CN215306656U

CN215306656U - Mechanism for judging absolute position of surgical instrument and surgical robot

Info

Publication number: CN215306656U
Application number: CN202121607874.5U
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Konuositeng Technology Co ltd
Current assignee: Shenzhen Konuositeng Technology Co ltd
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-12-28
Anticipated expiration: 2031-07-14

Abstract

The utility model discloses a mechanism for judging the absolute position of a surgical instrument and a surgical robot. Wherein the surgical robot includes an instrument driver and a sterile adapter. The instrument driver includes a driver drive connection and the sterile adapter includes an adapter drive connection, the driver drive connection and the adapter drive connection being in meshing connection via a toothed structure. The surgical instrument comprises an instrument rear end transmission connecting piece, a magnetic element is arranged on the instrument rear end transmission connecting piece, and the instrument rear end transmission connecting piece is connected to the adapter transmission connecting piece. An inductive element is also disposed within the instrument driver to sense the magnetic field of the magnetic element. According to the mechanism for judging the absolute position of the surgical instrument, the instrument driver and the sterile adapter can be butted in any direction, the absolute position of the surgical instrument is obtained by utilizing magnetic field sensing, the steps are simple, and the response speed is high.

Description

Mechanism for judging absolute position of surgical instrument and surgical robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a mechanism for judging the absolute position of a surgical instrument and a surgical robot.

Background

The surgical robot can help doctors to realize accurate positioning of operations, and has the advantages of reducing wounds of patients, shortening postoperative recovery time and the like. And it has stable operation platform, can solve the condition such as doctor's shiver, therefore has a large amount of applications in clinical surgery.

The surgical robot on the patient side performs a surgical operation with a surgical tool having an end effector. To meet the requirements of different surgical instruments used in surgery, the surgical instruments and instrument drivers are usually designed to be detachable for replacing different surgical instruments during surgery. Meanwhile, the surgical instruments are generally independently sterilized.

The instrument driver end is typically designed to be non-sterilizable, and to ensure sterility during the surgical procedure, a sterile adapter is added between the instrument driver and the surgical instrument during the procedure to isolate the non-sterilizable instrument driver end from the sterilizable surgical instrument end during the procedure.

At present, the transmission connection between the instrument driver and the sterile adapter mostly adopts a single-point butt joint mode. It requires that a single raised portion on the instrument driver connector and a single recessed portion on the sterile adapter connector be rotated to the same direction and then in a one-to-one correspondence. The docking mode has more actions during operation, and the absolute position of the surgical instrument needs to be found before alignment during connection in the docking mode, so that the operation is complex, the assembly reliability is low, and the absolute position is not determined timely and accurately.

Accordingly, there is a need for a mechanism and surgical robot that determines the absolute position of a surgical instrument to at least partially address the above problems.

SUMMERY OF THE UTILITY MODEL

In the summary section a series of concepts in a simplified form is introduced, which will be described in further detail in the detailed description section. The inventive content of the present invention is not intended to define key features or essential features of the claimed solution, nor is it intended to be used to limit the scope of the claimed solution.

To at least partially solve the above problems, a first aspect of the present invention provides a mechanism for determining an absolute position of a surgical instrument for use in a surgical robot, the surgical robot including an instrument driver and a sterile adapter,

the instrument driver comprises a driver drive connection, the sterile adapter comprises an adapter drive connection, and the driver drive connection and the adapter drive connection are in meshing connection via a tooth-like structure;

the surgical instrument comprises an instrument rear end transmission connecting piece, a magnetic element is arranged on the instrument rear end transmission connecting piece, and the instrument rear end transmission connecting piece is connected to the adapter transmission connecting piece;

an inductive element is also disposed within the instrument driver to sense a magnetic field of the magnetic element.

According to the mechanism for judging the absolute position of the surgical instrument, the instrument driver and the sterile adapter can be butted in any direction, the absolute position of the surgical instrument is obtained by utilizing magnetic field sensing, the steps are simple, and the response speed is high.

