TWI783339B - Medical device for manipulating surgical tools - Google Patents

Abstract

A medical device has been disclosed. The medical device includes a parallel manipulator. The parallel manipulator having an end platform coupled to a surgical tool and a base platform coupled to machine module. The machine module is coupled to the surgical tool through a transmission shaft disposed between the end platform and the base platform.

Description

Medical devices for manipulating surgical tools

The present disclosure relates generally to medical devices, and more particularly, to a medical device having a drive shaft positioned between an end platform and a base platform of a parallel manipulator and configured to transmit mechanical forces.

The parallel mechanism is capable of positioning and orienting the end stage with as many as six or more degrees of freedom. The end platforms of the parallel mechanism can be used to support medical devices, such as diagnostic devices or surgical tools. Since the end platform of the parallel mechanism can be made extremely small, the mechanism can be used for both surgical operations through large surgical openings and endoscopic surgery through small surgical openings or body holes.

Due to the high precision and dexterous manipulation of the end platform, the parallel mechanism is particularly suitable for surgical procedures via remote control. The mechanism is capable of adjusting the position of the end platform, making the mechanism suitable for use in medical applications requiring precise micro-motions. However, it has motors for controlling the surgical tools mounted on the end deck, which place additional weight and force on the end deck during operation. The extra weight and force can affect the response time and accuracy of the range/path of the maneuver plan. Therefore, in order to improve the accuracy of medical devices, the forces affecting the end platforms of parallel manipulators need to be minimized.

In view of this, it is necessary to provide a medical device with a transmission shaft to solve the above technical problems.

A medical device, characterized in that it includes: a parallel manipulator, an adapter, a drive shaft and a shaft motor, the parallel manipulator has: an end platform; and a base platform mechanically coupled to the end platform, the adapter has: a body detachably coupled to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; and a transmission shaft rotatably supported by the end platform, the transmission shaft having: configured to transmit a mechanical force a transmission yoke to the receiving yoke; a flexible rod connected to the transmission yoke; and a slider connected to the flexible rod, the shaft motor configured to generate mechanical force to drive the transmission shaft, the shaft A motor has a drive shaft slidably engaged to the slider.

A medical device comprising: a parallel manipulator, a sensor system mechanically attached to the end platform, an adapter detachably coupled to the sensor system, a drive shaft, and a shaft motor, the parallel manipulator Having: an end platform; and a base platform mechanically connected to the end platform, the adapter has: a body; and a receiving shaft rotatably supported by the body, the transmission shaft being rotatable by the end platform rotatably supported and configured to transmit the mechanical force to the receiving shaft; the shaft motor is drivingly connected to the drive shaft and configured to transmit the mechanical force to the drive shaft.

1:Medical device

11-1: End platform

11-2: Base platform

11-3: Arm

12: Drive shaft

13: Adapter

14: Sensor system

15: shell

16: handle

17: Control module

18-1: The first positioning unit

18-2: The second positioning unit

T1: Tool

40: drive shaft

41: Drive yoke

41-21, 41-22, 43-21, 43-22: Pin

41-3: Flange

42: flexible rod

43: Slider

50: end platform

51: The first bearing

52:Second bearing

53: Gasket

54: retaining ring

61: Base

62: cover

63: The first bearing

64:Second bearing

65: retaining ring

66: Receiving shaft

66-1: Receive Yoke

66-2: Chuck

66-3: Groove

70: base platform

71: Arm base

72: shaft base

80: Machine Module

81: Actuator

82: shaft motor

91: shaft base

92: shaft motor

92-1: Rotor

93: Slider

94: drive shaft

95: Cylinder

21: Slider

21-1: socket

22: drive shaft

102: drive yoke

102-1: Protrusion

102-2: Ontology

110: Sensor system

111: Force Repeater

112: force sensor

113: Fasteners

120: Adapter

121: Receiving shaft

130: end platform

131: By bearing

140: drive shaft

1 shows a 3D representation of a medical device according to some embodiments of the present disclosure; FIG. 2 shows a cross-sectional view of a medical device according to some embodiments of the present disclosure; FIG. An exploded view of a medical device of some embodiments; FIG. 4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure; FIG. 4B shows a cross-sectional view of a drive shaft according to some embodiments of the present disclosure; FIG. 5 shows Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure; Figure 7 shows an exploded view of a machine module according to some embodiments of the present disclosure; Perspective view; FIG. 8 shows drive shafts, parallel manipulators and Exploded view of the machine module; Figure 9 shows a cross-sectional view of the drive shaft and slide according to some embodiments of the present disclosure; Figure 10 shows a perspective view of the receiving shaft and drive yoke according to some embodiments of the present disclosure Figures; Figure 11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure; Figure 12 shows an exploded view of a force sensor according to some embodiments of the present disclosure.

