WO2022052322A1 - 一种微创手术机器人及其末端夹持器 - Google Patents

一种微创手术机器人及其末端夹持器 Download PDF

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Publication number
WO2022052322A1
WO2022052322A1 PCT/CN2020/131358 CN2020131358W WO2022052322A1 WO 2022052322 A1 WO2022052322 A1 WO 2022052322A1 CN 2020131358 W CN2020131358 W CN 2020131358W WO 2022052322 A1 WO2022052322 A1 WO 2022052322A1
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WIPO (PCT)
Prior art keywords
clamp
elastic
minimally invasive
invasive surgical
surgical robot
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PCT/CN2020/131358
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English (en)
French (fr)
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WO2022052322A9 (zh
Inventor
刘会聪
侯诚
孙立宁
陈涛
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苏州大学
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Publication of WO2022052322A1 publication Critical patent/WO2022052322A1/zh
Publication of WO2022052322A9 publication Critical patent/WO2022052322A9/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a minimally invasive surgical robot and its end gripper.
  • minimally invasive surgical robots can be used in complex surgical operations such as urology and cardiac surgery, effectively reducing the workload of doctors, improving the effect of surgical treatment, and providing conditions for the development of telemedicine.
  • the force sensor or torque sensor fixed on the end gripper although this kind of force sensor has the advantages of convenient operation and fast response, but the accuracy of its force perception is easily affected by the wet environment generated by the disinfectant;
  • Another example is the force detection module connected to the main control system.
  • the force detection module changes based on driving parameters, and its force perception accuracy is easily affected by factors such as stiffness, friction, gravity, inertia, and temperature.
  • the image recognition part of the gripper such as a camera, etc., but there is an error between the theoretical model established by the image recognition part relying on visual judgment and the real model, which also affects the accuracy of force perception.
  • the purpose of the present invention is to provide a minimally invasive surgical robot and its end gripper.
  • the first clamp and the second clamp are both provided with a detection part.
  • the detection part includes an elastic pad with contacts and an elastic arm.
  • the elastic pad can The elastic deformation occurs when the external object acts, so that the contact set on the elastic pad is pressed against the elastic arm, the elastic arm is elastically deformed, and the three-dimensional force information is decoupled according to the feedback signals of all the force detection components, the sensitivity is improved, and the action accuracy is higher than High, high security.
  • the end gripper of the minimally invasive surgical robot includes a first clamp and a second clamp hinged to each other, the first clamp and the second clamp are both provided with a detection part, and the detection part includes at least one The elastic pad of the contact point and at least one elastic arm opposite to the contact point, all elastic arms are provided with force detection parts;
  • the elastic pad is elastically deformed under the action of the foreign object, so that the contact pressing elastic arm is elastically deformed, and the three-dimensional force is decoupled according to the feedback signals of all the force detection elements information.
  • the elastic pads are respectively provided on the opposite sides of the first clamp and the second clamp.
  • the contacts and the elastic arms are kept separated so that all the elastic arms are in a natural state .
  • all the elastic arms are embedded in the support block, and the clamping surface of the first clamp and the clamping surface of the second clamp are respectively provided with fixing grooves for fixing the support block.
  • the support block and the elastic pad are provided with positioning posts and positioning holes that cooperate with each other to define the positions of the contact and the elastic arm.
  • the positioning column is fixed on the elastic pad
  • the positioning hole is set on the support block
  • the elastic pad is provided with at least two contacts, and all the contacts are evenly distributed in a ring around the positioning column
  • the support block is provided with at least two elastic arms, All the elastic arms are independent of each other and evenly distributed in a ring shape around the positioning hole, and all the contacts are in a one-to-one correspondence with all the elastic arms, so that all the elastic arms are elastically deformed.
  • all the contacts are distributed in a cross shape
  • all the elastic arms are distributed in a cross shape
  • each elastic arm is provided with a square through hole on both sides.
