WO2022082357A1

WO2022082357A1 - Surgical instrument force detection mechanism and surgical instrument force detection device

Info

Publication number: WO2022082357A1
Application number: PCT/CN2020/121879
Authority: WO
Inventors: 潘鲁锋; 闫泳利; 柳建飞; 黄善灯
Original assignee: 诺创智能医疗科技(杭州)有限公司
Priority date: 2020-10-19
Filing date: 2020-10-19
Publication date: 2022-04-28

Abstract

A surgical instrument force detection mechanism and a surgical instrument force detection device (100). The surgical instrument force detection mechanism comprises a pricking and clamping member (40), a second fixing table (311), and a second force sensor (321); the pricking and clamping member (40) is hollow and can allow a surgical instrument to penetrate through; the second fixing table (311) is used for fixing a tissue to be detected, and the second fixing table (311) is connected to the second force sensor (321); and the second force sensor (321) can detect force or torque applied to said tissue by the surgical instrument. According to the surgical instrument force detection mechanism, by providing the second fixing table (311) and the second force sensor (321), said tissue can be fixed, the force condition of said tissue can be detected, the moving path and the magnitude of the applied force of the surgical instrument can be conveniently optimized, the risk of minimally invasive surgery can be controlled, and the problem in the prior art that the force condition of tissues to be detected cannot be detected is solved.

Description

Surgical instrument force detection mechanism and surgical instrument force detection device

technical field

The present application relates to the field of force detection, and in particular, to a surgical instrument force detection mechanism and a surgical instrument force detection device.

Background technique

The birth of minimally invasive surgery has largely overcome the defects of traditional surgery, such as large incision, large blood loss, many complications and high surgical risks. Due to the rapid development in recent years, minimally invasive surgery is gradually gaining the favor of medical staff and patients, and has become an emerging field of medical research and clinical applications.

When performing minimally invasive surgery, it is necessary to open a tiny wound on the surface of the patient's skin, and the surgical instrument reaches the patient's body by extending into the tiny wound. purpose of surgery. However, in the current minimally invasive surgery, the surgical operation can only be performed under the guidance of ultrasound, endoscopy, etc. with the help of the doctor's medical experience, and the deformation of the epidermal tissue or internal tissue can be used to judge the applied force of the surgical instrument. The magnitude of the force and/or moment may increase the secondary injury to the patient's wound during the operation.

Since there is currently no simulated surgical instrument force detection device for minimally invasive surgery, it is impossible to optimize the movement path of the surgical instrument and the amount of force applied to the epidermal tissue and internal tissue, which is not conducive to the further development of minimally invasive surgery.

SUMMARY OF THE INVENTION

According to various embodiments of the present application, there is provided a force detection mechanism for a surgical instrument, including a poking member, a second fixing table and a second force sensor, wherein the poking member is hollow and can be passed through by a surgical instrument, the The second fixing table is used for fixing the tissue to be detected, the second fixing table is connected to the second force sensor, and the second force sensor can detect the force exerted by the surgical instrument on the tissue to be detected or moment. The surgical instrument force detection mechanism provided by the present application can fix the tissue to be detected and detect the force of the tissue to be detected by setting the second fixing table and the second force sensor, so as to facilitate the optimization of the movement path of the surgical instrument and the force applied, so that the microscopic The risk of invasive surgery is controllable, which solves the problem that the traditional technology cannot detect the force of the tissue to be tested.

In a feasible solution, the second force sensor is an S-type force sensor. The second force sensor adopts the S-type load cell. The S-type load cell can detect the tension and pressure conditions. It is small in size and easy to install. It has strong anti-eccentric load capacity, high precision and a large measurement range.

In a feasible solution, a groove is formed on the second fixing table, and a second fixing member is arranged on the periphery of the groove, and the second fixing member can fix the tissue to be detected on the on the second fixing table and partially or completely cover the groove. A groove is formed on the second fixing table and a second fixing member is arranged on the second fixing table, which can better fix the tissue to be detected and facilitate the second force sensor to better detect the force of the tissue to be detected.

In a feasible solution, the second force sensor is located on a side of the second fixing table relatively far from the groove, and the position of the second force sensor corresponds to the position of the groove. The position of the second force sensor corresponds to the position of the groove, which facilitates the second force sensor to better detect the force of the tissue to be detected, and further ensures the detection accuracy.