Further, the instrument driver further comprises a first magnetic structure, and the first magnetic structure is located in the middle of the driver transmission connecting piece and penetrates through the driver transmission connecting piece.

Further, aseptic adapter still includes second magnetic structure that leads to, the second magnetic structure that leads to is located the middle part of adapter transmission connecting piece and runs through adapter transmission connecting piece.

Further, the instrument driver further comprises:

an output shaft connected to the driver transmission connection;

a third magnetic communication structure provided at an upper portion of the output shaft such that the output shaft is connected to the drive transmission connection via the third magnetic communication structure and/or the third magnetic communication structure is configured as one piece with the output shaft.

Further, the inductive element is disposed proximate to the output shaft.

Further, the inductive element is disposed proximate to the driver drive connection.

Further, the magnetic element is arranged at the central axis of the transmission connection piece at the rear end of the instrument.

Further, the magnetic element is disposed offset from a central axis of the instrument rear end drive connection.

Further, the radial cross-sectional dimension of the magnetic element is smaller than the radial cross-sectional dimension of the instrument rear end transmission connector.

A second aspect of the present invention provides a surgical robot including the mechanism for determining an absolute position of a surgical instrument according to the first aspect.

According to the surgical robot of the present invention, the same technical effects as those of the mechanism for determining the absolute position of the surgical instrument according to the first aspect can be achieved.

Drawings

The following drawings of the utility model are included to provide a further understanding of the utility model. The drawings illustrate embodiments of the utility model and, together with the description, serve to explain the principles of the utility model.

In the drawings:

FIG. 1 is an exploded schematic view of a surgical robot according to a preferred embodiment of the present invention;

FIG. 2 is an exploded schematic view of a surgical robot in accordance with yet another preferred embodiment of the present invention;

FIG. 3 is an exploded schematic view of a surgical robot according to a preferred embodiment of the present invention, with surgical instruments omitted;

FIG. 4 is an exploded view of the surgical robot of FIG. 3 from another perspective;

FIG. 5 is a cutaway schematic view of an instrument driver according to a preferred embodiment of the present invention; and

FIG. 6 is a cut-away schematic view of an instrument driver according to yet another preferred embodiment of the present invention.

Description of reference numerals:

100: the surgical robot 110: instrument driver

111: drive transmission connection 112: first magnetic structure

113: first tooth structure 120: sterile adapter

121: adapter drive connection 122: second flux structure

123: second tooth structure 130: surgical instrument

131: instrument rear end drive connection 140: output shaft

141: third magnetic connecting structure 142: electric machine

150: the magnetic element 160: circuit board

161: induction element

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the utility model.

In the following description, a detailed description will be given in order to thoroughly understand the present invention. It is to be understood that these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of these exemplary embodiments to those skilled in the art. It is apparent that the implementation of the embodiments of the utility model is not limited to the specific details familiar to those skilled in the art. The following detailed description of the preferred embodiments of the utility model, however, the utility model is capable of other embodiments in addition to those detailed.

It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the utility model. As used herein, the singular is intended to include the plural unless the context clearly dictates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

Ordinal words such as "first" and "second" are referred to herein merely as labels, and do not have any other meaning, such as a particular order, etc. Also, for example, the term "first component" does not itself imply the presence of "second component", and the term "second component" does not itself imply the presence of "first component".

It is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "inner", "outer", and the like are used herein for purposes of illustration only and are not limiting.

An exemplary embodiment according to the present invention will now be described in more detail with reference to fig. 1 to 6.

