Fig. 3 also shows the ground GND.

As shown in fig. 3, the ranging sensor 3 may include a transmitter a and a receiver B, and light emitted from the transmitter a is irradiated onto the output shaft 201, and light reflected by the output shaft 201 is received by the receiver B, so that a distance between the output shaft 201 and the ranging sensor 3 may be obtained. For example, the emitter a may be a light source, such as an LED lamp, and the receiver B may be a photosensitive element.

For example, as shown in fig. 1A, 1B, 5 to 10, the zero position detection structure further includes an instrument drive cartridge 4, the instrument drive cartridge 4 having a housing chamber M in which the motor 1 and the decelerator 2 are located.

For example, as shown in fig. 1A, 1B, and 5 to 10, in order to prevent the different ranging sensors from interfering with each other, the instrument driving cartridge 4 has a plurality of independent accommodating chambers M, in each of which a motor 1 and a decelerator 2 connected to the motor 1 are provided, and an output shaft 201 of each decelerator 2 has a first slot NC1, and each output shaft 201 may correspond to at least one ranging sensor 3. The different accommodation chambers M are independent of each other and do not interfere with each other so as not to affect the detection of the ranging sensor 3.

For example, as shown in fig. 1A, 1B, and 5 to 10, the instrument driving cartridge 4 has at least five independent accommodation chambers M, each motor 1 corresponds to at least one ranging sensor 3, and a plurality of ranging sensors 3 are distributed on both sides of the instrument driving cartridge 4.

In the embodiment of the present invention, the instrument driving box 4 has five independent accommodating cavities M, and each motor 1 of the four peripheral motors 1 corresponds to one ranging sensor 3, and the middle motor 1 corresponds to two ranging sensors 3.

In order to ensure that photoelectric detection signals of the ranging sensors 3 are not interfered with each other, an independent accommodating cavity M is provided for each ranging sensor 3, so that the problem that zero positions of a plurality of motors are detected in a short distance in a small volume space is solved.

For example, as shown in fig. 1A, 1B, 5 to 10, the upper three ranging sensors 3 are located on the upper side of the instrument drive cartridge 4, and the lower three ranging sensors 3 are located on the lower side of the instrument drive cartridge 4.

For example, as shown in fig. 1A, 1B, and 5 to 10, the instrument drive cartridge 4 has a mount 401 and an upper cover 402, the accommodation chamber M includes a first accommodation chamber M1 and a second accommodation chamber M2, the mount 401 has a first accommodation chamber M1, and the upper cover 402 has a second accommodation chamber M2. For example, the motor 1 and the main body portion of the speed reducer 2 are disposed in the first accommodation chamber M1, and at least a part of the output shaft 201 of the speed reducer 2 is located in the second accommodation chamber M2.

For example, as shown in fig. 1B, 4, and 6A to 10, the zero detection structure further includes a circuit board 5, the ranging sensor 3 is connected to the circuit board 5, the instrument driving box 4 has a card slot structure 400, and the circuit board 5 is fixed to the instrument driving box 4 by the card slot structure 400. The circuit board 5 is fixed through the clamping groove structure 400 in the instrument box, so that the relative position of the ranging sensor 3 and the output shaft 201 of the speed reducer 2 is unchanged.

For example, as shown in fig. 5, 6A to 7C, the card slot structure 400 includes a first card slot structure 4010 and a second card slot structure 4020. Mount 401 has a first card slot structure 4010 and upper cover 402 has a second card slot structure 4020. The first card slot structure 4010 and the second card slot structure 4020 cooperate to realize fixation of the circuit board 5.

For example, as shown in fig. 5, 6A to 7C, the accommodating chamber M includes a first accommodating chamber M1 and a second accommodating chamber M2, the mount 401 has the first accommodating chamber M1, the upper cover 402 has the second accommodating chamber M2, the first card groove structure 4010 protrudes from the first accommodating chamber M1 in the axial direction of the accommodating chamber M, and the second card groove structure 4020 includes a concave cavity. The axial direction of the accommodation chamber M may be the same as the extending direction of the axis A0 of the output shaft 201.

For example, as shown in fig. 1B, 4, and 6A to 10, the circuit board 5 includes a hard circuit board 501 and a flexible circuit board 502, and the ranging sensor 3 is provided on the hard circuit board 501. The hard circuit board 501 is fixed to the instrument drive cartridge 4 by the card slot structure 400. For example, the hard circuit board 501 includes a printed circuit board (Printed Circuit Board, PCB), and the flexible circuit board 502 includes a flexible printed circuit (Flexible Printed Circuit, FPC) board, but is not limited thereto. In an embodiment of the present invention, fixing the circuit board 5 may refer to fixing the hard circuit board 501.

For example, the ranging sensor 3 is attached to a hard circuit board 501, and the hard circuit board 501 communicates and leads out through a flexible circuit board 502.