In a feasible solution, the poking member includes a transmission part and a connecting rod part that are connected to each other, and the second fixing platform is vertically arranged with the connecting rod part. The second fixed platform is perpendicular to the link portion, the detection accuracy of the second force sensor is higher, and the position conflict of the second fixed platform can be prevented during displacement.

The present application also provides a surgical instrument force detection device, which includes a fixing bracket and the above-mentioned surgical instrument force detection mechanism, and the second fixing table is mounted on the fixing bracket through the second force sensor. The surgical instrument force detection mechanism is installed on the fixed bracket, so that the integration of the surgical instrument force detection device is better, and the movement and use of the surgical instrument force detection device are facilitated.

In a feasible solution, the surgical instrument force detection device further includes a sliding component, the sliding component is provided with the fixing bracket and is connected to the second force sensor, and the second force sensor can pass the sliding The assembly drives the second fixing platform to move on the fixing bracket. The setting of the sliding component can change the relative position of the tissue to be detected more flexibly, simulate the actual operation situation more conveniently, and detect more accurate values.

In a feasible solution, the surgical instrument force detection device further includes a poking bracket, the poking bracket is mounted on the fixing bracket, and the poking bracket is used for installing the poking member. Using the stamping bracket to fix the stamping member can improve the integration of the surgical instrument force detection device and facilitate the use and movement of the surgical instrument force detection device.

In a feasible solution, the stamping bracket includes a stamping top bracket and a stamping link that are connected to each other, the stamping top bracket is used to install the stamping member, and the stamping link is directly or Indirectly mounted on the fixed bracket. By adopting the stamping top frame and the stamping link to fix the stamping member, the stamping bracket has a simple structure, low manufacturing cost, and high integration of the surgical instrument force detection device.

In a feasible solution, the poke link can be extended and retracted, and the distance between the poke top frame and the second fixed platform can be changed. By adjusting the length of each poke link, the positional relationship between the poke top frame and the second fixed table can be changed, so as to adapt to the simulation situation in different situations, so that the measured force and/or torque data information more precise.

Based on the above solution, it can be seen that the surgical instrument force detection mechanism and the surgical instrument force detection device provided by the present application can detect the force of the tissue to be detected, which is convenient for optimizing the movement path of the surgical instrument and the force applied to the tissue to be detected, and is conducive to controlling microscopic Risk of invasive surgery.

Description of drawings

In order to better describe and illustrate embodiments and/or examples of those inventions disclosed herein, reference may be made to one or more of the accompanying drawings. The additional details or examples used to describe the drawings should not be considered to limit the scope of any of the disclosed inventions, the presently described embodiments and/or examples, and the best mode presently understood of these inventions.

FIG. 1 is a schematic structural diagram of a surgical instrument force detection device in Embodiment 1 of the present application.

FIG. 2 is a schematic structural diagram of the force detection device of the surgical instrument shown in FIG. 1 from another angle.

100. Surgical instrument force detection device; 10. Fixed bracket; 11. First support table; 12. Second support table; 20. First detection unit; Support rod; 213, base; 22, first force detection component; 221, stamping bracket; 2211, stamping top frame; 2212, stamping connecting rod; 2213, stamping bottom bracket; 222, first force sensor; 30 31, the second fixed assembly; 311, the second fixed platform; 32, the second force detection assembly; 321, the second force sensor; 40, the stamping clip; 41, the transmission part; department.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

In the description of this application, it should be understood that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by vertical, horizontal, top, bottom, inner, outer, axial, radial, circumferential, etc. is based on the drawings. The orientation or positional relationship shown is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a reference to the present application. limit.

In this application, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , it can also be integrated; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two components or two components. interactions, unless otherwise expressly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific situations. The technical solutions of the present application will be described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

When performing minimally invasive surgery, it is necessary to open a tiny wound on the surface of the patient's skin, and the surgical instrument reaches the patient's body by extending into the tiny wound. purpose of surgery.