The following description will refer to the accompanying drawings in order to more fully describe the present invention. Illustrated in the drawings are exemplary embodiments of the present disclosure. This invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Like reference numerals designate the same or similar components.

The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. Furthermore, as used herein, "comprises" and/or "comprises" or "comprises" and/or "comprises" or "has" and/or "has", integers, steps, operations, elements and/or elements , but does not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components and/or groups thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. In addition, terms such as those defined in general dictionaries should be interpreted as having meanings consistent with their meanings in the related art and the present disclosure, and will not be interpreted as idealized or overly formal unless clearly defined herein.

The following content will describe exemplary embodiments with reference to the accompanying drawings. It should be noted that, Elements depicted in reference to the drawings are not necessarily shown to scale; instead, identical or similar components will be given identical or similar reference numerals or similar technical terms.

Figure 1 shows a 3D representation of a medical device according to some embodiments of the present disclosure. Figure 2 illustrates a cross-sectional view of a medical device according to some embodiments of the present disclosure. Figure 3 shows an exploded view of a medical device according to some embodiments of the present disclosure. In some embodiments, medical device 1 includes a parallel manipulator, drive shaft 12 and adapter 13 . The parallel manipulator includes an end platform 11-1, a base platform 11-2, and a plurality of arms 11-3 operatively coupled between the end platform 11-1 and the base platform 11-2. The transmission shaft 12 is disposed between the end platform 11-1 and the base platform 11-2. In addition, the propeller shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, the adapter 13 is configured to hold a surgical tool T1, such as a drill, trocar, or saw blade. In some embodiments, the medical device 1 also includes a sensor system 14 disposed between the adapter 13 and the end platform 11-1. The sensor system 14 is configured to monitor the force applied and received by the adapter 13 .

In some embodiments, the medical device 1 further includes a housing 15 , a handle 16 and a control module 17 . The base platform 11-2 is mechanically attached to the housing 15 and houses a machine module 80 configured to manipulate the movement of the plurality of arms 11-3, which in turn controls the movement of the end platform 11-1. The machine module 80 includes a plurality of actuators for manipulating the plurality of arms 11 - 3 accordingly and a shaft motor for manipulating the transmission shaft 12 . The handle 16 enables a user to hold and manipulate the medical device 1 during operation. The control module 17 allows the user to trigger, stop or adjust the motion of the surgical tool T1 or perform other functions of the medical device 1 .

Parallel manipulators can be classified based on degrees of freedom, number of arms, sequence of joints in each arm, and type of actuator. In some embodiments, the parallel manipulator may be a six degrees of freedom parallel manipulator having six degrees of freedom (6-DOF). In some embodiments, the plurality of arms 11-3 includes six arms. In some embodiments, each arm 11-3 has a first joint coupled to the actuator beneath the base platform 11-2, a second joint coupled to the end platform 11-1, and a joint between the first joint and the second joint. A third joint between two joints. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In some embodiments, the first joint is a prismatic joint (alternatively, a linear joint). In some embodiments, the second The joints are ball joints. In some embodiments, the third joint is a universal joint. Wherein, the universal joint is formed by two rotating joints.

In some embodiments, the medical device 1 further includes a first positioning unit 18-1 and a second positioning unit 18-2. The first positioning unit 18-1 and the second positioning unit 18-2 correspondingly include a plurality of marks for emitting electromagnetic signals, sound waves, heat or other perceivable signals, and for positioning the marks in a specific direction/position relative to the device body. Adapter for angle mounting. In some embodiments, markers and adapters are used in conjunction with spatial sensors to enable object tracking functionality during operation. A second positioning unit 18-2 can be arranged in the region between the adapter 13 and the end platform 11-1. In some embodiments, the second positioning unit 18-2 is disposed on the end platform 11-1. In some other embodiments, the second positioning unit 18 - 2 is arranged on the adapter 13 . In other embodiments, the second positioning unit 18-2 is disposed on the tool T1.