For example, at least two distance measuring sensors 3 located on the same side of the instrument drive cassette 4 are connected as a unitary structure.

For example, as shown in fig. 1A, 1B, and 5 to 10, the upper three ranging sensors 3 are connected as a single structure, and the lower three ranging sensors 3 are connected as a single structure. The hard circuit boards 501 of the different distance measuring sensors 3 may be connected by a flexible circuit board 502.

For example, the plurality of distance measuring sensors 3 are grouped together, and form a single integral structure by a rigid-flexible hybrid circuit board (not limited to a rigid-flexible hybrid circuit board, including flexible electrical connection members).

For example, as shown in fig. 7A to 7C, and fig. 10, the upper cover 402 has a second slot NC2 to form a detection chamber DM so that the output shaft 201 and the distance measuring sensor 3 face each other within the detection chamber DM. Therefore, a zero detection structure with strong anti-interference performance can be obtained. The sensing chamber DM is located within the receiving chamber M, for example within the second receiving chamber M2. Fig. 7B is a partial enlarged view of fig. 7A.

Since the different receiving chambers M are independent of each other, correspondingly, the different sensing chambers DM are also independent of each other to avoid mutual interference of distance sensing.

The zero detection structure provided by the embodiment of the invention can be installed in the following way. The hard circuit board 501 is tightly attached to the mounting seat 401 through the clamping groove structures 400 (the first clamping groove structure 4010 and the second clamping groove structure 4020) of the mounting seat 401 and the upper cover 402, so that the relative distance between the ranging sensor 3 and the axis of the output shaft 201 of the speed reducer 2 is unchanged; while the mounting block 401 and the upper cover 402 ensure that the hard circuit board 501 does not move up and down.

The drawings of the embodiments of the present invention show five motors, five decelerators concentric with the five motors, one output shaft per decelerator, one first slot per output shaft, two circuit boards distributed on the upper and lower sides of the instrument drive box 4, respectively.

Embodiments of the present invention also provide an instrument drive cartridge comprising: a mounting base 401; an upper cover 402 cooperating with the mounting seat 401 to form a receiving chamber M; a motor 1, located in the accommodation chamber M and having an output end 101; a speed reducer 2 connected to the output end 101 of the motor 1 and disposed concentrically with the motor 1, and having an output shaft 201; and a distance measuring sensor 3 disposed opposite to the output shaft 201; the motor 1 is configured to rotate the output shaft 201 of the speed reducer 2, the output shaft 201 has a first slot NC1, and the distance measuring sensor 3 is configured to detect a distance between the output shaft 201 of the speed reducer 2 and the first slot NC1 to output a zero signal to determine a zero position when the first slot NC1 passes a position of the distance measuring sensor 3.

The instrument driving box provided by the embodiment of the invention is used for determining the zero position of the output end 101 of the motor 1 by arranging the first slot NC1 and the distance measuring sensor 3. Simple structure, reliable detection, reliable process and low cost.

For example, as shown in fig. 7A to 7C, and fig. 10, in the instrument drive cartridge, the upper cover 402 has a second slot NC2 to form a detection chamber DM so that the output shaft 201 and the distance measuring sensor 3 face each other within the detection chamber DM.

For example, the detection cavity DM is a darkroom, so as to avoid the influence of external light on the ranging of the ranging sensor 3, and facilitate the ranging of the ranging sensor 3, such as a reflective photoelectric detection sensor, thereby facilitating the zero detection. The mounting block 401 and the upper cover 402 cooperate such that a darkroom is formed at the second slot NC2 of the upper cover 402.

For example, as shown in fig. 7A to 7C, and fig. 10, in the instrument drive cassette, in order to prevent different distance measuring sensors from interfering with each other, a plurality of accommodation chambers M independent of each other are provided so that a plurality of detection chambers DM are independent of each other.

With respect to the instrument drive cartridge, reference may be made to the previous description of the zero detection structure, which is not repeated here.

The embodiment of the invention also provides a surgical robot which comprises the zero detection structure or the instrument driving box. For example, the surgical robot is a minimally invasive surgical robot.

The surgical robot is a robot for assisting a doctor in performing tasks such as surgery and rehabilitation. The surgical robot can improve the accuracy of surgery, reduce the risk of surgery, increase the comfort level of the patient, and improve the operating efficiency of doctors.

The surgical robot needs to perform fine motion control, for example, to cause the surgical execution assembly to perform lifting and lowering motions. For example, surgical execution components include scalpels (e.g., electric or ultrasonic blades, etc.), endoscopes, hemostats, and the like.

As shown in fig. 1A to 11, at least one embodiment of the present invention further provides a zero detection method, including: the motor 1 is adopted to drive the output shaft 201 of the speed reducer 2 to rotate, and the distance between the motor 1 and the output shaft 201 of the speed reducer 2 is detected by the distance measuring sensor 3 so as to output a zero signal to determine a zero position when the first slot NC1 on the output shaft 201 passes through the position of the distance measuring sensor 3.