It should be noted that the telecentric fixed point referred to in this article refers to a fixed fixed point selected along the length of the surgical instrument, and the movement of the surgical instrument during the actual operation has a swinging motion around this point. regularity, and the point does not move. Specifically, the swing of the surgical instrument will take the telecentric fixed point as the swing center, and the forward and backward telescopic motion of the surgical instrument will move along the telecentric fixed point. In the actual operation process, the position of the telecentric fixed point is the wound position at the human epidermis during the operation; the movement of the surgical instrument has the regularity relative to the telecentric fixed point, which is to ensure During the movement of the device, the area of the human wound will not be enlarged due to the movement of the equipment, which is the premise of minimally invasive surgery. It should be emphasized that the position of the telecentric fixed point is not necessarily fixed in the actual operation. changeable. For example, doctors perform surgical operations on different wounds, and the two surgical operations on the wounds will cause the control device to select telecentric fixed points at different positions in different time periods according to the actual surgical instrument length and other parameters. The movement under a single surgical operation can form a regular movement relative to the telecentric fixed point.

However, in the current minimally invasive surgery, the surgical operation can only be performed under the guidance of ultrasound, endoscopy, etc. with the help of the doctor's medical experience, and the deformation of the epidermal tissue or internal tissue can be used to judge the applied force of the surgical instrument. The magnitude of the force and/or moment may increase the secondary injury to the patient's wound during the operation.

Since there is no simulated surgical instrument force detection device for minimally invasive surgery at present, the movement path of the surgical instrument and the amount of force applied to the epidermal tissue and internal tissue cannot be optimized, and the risk of minimally invasive surgery is difficult to control.

Please refer to FIGS. 1 and 2 . FIG. 1 is a schematic structural diagram of the surgical instrument force detection device 100 in Embodiment 1 of the present application; FIG. 2 is a structural schematic diagram of the surgical instrument force detection device 100 shown in FIG. 1 from another angle.

The surgical instrument force detection device 100 includes a fixed bracket 10 , a first detection unit 20 , a second detection unit 30 and a stamping member 40 . The first detection unit 20 and the second detection unit 30 are both installed on the fixed bracket 10 . The first detection unit 20 and the second detection unit 30 can fix the epidermal tissue and the inner tissue respectively, and the first detection unit 20 can detect the force and/or moment acting on the epidermal tissue, and the second detection unit 30 can detect the force acting on the inner tissue and/or torque; the poke clip 40 is hollow and can be passed through by surgical instruments, and the poke clip 40 can pass through the epidermal tissue fixed by the first detection unit 20 and make the surgical instrument contact the interior of the second detection unit 30 fixed organize. The surgical instrument force detection device 100 provided in this application can respectively fix and detect the force of the epidermal tissue and the internal tissue, and the positions of the epidermal tissue and the internal tissue are also set in sequence relative to the stamping member 40, which is closer to minimally invasive surgery. It can simulate the force of epidermal tissue and internal tissue during minimally invasive surgery, and it is convenient to optimize the movement path and force of surgical instruments.

The fixing bracket 10 is used to carry the first detection unit 20 and the second detection unit 30. In order to facilitate the installation and setting of the first detection unit 20 and the second detection unit 30, the fixing bracket 10 is formed by splicing a plurality of profiles, and the profiles can be Metal profiles, but also plastic profiles.

The first detection unit 20 includes a first fixation component 21 and a first force detection component 22. The first fixation component 21 is used to fix the epidermal tissue, and the first force detection component 22 can detect the force and/or torque on the epidermal tissue.

The first fixing assembly 21 includes a first fixing table 211, a support rod 212 and a base 213, the first fixing table 211 and the base 213 are connected by the support rod 212, and the first fixing table 211 is used for fixing epidermal tissue, The base 213 can be fixedly mounted on the fixing bracket 10 .

It can be understood that in other embodiments, the base 213 may not be provided, and the support rod 212 may be directly fixed to the fixing bracket 10; the support rod 212 and base 213 may also not be provided, and the first fixing platform 211 may be directly fixed and connected to the first force Detection assembly 22 .

In order to make the positional relationship between the epidermal tissue, the internal tissue and the poking clip 40 closer to the real positional relationship between the surgical instrument and the patient's lesion during surgery, in this embodiment, the support rod 212 can be extended and retracted, and the first fixed position can be changed. The positional relationship between the stage 211 and other components makes the position of the epidermal tissue adjustable, which is convenient for simulating the operation situation and performing the mechanical test. It can be understood that the support rods 212 can be extended and retracted synchronously, and each support rod 212 can be extended and retracted by different distances according to actual needs. In other embodiments, the support rod 212 can also be fixed, and does not necessarily have to be adjustable; of course, the position of the first fixing table 211 can also be changed in other ways, for example, by changing the height of the base 213 to change the first fixing table The location of 211 is not limited here.