Figure 4A shows a perspective view of a drive shaft according to some embodiments of the present disclosure. Figure 4B illustrates a cross-sectional view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, drive shaft 40 is rotatably supported by the end platforms and slidingly engaged to the base platform. In some embodiments, the drive shaft 40 includes a drive yoke 41 configured to transmit mechanical force to the surgical tool (ie, surgical tool T1 in FIG. 1 ), a flexible rod 42 (Pliable rod) connected to the drive yoke 41 , and Slider 43 connected to flexible rod 42 . In some embodiments, the flexible rod 42 is a resilient structure. The flexible rod 42 structurally adapts to the applied force and returns to the original configuration when the force is removed. The flexible rod 42 is stiff enough to withstand and transmit mechanical forces from the shaft motor. In one exemplary embodiment, flexible rod 42 is a spring tube having multiple layers. In some embodiments, flexible rod 42 has four layers (ie, flexible rod 42 in FIG. 4B ). In some embodiments, the maximum distance between the end platform and the base platform is greater than the length of the flexible rod, and the minimum distance between the end platform and the base platform is substantially the same as the length of the flexible rod. In this way, the flexible rod is not stressed when the medical device is not in use.

In some embodiments, only the flexible rod is exposed between the end platform and the base platform when the distance between the end platform and the base platform is at a minimum during operation of the medical device. In other embodiments, the flexible rod and a portion of the slider are exposed between the end platform and the base platform when the distance between the end platform and the base platform is at a minimum during operation of the medical device. In other words, when At a minimum distance between the upper platform and the base platform, the slide is substantially flat relative to the base platform.

On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the distance between the end platform and the base platform is at maximum, the overlap between the slider and the drive shaft is not less than 5mm. However, in other embodiments, the amount of overlap between the slider and the drive shaft may be less than 5mm at the maximum distance between the end platform and the base platform. In other words, the minimum overlap between the slider and the drive shaft does not exceed 5 mm. During operation, forces may be applied to the flexible rod causing deformation. The elasticity of the flexible rod allows it to have an angular deviation of 30° from the slide's central axis, while returning to an undeformed shape when the applied force is removed.

In some embodiments, the slide is substantially flat relative to the base platform when the distance between the end platform and the base platform is at a minimum. Furthermore, the length of the flexible rod is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, the slider protrudes from the base platform when the distance between the end platform and the base platform is at a minimum. Furthermore, the length of the flexible rod is less than the minimum distance between the end platform and the base platform. In other embodiments, the slider is recessed from the base platform when the distance between the end platform and the base platform is at a minimum. Furthermore, the length of the flexible rod is greater than the minimum distance between the end platform and the base platform. However, during the minimum distance between the end platform and the base platform, the flexible rod is in a normal state. In some embodiments, the normal state of the flexible rod is that the flexible rod is in a relatively unstressed state. Thus, the flexible rod retains its original shape (ie, no stretching, bending or compression) under normal conditions.

In an exemplary embodiment, the length L40 of the transmission shaft 40 is substantially 11.5 cm (ie, 11.495 cm). In an exemplary embodiment, the length L42 of the flexible rod 42 is substantially 5.5 cm (ie, 5.475 cm). In an exemplary embodiment, the diameter D42 of the flexible rod 42 is substantially 0.38 cm. In an exemplary embodiment, the diameter D43 of the slider 43 is substantially 1 cm. In an exemplary embodiment, the length L43 of the slider 43 is substantially 3 cm (ie, 2.995 cm). In an exemplary embodiment, the diameter D41 of the widened portion of the transmission yoke 41 is substantially 1.3cm. However, the above-mentioned dimensions are only examples and should not be used to limit the scope of the present disclosure.

Figure 5 shows an exploded view of a drive shaft according to some embodiments of the present disclosure. In some embodiments, the transmission yoke 41 and the slider 43 respectively have through holes into which the flexible rod 42 is inserted. To physically attach the flexible rod 42 to the drive yoke 41 and the slider 43, pins 41-21, 41-22, 43-21 and 43-22 are used, respectively. The pins 41 - 21 and 41 - 22 are used to press or press one end of the flexible rod 42 to the inner surface of the through hole of the transmission yoke 41 . In some embodiments, pins 41-21 and 41-22 are arranged orthogonally to each other. Therefore, the flexible rod 42 may be arranged to be biased to one side of the transmission yoke 41 . The pins 43 - 21 and 43 - 22 are used to press or press the other end of the flexible rod 42 to the inner surface of the through hole of the slider 43 . In some embodiments, pins 43-21 and 43-22 are arranged orthogonally to one another. Therefore, the flexible rod 42 may be arranged to be biased to one side of the slider 43 . Although the flexible rod 42 may be off-center corresponding to the drive yoke 41 and slider 43, the orthogonal positioning of the pins 41-21, 41-22, 43-21, and 43-22 ensures that the flexible rod 42 is firmly secured to the On the transmission yoke 41 and the slider 43 .