  • the elastic pad is fixed with a contact point
  • the support block is provided with at least two elastic arms, all the elastic arms are radially distributed and are integrally connected by the elastic plate provided in the center, and the contact point is against the elastic plate to make the elastic
  • the plate drives all the elastic arms to elastically deform.
  • the elastic pad is provided with a limiting groove for inserting the support block, and a contact is arranged in the limiting groove.
  • the minimally invasive surgical robot provided by the present invention includes a robot body and any one of the above-mentioned end grippers, wherein the end gripper is provided on the robot body.
  • the end gripper of the minimally invasive surgical robot includes a first clamp and a second clamp that are hinged to each other.
  • the part includes an elastic pad with at least one contact point and at least one elastic arm opposite to the contact point, and all the elastic arms are provided with force detection parts; when the first clamp and the second clamp clamp a foreign object, the elastic pad acts on the foreign object Elastic deformation occurs in the lower part, so that the elastic pad drives the contacts to squeeze the elastic arm, and the elastic arm is elastically deformed.
  • Force perception sensitivity The improvement of the sensitivity of force perception is conducive to obtaining accurate force perception, which helps to improve the action accuracy of the end gripper, reduces the risk of misoperation, and has a higher safety of surgery.
  • the minimally invasive surgical robot comprising the above-mentioned end gripper provided by the present invention has the same beneficial effect.
  • FIG. 1 is an exploded view of an end gripper of a minimally invasive surgical robot provided by a specific embodiment of the present invention
  • FIG. 2 is a structural diagram of a contact point and an elastic arm in the end gripper of the minimally invasive surgical robot provided by the first specific embodiment of the present invention
  • FIG. 3 is a structural diagram of a contact point and an elastic arm in an end gripper of a minimally invasive surgical robot according to a first specific embodiment of the present invention.
  • FIG. 1 is an exploded view of an end gripper of a minimally invasive surgical robot according to a specific embodiment of the present invention.
  • the embodiment of the present invention discloses an end gripper of a minimally invasive surgical robot, including a first clamp 1 and a second clamp 2, the first clamp 1 and the second clamp 2 are rotatably connected by a rotating pin, and the rotating pin Install on the support base, so that the first clamp 1 and the second clamp 2 can be opened and closed through relative rotation, which is convenient for grasping foreign objects such as dirt.
  • the first clamp 1 and the second clamp 2 have the same structure.
  • the first clamp 1 and the second clamp 2 are both provided with a detection part 3, and the detection part 3 is respectively arranged on the clamping surface of the first clamp 1 and the clamping surface of the second clamp 2.
  • the first clamp 1 The clamping surface of 2 is opposite to the clamping surface of the second clamp 2 .
  • the detection part 3 includes an elastic pad 31 and an elastic arm 33.
  • the elastic pad 31 has at least one contact point 32, and at least one elastic arm 33 is opposite to the contact point 32. All the elastic arms 33 are provided with force detection parts, and the force detection parts can be piezoresistors , but the type is not limited to this.
  • the elastic pad 31 When the first clamp 1 and the second clamp 2 clamp a foreign object, the elastic pad 31 is elastically deformed under the action of the foreign object, so that the elastic pad 31 drives the contact 32 to squeeze the elastic arm 33, and the elastic arm 33 is elastic Deformation, all the force detection parts detect the elastic force of all the elastic arms 33 correspondingly, obtain the three-dimensional force according to the resistance change of all the force detection parts, and then through the force/torque matrix transformation, obtain the space between the first clamp 1 and the second clamp 2 force/torque information, thereby improving the sensitivity of force perception.
  • the force perception sensitivity of the end gripper of the minimally invasive surgical robot provided by the present invention is improved, and the enhancement of the force perception sensitivity is conducive to obtaining accurate force perception and helps to improve the end gripper
  • the accuracy of the action is high, the risk of misoperation is reduced, and the safety of the operation is high.