In this embodiment, the first fixing table 211 is a square ring, and the first fixing assembly 21 further includes a first fixing member (not shown in the figure), and the first fixing member can fix the epidermal tissue on the first fixing table 211. The clips 40 can pass through the epidermal tissue; the number of support rods 212 is four, and they are located at the four corners of the first fixing table 211 respectively. It can be understood that, in other embodiments, the first fixing platform 211 can also be in other shapes, and the supporting rods 212 can also be more or less than four.

The first force detection component 22 includes a first force sensor 222, which is directly or indirectly connected to the first fixing table 211, and can detect the force and/or moment received by the epidermal tissue.

In order to obtain more detailed and accurate force detection information, in this embodiment, the first force detection component 22 is preferably a six-dimensional force sensor. It can be understood that, in other embodiments, a three-dimensional force sensor or other common force sensor can also be selected according to actual needs, which is not limited herein.

In order to be able to simulate more surgical situations, the area of the epidermal tissue in this application is larger; in order to measure the force of the epidermal tissue more accurately, in this embodiment, the first force detection component 22 further includes a poke bracket 221, The stamping bracket 221 includes a stamping top bracket 2211, a stamping link 2212 and a stamping bottom bracket 2213, and the stamping top bracket 2211 and the stamping bottom bracket 2213 are connected by the stamping link 2212, The stamping member 40 is mounted on the stamping top frame 2211, the first force sensor 222 is mounted on the fixing bracket 10, and the first force sensor 222 is connected with the stamping bottom frame 2213; The first fixing component 21 is installed on the fixing bracket 10, and the first fixing component 21 is used to fix the epidermal tissue; the poking top frame 2211 can restrain the force and/ Or the torque is transmitted to the stamping chassis 2213 through the stamping link 2212 , and the first force sensor 222 can detect the force and/or moment received by the stamping chassis 2213 . With this arrangement, the force acting on the epidermal tissue by the poking member 40, that is, the force received by the epidermal tissue, can be detected more accurately, and the position of the first force sensor 222 can be more selective, and it is not necessary to directly set it on the first fixed position. on component 21.

In this embodiment, there are four poke links 2212, and the four poke links 2212 are evenly distributed between the poke top frame 2211 and the poke bottom frame 2213 in the circumferential direction, which has a good force transmission effect. And can take into account the cost. It can be understood that, in other embodiments, the number of poke links 2212 may be more or less than four.

Further, in order to adjust the position of the stamping member 40 more conveniently, in this embodiment, the stamping link 2212 can be extended and retracted, and the relationship between the stamping top frame 2211 and the first fixing assembly 21 and other components can be changed. relative positional relationship between them. It can be understood that the poke link 2212 can be extended and retracted synchronously, and each poke link 2212 can be extended and retracted by different distances according to actual needs; and in other embodiments, the poke link 2212 can also be a fixed length, through Adjust the positional relationship of other components to realize surgical simulation operation.

In order to better transmit the force and/or moment received by the stamping member 40, in this embodiment, the stamping top frame 2211 and the stamping bottom frame 2213 are preferably circular rings, and the inside of the circular rings is provided with a cross connection plate, the stamping member 40 is arranged at the center of the cross connecting plate of the stamping top frame 2211, the first force sensor 222 is arranged at the center of the cross connecting plate of the stamping bottom frame 2213, and the stamping top frame 2211 can respond to the pressure received by the stamping member 40. The force and/or torque is amplified, and then transmitted to the corresponding position of the poke chassis 2213 through the poke link 2212 , and the poke chassis 2213 reduces the force or torque and transmits it to the first force sensor 222 . In this way, compared to directly transmitting smaller force and/or torque, such a force transmission method can more accurately transmit the force and torque received by the poking clip 40 to the first force sensor 222 .