In some embodiments, drive yoke 41 includes a protrusion 41 - 1 configured to transmit mechanical force to a receiving shaft of an adapter (ie, adapter 13 in FIG. 1 ). Protrusion 41-1 is configured to minimize contact with the receiving shaft of the adapter during operation to prevent noise generation on the adapter (ie, avoid unwanted force and torque input on the adapter).

As shown in FIG. 5 , the end platform 50 includes a first bearing 51 and a second bearing 52 . In some embodiments, the end platform 50 also includes a gasket 53 and a retaining ring 54 . In some embodiments, the first bearing 51 and the second bearing 52 are flanged bearings, wherein extensions or lips on the outer race of the bearings are designed to aid in the mounting and positioning of the bearings. In some embodiments, the flange of the first bearing 51 is positioned on the surface of the end platform 50 facing away from the base platform (ie, between the end platform 11 - 1 and the adapter 13 in FIG. 3 ). In some embodiments, the flange of the second bearing 52 is positioned on the surface of the end platform 50 that faces the base platform (i.e., between the end platform 11-1 and the base platform 11-2 in FIG. 3 ). .

In some embodiments, retaining ring 54 is radially mounted on groove 41 - 4 of drive yoke 41 . Retaining ring 54 may be a C-ring. In some embodiments, washer 53 is disposed between retaining ring 54 and between the second bearings 52 to prevent wear of the second bearings 52. Furthermore, a washer 53 is used to fill the gap between the flange 41 - 3 of the transmission yoke 41 and the retaining ring 54 . In some embodiments, the gap between flange 41 - 3 , end platform 50 , washer 53 , first bearing 51 and second bearing 52 is substantially eliminated by use of retaining ring 54 . Bearings 51 and 52 may be sandwiched between flange 41 - 3 of drive yoke 41 and retaining ring 54 . Thus, the flange 41 - 3 of the drive yoke 41 and the retaining ring 54 are used to assist in the installation and positioning of the drive yoke 41 .

Figure 6 shows an exploded view of an adapter according to some embodiments of the present disclosure. In some embodiments, the adapter includes a body and a receiving shaft 66 disposed within and rotatably supported by the body. The body includes a base 61 and a cover 62 mechanically attached to the base 61 . The receiving shaft 66 is provided between the base 61 and the cover 62 . In some embodiments, the receiving shaft 66 includes a receiving yoke 66-1 and a chuck 66-2 opposite the receiving yoke 66-1. Chuck 66-2 is configured to hold a surgical tool (ie, surgical tool T1 in FIG. 1 ). Chuck 66-2 is aligned with a through hole in cover 62 into which a surgical tool can be inserted. The receiving yoke 66-1 is exposed on the outside of the adapter. In this way, the receiving yoke 66-1 can receive the mechanical force from the transmission shaft. Contact between the receiving yoke 66-1 and the drive shaft is designed to be as minimal as possible to prevent noise. In some embodiments, a groove (not shown) is formed on the receiving yoke 66-1, and the groove is complementary to the protrusion of the transmission shaft (ie, the protrusion 41-1 in FIG. 5) to receive the mechanical force.

In some embodiments, the adapter also includes a first bearing 63 and a second bearing 64 . In some embodiments, the first bearing 63 and the second bearing 64 are flanged bearings in which extensions or lips on the outer race of the bearings are designed to aid in the mounting and positioning of the bearings. In some embodiments, the flange of the first bearing 63 is positioned on the surface of the base 61 facing the cover 62 . In some embodiments, the flange of the second bearing 64 is positioned on the surface of the base 61 facing away from the cover 62 .

In some embodiments, the adapter also includes a retaining ring 65 . In some embodiments, retaining ring 65 is radially mounted on groove 66 - 3 of receiving shaft 66 . Retaining ring 65 may be a C-ring. In some embodiments, receiving yoke 66-1 has a larger diameter than chuck 66-2. Thus, the diameter of the receiving yoke 66 - 1 is wider than the inner rings of the first bearing 63 and the second bearing 64 . The first bearing 63 and the second bearing 64 may be sandwiched between the receiving yoke 66 - 1 and the retaining ring 65 . Therefore, receiving yoke 66-1 and retaining ring 65 are used for Aids in the installation and positioning of the receiving shaft 66.