  • the elastic pads 31 are respectively disposed on the opposite sides of the first clamp 1 and the second clamp 2 , that is, the elastic cushions 31 are respectively fixed on the clamping surface of the first clamp 1 and the clamp of the second clamp 2 .
  • the elastic pad 31 can be fixed by packaging, which eliminates the influence of the disinfectant on the detection part 3, and is beneficial to improve the working reliability.
  • the first clamp 1 and the second clamp 2 are made of metal material, and the elastic pad 31 can be made of a silicone pad or a rubber pad, so that the rigidity of the first clamp 1 and the second clamp 2 is greater than that of the elastic pad 31 at the same time. Rigidity provides conditions for elastic deformation of the elastic pad 31 .
  • the widths of the elastic pad 31 , the first clamp 1 and the second clamp 2 are equal, and the length of the elastic pad 31 is respectively smaller than the length of the first clamp 1 and the length of the second clamp 2 .
  • the elastic pad 31 does not elastically deform at this time.
  • the position of the contact 32 remains unchanged, the contact 32 and the elastic arm 33 remain separated, the elastic arm 33 does not elastically deform, and all the elastic arms 33 are in a natural state, providing conditions for accurate force perception.
  • All the elastic arms 33 are embedded on the support block 34 , the clamping surface of the first clamp 1 and the clamping surface of the second clamp 2 are respectively provided with a fixing groove 12 , and the support block 34 is fixed in the fixing groove 12 .
  • the fixing groove 12 is a square groove, and the support block 34 is a cube block.
  • the support block 34 can be fixed in the fixing groove 12 by means of adhesive or interference fit.
  • the fixing groove 12 is located at the bottom of the above-mentioned supporting table 11 , and provides conditions for the elastic arm 33 provided on the supporting block 34 to abut against the contact point 32 provided on the elastic pad 31 .
  • FIG. 2 is a structural diagram of a contact point and an elastic arm in an end gripper of a minimally invasive surgical robot according to a first specific embodiment of the present invention.
  • the supporting block 34 and the elastic pad 31 are provided with mutually matched positioning posts 311 and positioning holes 341 .
  • the positioning post 311 is fixed on the elastic pad 31 , and the positioning post 311 can be integrally provided on the side of the elastic pad 31 close to the first clamp 1 or the second clamp 2 .
  • the positioning hole 341 is provided in the support block 34 , and the positioning hole 341 is a through hole provided in the center of the support block 34 .
  • the positioning column 311 is cylindrical, and the length of the positioning column 311 is smaller than the depth of the fixing groove 12 to ensure that the elastic pad 31 is in contact with the clamping surface of the first clamp 1 , or to ensure that the elastic pad 31 and the second clamp 2 are clamped Face-to-face fit.
  • the positioning hole 341 is a circular groove, the diameter of which is equal to the outer diameter of the positioning column 311 .
  • the exchange of the arrangement of the positioning post 311 and the positioning hole 341 does not affect the realization of the purpose of the present invention.
  • the elastic pad 31 is provided with at least two contacts 32 , and all the contacts 32 are evenly distributed in a ring shape around the positioning post 311 .
  • the support block 34 is provided with at least two elastic arms 33, all the elastic arms 33 are independent of each other and evenly distributed in a ring shape around the positioning hole 341, all the contacts 32 and all the elastic arms 33 are in one-to-one correspondence, and when the outer When the contact point 32 presses the elastic arms 33 in a one-to-one correspondence, all the elastic arms 33 are elastically deformed.
  • each contact 32 is integrally provided with four contacts 32 .
  • the head is spherical, and the four contacts 32 are evenly distributed in a cross shape.
  • the support block 34 is provided with four elastic arms 33, and the four elastic arms 33 are distributed in a cross shape.
  • Each of the two sides of any elastic arm 33 is provided with a square through hole, so that the four elastic arms 33 are independent of each other, and at the same time, the elasticity of the four elastic arms 33 is improved, which is beneficial to increase the range of force sensing.