According to the zero detection method provided by the embodiment of the invention, the distance at the first slot NC1 is changed, so that the ranging sensor 3 can output a zero signal to determine the zero, and the zero detection method is simple, convenient and quick and can accurately detect the zero.

The embodiment of the invention provides a zero position detection method applied to a motor output end of an instrument driving box of a surgical robot, which comprises the following steps: the motor is adopted to drive the output shaft of the speed reducer to rotate; and detecting the distance between the sensor and the output shaft of the speed reducer in the darkroom by adopting the ranging sensor so as to output a zero signal to determine a zero position when a first slot on the output shaft of the speed reducer passes through the position of the ranging sensor, wherein the ranging sensor is a reflective photoelectric detection sensor. According to the zero position detection method, the distance between the ranging sensor and the output shaft of the speed reducer is detected in the darkroom by adopting the ranging sensor, so that the influence of external light on the ranging of the reflective photoelectric detection sensor is avoided, the ranging of the reflective photoelectric detection sensor is facilitated, and the zero position detection is facilitated.

In the drawings of the embodiments of the present invention, only the structures related to the embodiments of the present invention are referred to, and other structures may be referred to as general designs.

It should be noted that, without conflict, features of the various embodiments of the present invention may be combined to create new embodiments.

The foregoing is merely illustrative of the present invention, and the present invention is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A zero detection structure for a motor output of an instrument drive box of a surgical robot, comprising:

A motor having an output;

the speed reducer is connected with the output end of the motor, is concentrically arranged with the motor and is provided with an output shaft; and

The distance measuring sensor is arranged opposite to the output shaft,

Wherein the motor is configured to drive the output shaft of the speed reducer to rotate, the output shaft has a first slot, and the distance measurement sensor is configured to detect a distance between the motor and the output shaft of the speed reducer so as to output a zero position signal to determine a zero position when the first slot passes through the position of the distance measurement sensor.

2. The zero detection structure of claim 1, wherein the ranging sensor is located on an extension of a radius of an output shaft of the reducer.

3. The zero detection structure of claim 1, wherein the ranging sensor comprises a reflective photo detection sensor.

4. The zero detection structure of claim 1, wherein the first slot is a recess located at an edge of the output shaft.

5. The zero detection structure of claim 1, wherein a relative position of the ranging sensor and an axis of the output shaft of the reducer is fixed.

6. An instrument drive cartridge comprising a zero detection arrangement according to any one of claims 1 to 5, wherein the instrument drive cartridge has a receiving cavity, the motor and the decelerator being both located within the receiving cavity.

7. The instrument drive cartridge of claim 6, wherein the instrument drive cartridge has a mounting base and an upper cover with a second slot to form a detection cavity such that the output shaft and the range sensor face each other within the detection cavity, the minimum distance between the range sensor and the output shaft of the reducer being 3-5 millimeters.

8. The instrument drive cartridge of claim 7, wherein the detection chamber is a darkroom.

9. The instrument drive cartridge of claim 6, wherein the instrument drive cartridge has a plurality of independent receiving cavities, a motor and a decelerator coupled to the motor being disposed in each of the receiving cavities, each decelerator having a first slot therein.

10. The instrument drive cartridge of claim 9 wherein the instrument drive cartridge has at least five independent receiving cavities, each motor corresponding to at least one ranging sensor, a plurality of ranging sensors being distributed on both sides of the instrument drive cartridge.

11. The instrument drive cartridge of claim 10, wherein at least two ranging sensors located on the same side of the instrument drive cartridge are connected as a unitary structure.

12. The instrument drive cartridge of claim 7, further comprising a circuit board, wherein the ranging sensor is coupled to the circuit board, the instrument drive cartridge having a slot structure by which the circuit board is secured.

13. The instrument drive cartridge of claim 12, wherein the slot structure comprises a first slot structure and a second slot structure, the mount having the first slot structure, the upper cover having the second slot structure, the first slot structure and the second slot structure cooperating to secure the circuit board.

14. The instrument drive cartridge of claim 13, wherein the receiving cavity comprises a first receiving cavity and a second receiving cavity, the mount having the first receiving cavity, the upper cover having the second receiving cavity, the first detent structure protruding from the first receiving cavity in an axial direction of the receiving cavity, the second detent structure comprising a recess.

15. A surgical robot having a zero detection structure according to any one of claims 1-5 or comprising an instrument drive cassette according to any one of claims 6-14.

16. A zero detection method of a zero detection structure according to any one of claims 1-5, comprising:

the motor is adopted to drive the output shaft of the speed reducer to rotate; and

The distance sensor is employed to detect a distance between the distance sensor and an output shaft of the speed reducer to output a zero signal to determine a zero position when the first slot on the output shaft of the speed reducer passes the position of the distance sensor.