Figure 7 shows an isometric view of a machine module according to some embodiments of the present disclosure. In some embodiments, the machine module 80 is mechanically attached to the base platform 70 of the parallel manipulator. In some embodiments, machine module 80 includes: a plurality of actuators 81 configured to control movement of a plurality of arms of a parallel manipulator (i.e., arms 11-3 in FIG. 1 ); and A shaft motor 82 configured to generate a mechanical force for manipulating a surgical tool (ie, surgical tool T1 in FIG. 1 ).

In some embodiments, as shown in FIG. 7 , the base platform 70 includes an arm base 71 and an axle base 72 surrounded by the arm base 71 . The arm base 71 is used to provide structural support between the arms of the parallel manipulator and the actuator 81 of the machine module 80 . The shaft base 72 is used to provide structural support for the shaft motor 82 . In some embodiments, drive shaft 40 is disposed within a recessed area of shaft base 72 . A portion of the shaft motor 82 may be exposed in a recessed area of the shaft base 72 . Drive shaft 40 and shaft motor 82 are slidably engaged within a recessed area of shaft base 72 .

Figure 8 shows an exploded view of a propshaft, parallel manipulator and machine module according to some embodiments of the present disclosure. The shaft motor 92 of the machine module is coupled to the shaft base 91 of the parallel manipulator. In some embodiments, rotor 92 - 1 of shaft motor 92 is inserted into a recessed area of shaft base 91 . The drive shaft 94 is attached to the rotor 92-1 and is configured to move in the same direction as the rotor 92-1. The drive shaft slider 93 is slidingly engaged to the shaft motor 92 . In some embodiments, the slider 93 is slidingly engaged to a drive shaft 94 , wherein the mechanical force generated by the shaft motor is transmitted to the slider 93 through the drive shaft 94 . The slider 93 has a socket, and the cross-sectional shape profile of the drive shaft 94 is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along drive shaft 94 . A further illustration and related description of the relationship between the drive shaft and the slider should be disclosed in FIG. 9 .

In some embodiments, cylinder 95 is placed within a recessed area of shaft base 91 . When the medical device is assembled, cylinder 95 surrounds slide 93 , and slide 93 surrounds drive shaft 94 . The cylinder 95, the slider 93 and the drive shaft 94 are sequentially fitted within each other.

In some embodiments, in order to reduce friction between the slider 93 and the drive shaft 94, the materials of the slider 93 and the drive shaft 94 are different from each other. Young's modulus of drive shaft 94 and sliding parts The Young's modulus of 93 is different. In some embodiments, the material of slider 93 is steel and the material of drive shaft 94 is copper. In some embodiments, the material of slider 93 and drive shaft 94 is an anti-friction metal polymer.

In some embodiments, in order to reduce friction between the slider 93 and the drive shaft 94 , a lubricant is coated on the outer surface of the drive shaft 94 . In some embodiments, a lubricant is applied to the inner surface of slider 93 . The lubricant may include at least one of carbon powder, lubricating oil, and the like.

In some embodiments, in order to reduce friction between the slider 93 and the cylinder 95, the materials of the slider 93 and the cylinder 95 are different from each other. The Young's modulus of the slider 93 is different from that of the cylinder 95 . In some embodiments, the material of slide 93 is steel and the material of cylinder 95 is copper. In some embodiments, the material of slider 93 and cylinder 95 is an anti-friction metal polymer.

In some embodiments, in order to reduce the friction between the slider 93 and the cylinder 95 , a lubricant is coated on the outer surface of the slider 93 . In some embodiments, a lubricant is coated on the inner surface of cylinder 95 . The lubricant may include at least one of carbon powder, lubricating oil, and the like.

Figure 9 illustrates a cross-sectional view of a drive shaft and slider according to some embodiments of the present disclosure. A representative illustration of the slider 21 and drive shaft 22 is provided to aid in describing the sliding engagement therebetween. The slider 21 has a socket 21-1. The cross-sectional shape profile of the surface 22-1 of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket 21-1. The socket 21-1 is configured to slide along the drive shaft 22 as needed during operation of the medical device. In other embodiments, an amount of overlap is required between the drive shaft 22 and the slider 21 during operation to ensure the transfer of mechanical forces between them. The amount of overlap between the drive shaft 22 and the slider 21 during operation is not less than 5 mm to ensure the transmission of mechanical forces between them. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 is no greater than 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 0 mm to 5 mm. In other embodiments, the minimum overlap between the drive shaft 22 and the slider 21 ranges from 5mm to 100mm. In some embodiments, the depth L1 of the socket 21 - 1 is greater than the height L2 of the drive shaft 22 . In other embodiments, the depth L1 of the socket 21 - 1 is substantially the same as the height L2 of the drive shaft 22 .