Reference is first made to fig. 1 and 2. The surgical robot 100 of the present invention may include a surgical instrument 130, a sterile adapter 120, and an instrument driver 110. Wherein sterile adapter 120 is connected to instrument driver 110 and surgical instrument 130 is connected to sterile adapter 120. Specifically, the lower surface of sterile adapter 120 interfaces with the upper surface of instrument driver 110. The front end of the surgical instrument 130 is configured as a surgical tool (not shown), such as forceps, scissors, clip light, and the like. The rear end of the surgical instrument 130 is connected to the upper surface of the sterile adaptor 120, and the instrument driver 110 provides a driving force to an instrument actuator (not shown) in the middle of the rear end of the surgical instrument 130 through the sterile adaptor 120, so that the surgical tool can perform pitching, yawing and gripping actions through a traction assembly (e.g., a wire rope, etc.) in a sleeve (not shown).

The upper surface of the instrument driver 110 and the lower surface of the sterile adaptor 120 can be fixed in a snap-fit manner, and the surface of the rear end of the surgical instrument 130 and the upper surface of the sterile adaptor 120 can be fixed in a snap-fit manner, so that the relative positional relationship among the surface of the instrument driver 110, the lower surface of the sterile adaptor 120, the upper surface of the sterile adaptor 120, and the surface of the rear end of the surgical instrument 130 is not changed in use.

Instrument driver 110 includes a driver drive connection 111, sterile adapter 120 includes an adapter drive connection 121, and surgical instrument 130 includes an instrument rear end drive connection 131. And the driver transmission connecting piece 111 is fixedly connected with the adapter transmission connecting piece 121 and the instrument rear end transmission connecting piece 131 in a specific mode. Such that, in use, the instrument driver 110 drives the driver transmission link 111 to rotate and transmit a driving force (or torque) to the instrument rear end transmission link 131 via the adapter transmission link 121, thereby effecting control of the surgical tool.

Illustratively, the driver drive connection 111 and the adapter drive connection 121 are in meshing connection via a toothed structure. Specifically, referring to fig. 3 and 4, the driver drive connection 111 has a first tooth-like structure 113 and the adapter drive connection 121 has a second tooth-like structure 123. When the driver drive connection 111 is mated with the adapter drive connection 121, the first tooth structure 113 comes into engagement with the second tooth structure 123. Alternatively, the first teeth of the first tooth structure 113 and the second teeth of the second tooth structure 123 are engaged with each other. Illustratively, the first plurality of teeth of the first tooth structure 113 are evenly circumferentially disposed along the top of the drive transmission link 111. Specifically, the top of the drive transmission link 111 has a protrusion around which the first plurality of teeth are evenly disposed. The first tooth may have a guide surface and an engagement surface provided on its sides, and a mating surface provided on its outer periphery. Wherein, two guide surfaces arranged symmetrically form a small-area tooth crest, and an engaging surface is adjacent to the guide surfaces and is constructed into a cylindrical surface.

The plurality of second teeth of the second tooth structure 123 are disposed on the periphery of the inner side of the bottom portion of the adapter transmission link 121, which is also uniformly disposed in the circumferential direction. Specifically, the bottom of the adapter transmission connecting member 121 has a recessed portion, and the second teeth disposed on the inner sidewall of the opening of the recessed portion may also have a guiding surface and a meshing surface disposed on the side thereof, and a matching surface disposed on the inner periphery thereof, which have similar structures to the first teeth, and are not described herein again.

When the adapter drive connection piece 121 is butted with the driver drive connection piece 111, the small-area peaks of the first tooth and the second tooth enable the first tooth and the second tooth to be staggered at any position, and the guide surface of the first tooth and the guide surface of the second tooth are matched for guiding, so that the first tooth can enter the valley of the second tooth-shaped structure 123, the second tooth can enter the valley of the first tooth-shaped structure 113, and therefore the meshing surface of the first tooth is meshed with the cylindrical surface of the second tooth. Moreover, the mating surface of the outer periphery of the first tooth can form a mating guide with the inner side wall surface of the recessed portion of the adapter transmission connecting member 121 (the connecting surface between the second teeth), and the mating surface of the inner periphery of the second tooth can form a mating guide with the outer side wall surface of the protruding portion of the driver transmission connecting member 111 (the connecting surface between the first teeth), so that the adapter transmission connecting member 121 and the driver transmission connecting member 111 can be more easily butted.