  • the structure and distribution of the contacts 32 and the elastic arms 33 are not limited to this.
  • a MEMS (Micro-Electro-Mechanical System, Micro-Electro-Mechanical System) ion implantation process is used to integrate the varistors on the four elastic arms 33 respectively, and each of the four varistors forms a Wheatstone full bridge circuit, The forces in the three dimensions of X-axis, Y-axis and Z-axis are respectively detected.
  • the contact 32 squeezes the elastic arm 33 to elastically deform the elastic arm 33, and the resistance value of the varistor arranged on the elastic arm 33 changes accordingly , the three-dimensional force information can be decoupled through the changing resistance value, and then the accurate clamping force or moment can be calculated.
  • FIG. 3 is a structural diagram of a contact point and an elastic arm in an end gripper of a minimally invasive surgical robot according to a first embodiment of the present invention.
  • the second specific embodiment mainly changes the distribution of the contacts 32 and the elastic arms 33 .
  • the elastic pad 31 is fixed with a contact 32, and the head of the contact 32 is also spherical.
  • the support block 34 is provided with at least two elastic arms 33, all the elastic arms 33 are radially distributed, and all the elastic arms 33 are integrally connected by the elastic plate 342 provided in the center. 32 is in contact with the elastic plate 342 , the elastic plate 342 is elastically deformed, so that the elastic plate 342 drives all the elastic arms 33 to elastically deform.
  • the support block 34 is provided with four elastic arms 33 distributed in a cross shape. Different from the first specific embodiment, in the second specific embodiment, one end of the four elastic arms 33 is integrally connected by the elastic plate 342, the four elastic arms 33 do not directly touch the contact 32, and the four elastic arms 33 is elastically deformed under the action of the elastic plate 342 .