In order to further improve the transmission accuracy of the force, in this embodiment, the shape, size and material of the poke top frame 2211 and the poke bottom frame 2213 are the same, and the installation angles are also the same; The size and material are also the same, and the poke links 2212 are evenly distributed in the circumferential direction between the poke top frame 2211 and the poke bottom frame 2213, and the distribution positions of the poke links 2212 are relatively close to the poke top frame 2211 and the poke card The outer periphery of the chassis 2213. This arrangement can not only improve the transmission accuracy of the force, but also reduce the production cost, and the stamping card top frame 2211 and the stamping card bottom frame 2213 can be produced at the same time.

The second detection unit 30 includes a second fixation component 31 and a second force detection component 32. The second fixation component 31 is used to fix the internal tissue, and the second force detection component 32 can detect the force and/or torque on the internal tissue.

In order to reduce the production cost of the product, in this embodiment, the second fixing assembly 31 includes a second fixing table 311 , the second force detecting assembly 32 includes a second force sensor 321 , and the second fixing table 311 is used to fix the internal tissue, and the second fixing table 311 is used to fix the internal tissue. The two force sensors 321 are used to detect the force and/or moment received by the internal tissue; This arrangement can simplify the structure of the second detection unit 30, reduce the production cost of the force detection mechanism of the surgical instrument, and the positions of the second fixing table 311 and the second force sensor 321 are relatively fixed, which is convenient for positioning, calibration and use.

It can be understood that, in other embodiments, the second fixing assembly 31 may adopt a more complex structure to achieve more functions, for example, a support rod and a base are provided like the first fixing assembly 21, and the adjustment is made by adjusting the telescopic length of the support rod The height of the second fixing table 311 makes the adjustment more flexible, and the positional relationship between the epidermal tissue and the internal tissue is closer to the positional relationship between the epidermal tissue and the internal tissue at the patient's lesion during an actual surgical operation.

In order to better fix the internal tissue, in this embodiment, a groove (not numbered) is formed on the second fixing table 311, and a second fixing member (not shown) is arranged around the groove, so The second fixing member can fix the internal tissue on the second fixing table 311 and partially or completely cover the groove.

In this embodiment, in order to reduce the production cost, the second force sensor 321 is fixedly arranged on the base 213 of the first fixing component 21 . It can be understood that, in other embodiments, in order to make the relative positional relationship between the epidermal tissue and the internal tissue closer to the actual operation, a sliding component (not shown), the first fixing component 21 and/or a sliding component (not shown) may be provided on the second support table 12 . The second fixing assembly 31 is moved on the second supporting table 12 using the sliding assembly. With this arrangement, the relative position of the epidermal tissue and the internal tissue can be changed more flexibly, so that the relative positional relationship between the epidermal tissue and the internal tissue is closer to the actual operation, so that a more accurate value can be detected.

It can be understood that, in other embodiments, the relative position of the second fixing component 31 can also be changed to make the relative positional relationship between the epidermal tissue and the internal tissue closer to the actual operation, which will not be repeated here.

In this embodiment, the second force detection component 32 is preferably an S-type load cell, and the S-type load cell is located on the lower side of the groove of the second fixing table 311 . It can be understood that, in other embodiments, in order to obtain more detailed and accurate force detection information, a six-dimensional force sensor or other common force sensor may also be selected, which is not limited herein.

In order to facilitate the installation of the first detection unit 20 and the second detection unit 30 and facilitate the detection of the force and/or moment on the epidermal tissue and the internal tissue, in this embodiment, the first support table 11 and the second support table 12 are respectively fixed It is installed on a plurality of profiles of the fixing bracket 10 , and the first support table 11 is located above the second support table 12 . The first support table 11 is used for carrying the first fixing component 21 , the second fixing component 31 and the second force detection component 32 , and the second support table 12 is used for supporting the first force detection component 22 . In this way, the stamping member 40 , the first fixing table 211 , the second fixing table 311 , the second force sensor 321 , and the first force sensor 222 can be arranged in sequence in the vertical direction, and each component in the surgical instrument force detection device 100 can be arranged in sequence. The arrangement is reasonable and the floor area is small, which is conducive to the development of the surgical instrument force detection device 100 in the direction of miniaturization. It can be understood that, in other embodiments, the number of fixing brackets may also be two, and the first support table 11 and the second support table 12 may also be respectively fixed by two fixing brackets.