Similarly, the instrument rear end transmission connector 131 at the rear end of the surgical instrument 130 and the adapter transmission connector 121 of the sterile adapter 120 can also be connected in a manner of engaging with a tooth-shaped structure, and the details are not repeated herein.

Please refer to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6. The magnetic element 150 is arranged on the transmission connector 131 at the rear end of the instrument, and the magnetic element 150 can be a permanent magnet or an electromagnet. Also disposed within the instrument driver 110 is an inductive element 161, which is located below the magnetic element 150 to sense the magnetic field of the magnetic element 150. Thereby, the inductive element 161 is able to determine the absolute position of the surgical instrument 130 from the change in the magnetic field.

Specifically, a circuit board 160 is disposed within the instrument driver 110, and a sensing element 161, preferably configured as an encoder disposed on the circuit board 160, is disposed on the circuit board 160. In addition, a computing module (not shown) may be disposed on the circuit board 160 and electrically connected to the sensing element 161 to compute an absolute position of the surgical instrument 130 according to data sensed by the sensing element 161.

For example, the sensing element 161 may sense the magnetic field strength or the magnetic field direction of the magnetic element 150, when the transmission connector at the rear end of the instrument rotates, the magnetic field strength or the direction angle sensed by the sensing element 161 changes, and the calculating module may calculate the absolute position of the surgical instrument 130 according to the pre-stored data corresponding relationship.

The magnetic element 150 may be disposed in the middle of the instrument rear end drive link 131, or it may be disposed at the central axis of the instrument rear end drive link 131 (shown in fig. 1). Alternatively, the magnetic element 150 may be disposed laterally to the central axis of the instrument rear end drive link 131, i.e., the magnetic element 150 is disposed off-center with respect to the central axis of the instrument rear end drive link 131 (shown in fig. 2).

According to the mechanism for judging the absolute position of the surgical instrument, the instrument driver 110 and the sterile adapter 120 can be butted in any direction, the absolute position of the surgical instrument 130 can be obtained by means of sensing a magnetic field, the steps are simple, and the response speed is high.

However, since the inductive element 161 is spaced from the magnetic element 150 and the magnetic field of the magnetic element 150 is maintained at a suitable magnetic field strength, the magnetic element 150 is designed to have a small size in a radial cross-section smaller than the radial cross-section of the drive connection 131 at the rear end of the instrument, thereby maintaining a suitable magnetic field strength. And also means are required to make the magnetic field more easily sensed by the inductive element 161.

For this purpose, referring to fig. 3, a first flux structure 112 is preferably provided in the middle of the drive transmission connection 111, and is disposed through the middle of the drive connection. The first flux structure 112 is preferably made of a material capable of conducting a magnetic field. Thus, the magnetic field of the magnetic element 150 can be sensed by the sensing element 161 after being conducted by the first magnetic structure 112.

To further increase the sensitivity of the sensing element 161, a second flux structure 122 may optionally be provided on the adapter drive connection 121. Similar to the first flux structure 112, the second flux structure 122 is also preferably made of a material capable of conducting a magnetic field. It runs through the middle part that sets up at the adapter connecting piece for adapter transmission connecting piece 121 is connected the back with driver transmission connecting piece 111 and apparatus rear end transmission connecting piece 131 respectively, and magnetic element 150, first magnetic structure 112 and second magnetic structure 122 on apparatus rear end transmission connecting piece 131 contact in proper order and form a new magnetism whole, make inductive element 161 can sense magnetic field direction or the angle of magnetic element 150.

In an embodiment not shown, sterile adapter 120 may be made thinner, i.e., the thickness of sterile adapter 120 may be reduced, reducing its barrier effect against magnetic fields. In this case, the second flux structure 122 may not be provided.