In some embodiments, the cross-sectional shape profile of the socket 21 - 1 and the surface 22 - 1 of the drive shaft 22 is a polygonal shape profile. The drive shaft 22 has a plurality of facets that intersect each other to form an angled intersection. In some embodiments, the intersection between the two facets is rounded or curved to prevent damage during insertion. The socket 21 - 1 is a closed opening that catches the facets of the drive shaft 22 . The angle between the facets of the drive shaft 22 provides grip for the drive slider 21 .

In other embodiments, the drive shaft and slider have different structures for transmitting mechanical force. The drive shaft has a protrusion. The slider has grooves corresponding to the protrusions. In the assembled medical device, the protrusion of the drive shaft is inserted into the groove of the slider. The height of the groove is sufficient so that the protrusion remains within the groove when the slider slides off the drive shaft during operation. The protrusions are configured to slide along corresponding grooves. Furthermore, the drive shaft is configured to transmit mechanical force to the slider when in motion through the protruding side walls of the drive shaft tangential to the inner side walls of the groove of the slider.

In some embodiments, the drive shaft has two protrusions extending in opposite directions to each other. The slider has two grooves complementary to the two protrusions of the drive shaft. In some embodiments, the drive shaft has a dogbone drive joint and the slide is a drive cup.

10 illustrates a perspective view of a receiving shaft and drive yoke, according to some embodiments of the present disclosure. In some embodiments, the transmission yoke 102 of the transmission shaft has at least one protrusion 102-1. The at least one protrusion 102 - 1 extends from the body 102 - 2 of the transmission yoke 102 . In some embodiments, protrusion 102-1 is cylindrical. The receiving shaft 101 has a receiving yoke 101-1. The receiving yoke 101 - 1 has a groove 101 - 2 that is structurally complementary to the at least one protrusion 102 - 1 of the transmission yoke 102 . When assembling the medical device, the top of the body 102-2 is inserted into the recessed area of the receiving yoke 101-1. During operation, the transmission yoke 102 is configured to transmit a mechanical force to the receiving yoke 101-1 through the sidewall of the protrusion 102-1 tangential to the inner sidewall of the groove 101-2. In this way, contact between the receiving yoke 101-1 and the transmission yoke 102 is minimized during operation to prevent the transmission yoke 102 from generating unwanted noise.

In some embodiments, the drive yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the side walls of the transmission yoke 102 in directions opposite to each other. The two protrusions 102-1 are spaced 180 from each other. . The receiving yoke 101-1 has two grooves 101-2 complementary to the two protrusions 102-1. with two protruding 102- 1 In the same manner, two grooves 101-2 are arranged opposite to each other. In some embodiments, drive yoke 102 is a dog-bone drive joint and receiver yoke 101-1 is a drive cup.

During operation, noise from the drive shaft is minimized so that it does not cause problems when monitoring the movement of the surgical tool. In some embodiments, a sensor system may be used to monitor the surgical tool. Figure 11 shows a cross-sectional view of a force sensor according to some embodiments of the present disclosure. Figure 12 shows an exploded view of a force sensor according to some embodiments of the present disclosure. In some embodiments, sensor system 110 is disposed between end platform 130 and adapter 120 . The sensor system 110 is configured to measure the force of the adapter 120 . The sensor system 110 has a through hole in which a receiving shaft 121 rotatably supported by a bearing 122 and a transmission shaft 140 rotatably supported by a bearing 131 meet.

In some embodiments, sensor system 110 includes force relay 111 and force sensor 112 mechanically coupled to force relay 111 . The force repeater 111 is detachably coupled to the adapter 120 . In some embodiments, force relay 111 has grooves and protrusions that interlock with the grooves and protrusions of adapter 120 .

In some embodiments, force sensor 112 is mechanically attached to force relay 111 and end platform 130 and is configured to convert force applied to adapter 120 into an electrical signal. In some embodiments, force sensor 112 is mechanically attached to force relay 111 and end platform 130 with fasteners 113 embedded around the periphery of the through-hole of force sensor 112 . In some embodiments, a plurality of holes are formed on the front and rear surfaces of force sensor 112 to accommodate fasteners 113 for force relay 111 and end platform 130 , respectively. In some embodiments, the fasteners 113 of the force relay 111 are interleaved with the fasteners 113 of the end platform 130 . In some embodiments, the fasteners 113 for the force relay 111 are not aligned with the fasteners 113 for the end platform 130 and do not overlap them in projection.