In this embodiment, the first force sensor 222 and the stamping chassis 2213 are both located between the first support table 11 and the second support table 12, and one end of the first force sensor 222 It is installed on the first support table 11 , and the other end is used to carry the stamping chassis 2213 . In this way, the movement of the stamping chassis 2213 is not affected, and the positions of the components between the surgical instrument force detection device 100 can be reasonably arranged.

The stamping member 40 includes a transmission part 41 and a connecting rod part 42 which are connected to each other. The transmission part 41 is installed on the stamping top frame 2211 , and the connecting rod part 42 can pass through the epidermal tissue. The force and/or moment received by the portion 42 can be transmitted to the poke top bracket 2211 through the transmission portion 41 , and transmitted to the poke bottom bracket 2213 by the poke link 2212 , so as to be detected by the first force sensor 222 .

The use process of the surgical instrument force detection mechanism is as follows: fix the epidermal tissue on the first fixing table 211, fix the internal tissue on the second fixing table 311, and adjust the relative relationship between the first fixing table 211 and the second fixing table 311. The positional relationship makes the relative positional relationship between the epidermal tissue and the internal tissue approximate to the relative positional relationship between the epidermal tissue and the internal tissue at the patient's lesion during actual surgical operations; the poking clip 40 can pass through the opening on the epidermal tissue, The surgical instrument can extend into the inside of the poking member 40 and protrude from one end of the poking member 40 to contact the internal tissue and perform a surgical simulation operation on the internal tissue. According to the characteristics of minimally invasive surgery with a telecentric fixed point, when performing surgical simulation, the opening on the epidermis is used as the telecentric fixed point, and the surgical instrument moves with the telecentric fixed point as the swing center, and the surgical instrument can drive the poking member 40 to move, the first force sensor 222 can detect the force and/or torque exerted by the poking member 40 on the epidermal tissue; the surgical instrument protrudes from one end of the poking member 40 and performs a surgical simulation operation on the internal tissue, The second force sensor 321 can detect the force and/or moment received by the internal tissue.

In order to make the stamping member 40 more easily drive the stamping top frame 2211 to move, in this embodiment, the outer circumference of the transmission portion 41 is larger than the outer circumference of the link portion 42 . In this way, the contact area between the transmission part 41 and the stamping top bracket 2211 is larger, and the force and/or torque is directly transmitted to the stamping top bracket 2211 relative to the link part 42, and the transmission part 41 is used to transmit the force and/or The torque can increase the accuracy of transmission, so that the force and/or torque measured by the first force sensor 222 is more accurate.

In this embodiment, the first fixing table 211 and the second fixing table 311 are arranged in parallel, and the link portion 42 is vertically arranged with the first fixing table 211 and the second fixing table 311 . With this arrangement, the detection accuracy of the first force sensor 222 and the second force sensor 321 is higher, and the positional conflict between the first fixed table 211 and the second fixed table 311 can be prevented during displacement.

In order to make the relative position between the first fixing table 211 and the second fixing table 311 more flexible, in this embodiment, the outer diameter of the second fixing table 311 is smaller than the inner diameter of the first fixing table 211 . The table 311 may be lower than the first fixing table 211 , and may also be flush with the first fixing table 211 or higher than the first fixing table 211 , and the operation scenarios that can be simulated are more diverse. It can be understood that, in other embodiments, in order to facilitate fixing the tissue to be detected, the size of the first fixing table 211 and the second fixing table 311 can be designed according to actual needs, and it is not limited that the outer diameter of the second fixing table 311 is smaller than that of the first fixing table 211 inside diameter.

It should be noted that, due to the changing surgical forms and methods of minimally invasive surgery, sometimes it is only necessary to detect the force of a certain tissue. In this case, the fixing bracket 10, the first detection unit 20, Components such as the poking clip 40 constitute the force detection mechanism for surgical instruments, and components such as the fixing bracket 10 and the second detection unit 30 can also constitute the force detection mechanism for surgical instruments, as described in the second and third embodiments.

Embodiment 2

The structure of the second embodiment is roughly the same as that of the first embodiment. The difference is that in this embodiment, the second fixing component 31 and the second force detecting component 32 may not be provided, and only the first fixing component 21 and the first force detecting component 22 are provided. Thereby, the force detection of epidermal tissue or other tissues to be detected is realized.