  • the number of elastic arms 33 is not limited to four.
  • the elastic pad 31 close to the clamping surface of the first clamp 1 or the elastic pad 31 close to the clamping surface of the second clamp 2 is integrally provided with a limiter.
  • a single contact 32 is fixed in the position limit slot 312 .
  • the support block 34 is inserted into the limiting groove 312 , which can also limit the relative positions of the contact 32 and the elastic arm 33 .
  • the minimally invasive surgical robot provided by the present invention includes a robot body and the above-mentioned end gripper, and the end gripper is provided on the robot body and has the same beneficial effects.

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Abstract

一种微创手术机器人及其末端夹持器，末端夹持器包括相互铰接的第一夹钳（1）和第二夹钳（2），第一夹钳（1）与第二夹钳（2）均设有检测部（3），检测部（3）包括具有至少一个触点（32）的弹性垫（31）及至少一个与触点（32）相对的弹性臂（33），全部弹性臂（33）设有力检测件；当第一夹钳（1）与第二夹钳（2）夹持外物时，弹性垫（31）在外物的挤压下发生弹性变形，使弹性垫（31）带动触点（32）挤压弹性臂（33），弹性臂（33）发生弹性变形，从而依据全部力检测件反馈的信号解耦出三维力信息，提升力感知的灵敏性。力感知灵敏性的提升有利于获取准确的力感知，有助于提升末端夹持器的动作精度，降低误操作风险，手术的安全性较高。

Description

一种微创手术机器人及其末端夹持器
本申请要求于2020年09月10日提交中国专利局、申请号为202010946743.3、发明名称为“一种微创手术机器人及其末端夹持器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，特别涉及一种微创手术机器人及其末端夹持器。
背景技术
微创手术机器人作为集诸多学科为一体的新型医疗器械，可应用于泌尿外科及心脏外科等复杂外科手术中，有效缓解医生的工作强度，提升手术治疗效果，为远程医疗发展提供条件。
然而，人体器官组织脆弱，对末端夹持器所施加的操作力精度要求较高，而现有微创手术机器人的末端夹持器的力感知准确性相对较差，力反馈不灵敏，使末端夹持器在手术过程中存在刺穿组织或器脏的风险，手术安全性难以得到有效保障。
例如，固设于末端夹持器的力传感器或力矩传感器，此类力感应件尽管具有操作方便且响应速度快等优势，但是其力感知的准确性易受消毒液所产生的湿润环境影响；再例如，与主控系统相连的力检测模块，力检测模块基于驱动参数进行变化，其力感知准确性易受刚度、摩擦力、重力、惯性及温度等因素的影响；又例如，设于末端夹持器的图像识别件，例如摄像头等，但图像识别件依靠视觉判断所建立的理论模型与真实模型之间存在误差，同样影响力感知的准确性。
因此，如何提升现有微创手术机器人的末端夹持器的安全性是本领域技术人员需解决的技术问题。
发明内容