In some embodiments, force sensor 112 is a ring load cell (also known as a load washer or through hole load cell). The force sensor 112 converts forces, such as tension, compression, pressure, or torque, into electrical signals. In some embodiments, the force applied to the force sensor 112 is proportional to the change in the electrical signal.

In some embodiments, the force applied to the adapter 120 includes, in addition to the predetermined force and predetermined torque, force deviations and torque deviations measured during operation. The force deviation represents the influence in the direction of the receiving axis when a surgical tool disposed on the receiving axis 121 contacts and applies force to a target object such as a bone during operation. Torque bias represents the effect on the motion of the receiving shaft 121 when a surgical tool disposed on the receiving shaft 121 contacts and applies a force to a target object, such as bone, during operation.

In some embodiments, the sensor system 110 is used to control the position and orientation/angle of the surgical tool during operation. In some embodiments, the sensor system is signally connected to the controller. During operation, an operational plan having a predetermined range, a predetermined path, or a combination thereof is received by the controller. The sensor system measures force deviation, torque deviation, or a combination thereof. The force and torque deviations are deviations from predetermined ranges (ie, predetermined force and predetermined torque) of the operation plan. The orientation/angle and position of the surgical tool are adjusted based on the force bias and the torque bias. The orientation/angle and position of the surgical tool is adjusted by controlling the actuators that move the parallel manipulator. The movement of the surgical tool is regulated by controlling the mechanical force from the shaft motor. In some embodiments, the drive shaft may cause noise on the sensor system. Therefore, in some embodiments, a low pass filter is further electrically coupled to the sensor system to remove noise.

Accordingly, one aspect of the present disclosure provides a medical device comprising: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; an adapter having a detachable A body coupled to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; a transmission shaft rotatably supported by the end platform, the transmission shaft having a configuration configured to transmit mechanical force to the receiving yoke a transmission yoke, a flexible rod coupled to the transmission yoke, and a slider coupled to the flexible rod; and a shaft motor configured to generate mechanical force to drive the transmission shaft, the shaft motor having a shaft motor slidably coupled to the slider drive shaft.

In some embodiments, the medical device further includes a sensor system disposed between the end platform and the adapter, the sensor system configured to measure force on the adapter.

In some embodiments, the sensor system includes a force relay detachably coupled to the adapter; a force sensor mechanically attached to the force relay and the end plate; and configured to convert force applied to the adapter into an electrical signal.

In some embodiments, the drive yoke has a protrusion, and the receiving yoke has a groove complementary in structure to the protrusion. In some embodiments, the drive yoke is configured to transmit a mechanical force to the receiver yoke through the raised sidewall tangential to the groove when in motion.

In some embodiments, the slider has a socket. The cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft.

In some embodiments, the cross-sectional shape profile of the socket and drive shaft is a polygonal shape profile.

In some embodiments, the drive shaft has a protrusion, and the slider has a groove corresponding to the protrusion. In some embodiments, the protrusion is configured to slide along the groove.

In some embodiments, the minimum overlap between the drive shaft and the slide is no less than 5mm.

In one embodiment, the flexible rod comprises a spring tube having multiple layers.

In some embodiments, the medical device further includes a barrel surrounding the slider. The cylinder, slider and drive shaft are sequentially fitted within each other.

In some embodiments, the drive shaft has a different Young's modulus than the slider, and the slider has a different Young's modulus than the cylinder.

In some embodiments, the medical device further includes a lubricant applied to coat a surface of at least one of the barrel, slide, and drive shaft.

In some embodiments, the flexible rod is in a normal state when the distance between the end platform and the base platform is at a minimum.

Accordingly, another aspect of the present disclosure provides a medical device comprising: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; mechanically attached to the end platform a sensor system for the sensor system; an adapter detachably coupled to the sensor system, the adapter having a body and a receiving shaft rotatably supported by the body; a drive shaft, the drive shaft is rotatably supported by the end platform and is configured to apply a mechanical force to the receiving shaft; and the shaft motor, the A shaft motor is drivingly connected to the drive shaft and configured to transmit mechanical force to the drive shaft.

In some embodiments, the sensor system includes a force relay detachably coupled to the adapter; and a force sensor mechanically attached to the force relay and the end platform. The force sensor is configured to convert force applied to the adapter into an electrical signal.

In some embodiments, the force sensor is a ring load cell.

In some embodiments, the adapter also has a bearing configured to rotatably attach the receiving shaft to the body. In some embodiments, the end platform also has a bearing configured to rotatably attach the drive shaft to the end platform.