It can be understood that, in this embodiment, the support rod 212 and the base 213 can be omitted, and the first force sensor 222 directly contacts the first fixing table 211 and detects the force and/or moment on the epidermal tissue.

Embodiment 3

The structure of the third embodiment is roughly the same as that of the first embodiment, the difference is that in this embodiment, the first fixing component 21 and the first force detecting component 22 may not be provided, and only the second fixing component 31 and the second force detecting component 32 are provided, Thus, the force detection of internal tissues or other tissues to be detected is realized.

It can be understood that, in this embodiment, the stamping member 40 may be fixed by the stamping bracket 221, or may be fixed by another structure, and the setting of the stamping bracket 221 is omitted. When the stamping member 40 is fixed by the stamping bracket 221, only the stamping top frame 2211 and the stamping link 2212 can be provided, and the stamping bottom bracket 2213 is not provided, and the stamping link 2212 is directly fixed and installed on the fixing bracket 10.

It should be noted that, no matter in Example 1 or Example 2 and Example 3, epidermal tissue and internal tissue can also be replaced with other tissues to be detected, and are not limited to these two tissues; epidermal tissue and The internal tissue can be selected from animal tissue close to human tissue, for example, pig skin can be used for epidermal tissue, and visceral tissue of pig can be used for internal tissue.

The surgical instrument force detection mechanism and the surgical instrument force detection device 100 provided by the present application can simulate the real surgical operation and detect the force of the tissue to be detected, so as to facilitate the optimization of the movement path of the surgical instrument and the application of force to the epidermal tissue and internal tissue The size is beneficial to control the risk of minimally invasive surgery.

In this application, unless otherwise expressly stated and defined, a first feature "on" or "under" a second feature may be in direct contact with the first feature and the second feature, or the first feature and the second feature through an intermediate indirect contact with the media.

Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. A first feature "below", "below" and "below" a second feature may mean that the first feature is directly or obliquely below the second feature, or simply means that the first feature is level below the second feature.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples", etc., means specific features described in connection with the embodiment or example. , structure, material or feature is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present application. scope.

Claims

A force detection mechanism for surgical instruments, characterized in that it comprises a poking member, a second fixing table and a second force sensor, wherein the poking member is hollow and can be worn by surgical instruments, and the second fixing table is used for The tissue to be detected is fixed, the second fixing table is connected to the second force sensor, and the second force sensor can detect the force or moment exerted by the surgical instrument on the tissue to be detected.
The force detection mechanism of a surgical instrument according to claim 1, wherein the second force sensor is an S-type force sensor.
The force detection mechanism for surgical instruments according to claim 1, wherein a groove is formed on the second fixing table, and a second fixing member is arranged around the groove, and the second fixing member can The tissue to be detected is fixed on the second fixing table and partially or completely covers the groove.
The force detection mechanism for a surgical instrument according to claim 3, wherein the second force sensor is located on a side of the second fixing platform that is relatively far away from the groove, and the position of the second force sensor is the same as that of the second force sensor. The positions of the grooves correspond.
The force detection mechanism of a surgical instrument according to claim 1, wherein the poking member comprises a transmission part and a link part which are connected to each other, and the second fixing platform is perpendicular to the link part.
A surgical instrument force detection device, characterized in that it includes a fixing bracket and the surgical instrument force detection mechanism according to any one of the above claims 1 to 5, and the second fixed platform is installed on the device through the second force sensor. the fixing bracket.
The surgical instrument force detection device according to claim 6, wherein the surgical instrument force detection device further comprises a sliding component, the sliding component is provided with the fixing bracket and is connected to the second force sensor, the The second force sensor can drive the second fixing platform to move on the fixing bracket through the sliding assembly.
The surgical instrument force detection device according to claim 6, wherein the surgical instrument force detection device further comprises a poke bracket, the poke bracket is mounted on the fixed bracket, and the poke bracket is used for installation The stamp card piece.
The force detection device for a surgical instrument according to claim 8, wherein the stamping bracket comprises a stamping top bracket and a stamping link that are connected to each other, and the stamping top bracket is used to install the stamping member , the poke link is directly or indirectly installed on the fixed bracket.
The force detection device for a surgical instrument according to claim 9, wherein the poke link can be extended and retracted, and the distance between the poke top frame and the second fixing table can be changed.