本发明的目的在于提供一种微创手术机器人及其末端夹持器，第一夹 钳与第二夹钳均设有检测部，检测部包括具有触点的弹性垫和弹性臂，弹性垫能够在外物作用发生弹性变形，使设于弹性垫的触点压向弹性臂，弹性臂发生弹性变形，依据全部力检测件反馈的信号解耦出三维力信息，灵敏性有所提升，动作精度较高，安全性较高。
本发明所提供的微创手术机器人的末端夹持器，包括相互铰接的第一夹钳和第二夹钳，第一夹钳与第二夹钳均设有检测部，检测部包括具有至少一个触点的弹性垫及至少一个与触点相对的弹性臂，全部弹性臂设有力检测件；
当第一夹钳与第二夹钳夹持外物时，弹性垫在外物作用下发生弹性变形以使触点挤压弹性臂发生弹性变形以依据全部力检测件反馈的信号解耦出三维力信息。
优选的，弹性垫分别设于第一夹钳与第二夹钳的相对侧，当第一夹钳与第二夹钳自然相抵时，触点与弹性臂保持分离以使全部弹性臂处于自然状态。
优选的，全部弹性臂均嵌设于支撑块，第一夹钳的夹持面及第二夹钳的夹持面分别设有用于固定支撑块的固定凹槽。
优选的，支撑块与弹性垫之间设有相互配合以限定触点与弹性臂位置的定位柱和定位孔。
优选的，定位柱固设于弹性垫，定位孔设于支撑块，弹性垫设有至少两个触点，全部触点绕定位柱呈环状均匀分布；支撑块设有至少两个弹性臂，全部弹性臂相互独立且绕定位孔呈环状均匀分布，全部触点与全部弹性臂一一对应相抵以使全部弹性臂发生弹性变形。
优选的，全部触点呈十字形分布，全部弹性臂呈十字形分布，任意弹性臂的两侧各设有一个方形通孔。
优选的，弹性垫固设有一个触点，支撑块设有至少两个弹性臂，全部弹性臂呈辐射状分布且通过中心所设的弹性板一体式相连，触点与弹性板相抵以使弹性板带动全部弹性臂发生弹性变形。
优选的，弹性垫设有用于供支撑块插入的限位槽，一个触点设于限位槽内。
本发明所提供的微创手术机器人，包括机器人本体和上述任一项所述的末端夹持器，末端夹持器设于机器人本体。
相对于背景技术，本发明所提供的微创手术机器人的末端夹持器，包括相互铰接的第一夹钳和第二夹钳，第一夹钳与第二夹钳均设有检测部，检测部包括具有至少一个触点的弹性垫及至少一个与触点相对的弹性臂，全部弹性臂设有力检测件；当第一夹钳与第二夹钳夹持外物时，弹性垫在外物作用下发生弹性变形，使弹性垫带动触点挤压弹性臂，弹性臂随之发生弹性变形，全部力检测件进行力检测，从而依据全部力检测件反馈的信号解耦出三维力信息，进而提升力感知的灵敏性。力感知灵敏性的提升有利于获取准确的力感知，有助于提升末端夹持器的动作精度，降低误操作风险，手术的安全性较高。
本发明所提供的包含上述末端夹持器的微创手术机器人具有相同的有益效果。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1为本发明一种具体实施例所提供的微创手术机器人的末端夹持器的爆炸图；
图2为本发明第一种具体实施例所提供的微创手术机器人的末端夹持器中触点与弹性臂的结构图；
图3为本发明第一种具体实施例所提供的微创手术机器人的末端夹持器中触点与弹性臂的结构图。
附图标记如下：
第一夹钳1、第二夹钳2和检测部3；
支撑台11和固定凹槽12；
弹性垫31、触点32、弹性臂33和支撑块34；
定位柱311和限位槽312；
定位孔341和弹性板342。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施例对本发明作进一步的详细说明。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
为了使本技术领域的人员更好地理解本发明方案，下面结合附图和具体实施例对本发明作进一步的详细说明。
请参考图1，图1为本发明一种具体实施例所提供的微创手术机器人的末端夹持器的爆炸图。
本发明实施例公开了一种微创手术机器人的末端夹持器，包括第一夹钳1和第二夹钳2，第一夹钳1与第二夹钳2通过转动销转动连接，转动销安装支撑座上，使第一夹钳1与第二夹钳2通过相对转动实现开合，方便夹取器脏等外物。第一夹钳1与第二夹钳2的结构相同。
第一夹钳1与第二夹钳2均设有检测部3，检测部3分别设于第一夹钳1的夹持面及第二夹钳2的夹持面上，第一夹钳1的夹持面与第二夹钳2的夹持面相对。检测部3包括弹性垫31和弹性臂33，弹性垫31具有至少一个触点32，至少一个弹性臂33与触点32相对，全部弹性臂33设有力检测件，力检测件可以是压敏电阻，但类型不限于此。
当第一夹钳1与第二夹钳2夹持外物时，弹性垫31在外物作用下发生弹性变形，使弹性垫31带动触点32挤压弹性臂33，弹性臂33随之发生弹性变形，全部力检测件对应检测全部弹性臂33的弹性力，依据全部力检测件的电阻变化得到三维力，再通过力/力矩矩阵变换，得到第一夹钳1与第二夹钳2之间的力/力矩信息，从而提升力感知的灵敏性。