Referring now to fig. 5 and 6, the instrument driver 110 has a motor 142 therein, the motor 142 being connected to the driver transmission link 111 via an output shaft 140 for torque transmission. Wherein fig. 5 corresponds to an embodiment in which the magnetic element 150 is arranged at the central axis of the instrument rear end drive connection 131, and fig. 6 corresponds to an embodiment in which the magnetic element 150 is arranged eccentrically.

In the embodiment shown in FIG. 5, to facilitate spatial placement within the instrument driver 110, the circuit board 160 is located remotely from the driver drive connection 111, or the circuit board 160 is located proximate to the motor 142. This further results in an increased distance between the inductive element 161 and the magnetic element 150. To this end, a third magnetic structure 141 is preferably provided within the instrument driver 110 to further enhance the conduction of the magnetic field and improve the sensitivity of the inductive element 161. In particular, the third magnetic communication structure 141 may be arranged above the output shaft 140 such that the motor 142 is in turn connected to the instrument driver 110 via the output shaft 140 and the third magnetic communication structure 141. The third flux structure 141 is preferably connected to the second flux structure 122.

In an alternative embodiment, the third magnetic structure 141 and the output shaft 140 may be made in one piece. Alternatively, the output shaft 140 may be made of a material capable of conducting a magnetic field, such that the output shaft 140 itself is integrated into the third magnetic structure 141.

Referring to fig. 6, when the magnetic element 150 is eccentrically disposed, the position of the circuit board 160 may be raised such that the sensing element 161 is disposed close to the driver transmission connector 111, so as to reduce the distance between the sensing element 161 and the magnetic element 150 as much as possible, so that the sensing element 161 senses the strength of the magnetic field of the magnetic element 150 as much as possible. In this case, the third magnetic passing structure 141 may not be provided.

Unless defined otherwise, technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model. Features described herein in one embodiment may be applied to another embodiment, either alone or in combination with other features, unless the feature is otherwise inapplicable or otherwise stated in the other embodiment.

The present invention has been illustrated by the above embodiments, but it should be understood that the above embodiments are for illustrative and descriptive purposes only and are not intended to limit the utility model to the scope of the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, which variations and modifications are within the scope of the present invention as claimed. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. A mechanism for determining an absolute position of a surgical instrument for use in a surgical robot, the surgical robot comprising an instrument driver and a sterile adapter, wherein:

2. The mechanism for determining an absolute position of a surgical instrument of claim 1, wherein the instrument driver further comprises a first magnetic flux structure positioned in a middle portion of the driver drive connection and extending through the driver drive connection.

3. The mechanism for determining an absolute position of a surgical instrument of claim 2, wherein the sterile adapter further comprises a second magnetic communication structure positioned in a middle portion of the adapter drive connection and extending through the adapter drive connection.

4. A mechanism for determining the absolute position of a surgical instrument as recited in claim 2 or 3, wherein the instrument driver further comprises:

an output shaft connected to the driver transmission connection;

5. The mechanism for determining the absolute position of a surgical instrument of claim 4, wherein the sensing element is disposed proximate the output shaft.

6. A mechanism for determining the absolute position of a surgical instrument as recited in claim 2 or 3, wherein the sensing element is disposed proximate the driver transmission linkage.

7. A mechanism for determining the absolute position of a surgical instrument as claimed in any one of claims 1 to 3, wherein the magnetic element is disposed at the central axis of the rear drive connection of the instrument.

8. A mechanism for determining the absolute position of a surgical instrument as claimed in any one of claims 1 to 3, wherein the magnetic element is located offset from the central axis of the rear drive connection of the instrument.

9. A mechanism for determining the absolute position of a surgical instrument as claimed in any one of claims 1 to 3, wherein the magnetic element has a radial cross-sectional dimension which is less than the radial cross-sectional dimension of the drive connection at the rear end of the instrument.

10. A surgical robot comprising a mechanism for determining an absolute position of a surgical instrument as claimed in any one of claims 1 to 9.