In some embodiments, the drive shaft includes: a drive yoke configured to transmit mechanical force to the receiving shaft; a slider slidably coupled to the shaft motor; and a flexible rod pressed to the drive shaft. yoke and slide.

In some embodiments, the medical device further includes a cylinder disposed on the central region of the base platform. The cylinder, slider and drive shaft are sequentially fitted within each other.

In some embodiments, the medical device further includes a lubricant applied to coat a surface of at least one of the barrel, slide, and drive shaft.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention without limitation, although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art should understand that the present invention can be The technical solution shall be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

1:Medical device

11-1: End platform

11-2: Base platform

11-3: Arm

12: Drive shaft

13: Adapter

14: Sensor system

15: Housing

16: handle

17: Control module

18-1: The first positioning unit

18-2: The second positioning unit

T1: Tool

Claims (20)

A medical device comprising: a parallel manipulator having: an end platform; and a base platform mechanically coupled to the end platform, an adapter having: a detachable a body coupled to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; the transmission shaft being rotatably supported by the transmission shaft of the end platform, The transmission shaft has: a transmission yoke configured to transmit mechanical force to the receiving yoke; a flexible rod connected to the transmission yoke; and a slider connected to the flexible rod, the shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor has a drive shaft slidably engaged to the slider. The apparatus of claim 1, further comprising a sensor system disposed between the end platform and the adapter, the sensor system configured to measure a force on the adapter. The apparatus of claim 2, wherein the sensor system includes: a force relay detachably coupled to the adapter; and a force sensor mechanically attached to the force relay and the end platform, and are configured to convert force applied to the adapter into an electrical signal. The apparatus of claim 1, wherein the drive yoke has a protrusion and the receiver yoke has a recess structurally complementary to the protrusion, the drive yoke being configured to pass through the The raised side walls tangential to the groove transmit the mechanical force to the receiving yoke. The apparatus of claim 1, wherein the slider has a socket, the cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket, the socket is configured to extend along the drive shaft Shaft slides. The device according to claim 5, wherein the cross-sectional shape profiles of the socket and the drive shaft are polygonal shape profiles. The apparatus of claim 1, wherein the drive shaft has a protrusion, and the slider has a groove corresponding to the protrusion, and the protrusion is configured to slide along the groove. The device of claim 1, wherein the minimum overlap between the drive shaft and the slider is not less than 5mm. The device of claim 1, wherein the flexible rod comprises a spring tube having multiple layers. The apparatus of claim 1, further comprising: a cylinder surrounding the slider; the cylinder, the slider, and the drive shaft being sequentially fitted within each other. The apparatus of claim 10, wherein the Young's modulus of the drive shaft is different from the Young's modulus of the slider, and the Young's modulus of the slider is different from the Young's modulus of the cylinder. The modulus is different. The apparatus of claim 10, further comprising a lubricant applied to coat a surface of at least one of the cylinder, the slider, and the drive shaft. The apparatus of claim 1, wherein said flexible rod is in a normal state when said end platform and base platform are at a minimum distance. A medical device comprising: a parallel manipulator, a sensor system mechanically attached to the end platform, an adapter detachably coupled to the sensor system, a drive shaft, and a shaft motor, the parallel manipulator having: an end a platform; and a base platform mechanically connected to the end platform, the adapter having: a body; and a receiving shaft rotatably supported by the body, the transmission shaft being rotatably supported by the end platform and configured to transmit the mechanical force to the receiving shaft; the shaft motor is drivingly connected to the drive shaft and configured to transmit the mechanical force to the drive shaft. The apparatus of claim 14, wherein the sensor system comprises: a force relay detachably coupled to an adapter; and a force sensor mechanically attached to the A force relay and the end platform, the force sensor are configured to convert force applied to the adapter into an electrical signal. The apparatus of claim 15, wherein the force sensor is a ring load cell. The device as claimed in claim 14, wherein, The adapter also has a first bearing configured to rotatably attach the receiving shaft to the body; and the end platform also has a second bearing that is supported by configured to rotatably attach the drive shaft to the end platform. The apparatus of claim 14, wherein the drive shaft comprises: a drive yoke configured to transmit mechanical force to the receiving shaft; a slider slidably coupled to the shaft motor; and a flexible rod, It is pressed onto the transmission yoke and the slide. The device as claimed in claim 18, further comprising: a cylinder provided on a central area of the base platform; the cylinder, the slider, and the transmission shaft are sequentially fitted within each other. The apparatus of claim 19, further comprising a lubricant applied to coat a surface of at least one of the cylinder, the slider, and the transmission shaft.

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