综上所述，本发明所提供的微创手术机器人的末端夹持器的力感知灵敏性有所提升，力感知灵敏性的提升有利于获取准确的力感知，有助于提升末端夹持器的动作精度，降低误操作风险，手术的安全性较高。
具体地，弹性垫31分别设于第一夹钳1与第二夹钳2的相对侧，也即弹性垫31分别固设于第一夹钳1的夹持面及第二夹钳2的夹持面上，弹性垫31可以封装方式进行固定，消除消毒液对检测部3的影响，有利于提升工作可靠性。第一夹钳1与第二夹钳2由金属材料制成，弹性垫31可以由硅胶垫或橡胶垫制成，使第一夹钳1与第二夹钳2的刚性同时大于弹性垫31的刚性，为弹性垫31的弹性变形提供条件。具体地，弹性垫31、第一夹钳1及第二夹钳2三者的宽度相等，弹性垫31的长度分别小于第一夹钳1的长度及第二夹钳2的长度。
当第一夹钳1与第二夹钳2自然相抵时，也即第一夹钳1与第二夹钳2在不夹持外物的情况下相抵时，此时弹性垫31不发生弹性变形，触点32的位置保持不变，触点32与弹性臂33保持分离，弹性臂33不发生弹性形变，使全部弹性臂33处于自然状态，为准确获取力感知提供条件。
全部弹性臂33均嵌设于支撑块34上，第一夹钳1的夹持面及第二夹钳2的夹持面分别设有固定凹槽12，支撑块34固定于固定凹槽12内。固定凹槽12具体为方形凹槽，支撑块34具体为立方体块。支撑块34可通过黏胶或过盈配合的方式固定于固定凹槽12内。固定凹槽12具体位于上述支撑台11的槽底，为设于支撑块34上的弹性臂33与设于弹性垫31上的触点32相抵提供条件。
请参考图2，图2为本发明第一种具体实施例所提供的微创手术机器人的末端夹持器中触点与弹性臂的结构图。
第一种具体实施例中，为限定触点32与弹性臂33二者的相对位置，支撑块34与弹性垫31之间设有相互配合的定位柱311和定位孔341。
在第一种具体实施例中，定位柱311固设于弹性垫31，定位柱311可一体式设于弹性垫31靠近第一夹钳1或第二夹钳2一侧。定位孔341设于支撑块34，定位孔341为设于支撑块34中心的贯穿孔。定位柱311呈圆柱状，定位柱311的长度小于固定凹槽12的深度，保证弹性垫31与第一夹钳1的夹持面 相贴合，或保证弹性垫31与第二夹钳2的夹持面相贴合。定位孔341为圆形凹槽，其孔径于定位柱311的外径相等。当然，互换定位柱311与定位孔341的设置并不影响实现本发明的目的。
第一种具体实施例中，弹性垫31设有至少两个触点32，全部触点32绕定位柱311呈环状均匀分布。相应地，支撑块34设有至少两个弹性臂33，全部弹性臂33相互独立且绕定位孔341呈环状均匀分布，全部触点32与全部弹性臂33一一对应相抵，当夹持外物时，触点32一一对应地挤压弹性臂33，使全部弹性臂33发生弹性变形。
具体地，弹性垫31靠近第一夹钳1的夹持面一侧或弹性垫31靠近第二夹钳2的夹持面一侧均一体式设有四个触点32，每个触点32的头部呈圆球型，四个触点32呈十字状匀分布。支撑块34设有四根弹性臂33，四根弹性臂33呈十字状分布。任意弹性臂33的两侧各设有一个方形通孔，使四根弹性臂33相互独立，同时提升四根弹性臂33的弹性，有利于增大力感知的量程。当然，触点32与弹性臂33二者的结构及分布方式均不限于此。
具体地，利用MEMS(Micro-Electro-Mechanical System，微机电系统)离子注入工艺将压敏电阻分别集成于四根弹性臂33上，每个四个压敏电阻组成一个惠斯通全桥电路，分别检测X轴、Y轴及Z轴三个维度的作用力。当第一夹钳1与第二夹钳2夹持外物时，触点32挤压弹性臂33使弹性臂33发生弹性变形，设于弹性臂33上压敏电阻的阻值随之发生变化，通过变化的阻值可解耦出三维力信息，进而计算出准确的夹持力或力矩。
请参考图3，图3为本发明第一种具体实施例所提供的微创手术机器人的末端夹持器中触点与弹性臂的结构图。
相较于第一种具体实施例中，第二种具体实施例主要改变触点32及弹性臂33的分布方式。在第二种具体实施例中，弹性垫31固设有一个触点32，触点32的头部也呈球型。相应地，支撑块34设有至少两个弹性臂33，全部弹性臂33呈辐射状分布，且全部弹性臂33通过中心所设的弹性板342一体式相连，当夹持外物时，触点32与弹性板342相抵，弹性板342发生弹性形变，使弹性板342带动全部弹性臂33发生弹性变形，同时还能够依据设于弹性臂33上的力检测件解耦出三维力信息。
具体地，支撑块34设有四根呈十字形分布的弹性臂33。与第一种具体实施例不同的是，第二种具体实施例中四根弹性臂33的一端通过弹性板342一体式相连，四根弹性臂33不直接与触点32相抵，四根弹性臂33在弹性板342的作用下发生弹性变形。当然，弹性臂33的数量不限于四根。
为单个触点32与弹性板342之间实现定位，弹性垫31靠近第一夹钳1的夹持面一侧或弹性垫31靠近第二夹钳2的夹持面一侧均一体式设有限位槽312，单个触点32固设于限位槽312内。当夹持外物时，支撑块34插入限位槽312内，同样能够限定触点32与弹性臂33二者的相对位置。
本发明所提供的微创手术机器人，包括机器人本体和上述末端夹持器，末端夹持器设于机器人本体，具有相同的有益效果。
以上对本发明所提供的放射治疗设备及其限束器进行了详细介绍，本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想；同时，对于本领域的一般技术人员，依据本发明的思想，在具体实施方式及应用范围上均会有改变之处，综上所述，本说明书内容不应理解为对本发明的限制。

Claims (9)

  1. 一种微创手术机器人的末端夹持器，其特征在于，包括相互铰接的第一夹钳(1)和第二夹钳(2)，所述第一夹钳(1)与所述第二夹钳(2)均设有检测部(3)，所述检测部(3)包括具有至少一个触点(32)的弹性垫(31)及至少一个与所述触点(32)相对的弹性臂(33)，全部所述弹性臂(33)设有力检测件；
    当所述第一夹钳(1)与所述第二夹钳(2)夹持外物时，所述弹性垫(31)在外物作用下发生弹性变形以使所述触点(32)挤压所述弹性臂(33)发生弹性变形以依据全部所述力检测件反馈的信号解耦出三维力信息。
  2. 根据权利要求1所述的微创手术机器人的末端夹持器，其特征在于，所述弹性垫(31)分别设于所述第一夹钳(1)与第二夹钳(2)的相对侧，当所述第一夹钳(1)与所述第二夹钳(2)自然相抵时，所述触点(32)与所述弹性臂(33)保持分离以使全部所述弹性臂(33)处于自然状态。
  3. 根据权利要求1所述的微创手术机器人的末端夹持器，其特征在于，全部所述弹性臂(33)均嵌设于支撑块(34)，所述第一夹钳(1)的夹持面及所述第二夹钳(2)的夹持面分别设有用于固定所述支撑块(34)的固定凹槽(12)。
  4. 根据权利要求3所述的微创手术机器人的末端夹持器，其特征在于，所述支撑块(34)与所述弹性垫(31)之间设有相互配合以限定所述触点(32)与所述弹性臂(33)位置的定位柱(311)和定位孔(341)。
  5. 根据权利要求4所述的微创手术机器人的末端夹持器，其特征在于，所述定位柱(311)固设于所述弹性垫(31)，所述定位孔(341)设于所述支撑块(34)，所述弹性垫(31)设有至少两个所述触点(32)，全部所述触点(32)绕所述定位柱(311)呈环状均匀分布；所述支撑块(34)设有至少两个所述弹性臂(33)，全部所述弹性臂(33)相互独立且绕所述定位孔(341)呈环状均匀分布，全部所述触点(32)与全部所述弹性臂(33)一一对应相抵以使全部所述弹性臂(33)发生弹性变形。
  6. 根据权利要求3至5任一项所述的微创手术机器人的末端夹持器，其特征在于，全部所述触点(32)呈十字形分布，全部所述弹性臂(33) 呈十字形分布，任意所述弹性臂(33)的两侧各设有一个方形通孔。
  7. 根据权利要求3至5任一项所述的微创手术机器人的末端夹持器，其特征在于，所述弹性垫(31)固设有一个所述触点(32)，所述支撑块(34)设有至少两个所述弹性臂(33)，全部所述弹性臂(33)呈辐射状分布且通过中心所设的弹性板(342)一体式相连，所述触点(32)与所述弹性板(342)相抵以使所述弹性板(342)带动全部所述弹性臂(33)发生弹性变形。
  8. 根据权利要求3至5任一项所述的微创手术机器人的末端夹持器，其特征在于，所述弹性垫(31)设有用于供所述支撑块(34)插入的限位槽(312)，一个所述触点(32)设于所述限位槽(312)内。
  9. 一种微创手术机器人，其特征在于，包括机器人本体和权利要求1至8任一项所述的末端夹持器，所述末端夹持器设于所述机器人本体。
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