TWI813227B - Medical device for manipulating surgical tools - Google Patents

Abstract

A medical device is provided. The medical device includes a parallel manipulator. The parallel manipulator has 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. The transmission shaft has a transmission yoke, a runner, a first rod coupled to the transmission yoke, a second rod coupled to the runner and a universal joint coupled between the first rod and the second rod.

Description

Medical devices for operating surgical tools

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

The parallel mechanism is capable of positioning and orienting the end platform with up to 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.

Because the end platform can be maneuvered with high precision and dexterity, the parallel mechanism is particularly suitable for surgical procedures via remote control. The mechanism's ability to adjust the position of the end platform makes the mechanism suitable for use in medical applications that require precise micro-movements. However, it has motors for controlling surgical tools mounted on the end platform, which creates additional weight and force on the end platform during operation. The additional weight and force can affect response time and accuracy of the range/path of the operation plan. Therefore, in order to improve the accuracy of medical devices, it is necessary to minimize the forces affecting the end platforms of the parallel manipulator.

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

To this end, the present disclosure proposes a medical device, which is characterized by including: a parallel manipulator, an adapter, a transmission shaft and a shaft motor, the parallel manipulator having: an end platform; and a device mechanically coupled to the end platform. a base platform, the adapter having: a body removably coupled to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; the drive shaft being connected by the end platform The lower platform is rotatably supported, and the transmission shaft has: a transmission yoke configured to transmit mechanical force to the receiving yoke; a first rod connected to the transmission yoke; and a first rod connected to the first rod. a second lever; a universal joint connected between the first lever and the second lever; and a slider connected to the second lever, the shaft motor configured to generate mechanical force To drive the drive shaft, the shaft motor has a drive shaft slidably coupled to the slide.

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: First positioning unit

18-2: Second positioning unit

T1: Tools

40: Drive shaft

41: Drive yoke

41-1:Protrusion

41-21,41-22,43-21,43-22:pin

41-3:Flange

41-4: Groove

42:Universal joint drive shaft

43:Sliding parts

44:The first member

45:Second member

46:Universal joint

46-1: First connector

46-2: Second connector

46-3:Third connector

46-4: The fourth connector

46-5:Fifth connector

S1: first connecting shaft

S2: Second connecting shaft

S3: The third connecting shaft

S4: The fourth connecting axis

46-11:The first pivot ear

46-21:The second pivot ear

46-22:The third pivot ear

46-31:The fourth pivot ear

D1: first direction

D2: second direction

50:End platform

51:First bearing

52:Second bearing

53: Washer

54:Retaining ring

61:Pedestal

62: cover

63:First bearing

64:Second bearing

65:Retaining ring

66:Receive axis

66-1: Receiving 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:Axis motor

92-1:Rotor

93:Sliding parts

94:Drive shaft

95:Cylinder

21:Sliding parts

21-1:Socket

22:Drive shaft

101:Receive axis

101-1: Receiving yoke

101-2: Groove

102: Drive yoke

102-1:Protrusion

102-2:Ontology

110: Sensor system

111: Force Repeater

112: Force sensor

113: Fasteners

120:Adapter

121:Receive axis

130:End platform

122,131:Bearing

140: Drive shaft

Figure 1 shows a 3D representation of a medical device in accordance with some embodiments of the present disclosure.

Figure 2 illustrates a cross-sectional view of a medical device in accordance with some embodiments of the present disclosure.

Figure 3 shows an exploded view of a medical device in accordance with some embodiments of the present disclosure.

Figure 4A shows a perspective view of a drive shaft in accordance with some embodiments of the present disclosure.

Figure 4B shows a schematic diagram of a universal joint in accordance with some embodiments of the present disclosure.

Figure 5 shows an exploded view of a drive shaft in accordance with some embodiments of the present disclosure.

Figure 6 shows an exploded view of an adapter in accordance with some embodiments of the present disclosure.

Figure 7 shows a perspective view of a machine module in accordance with some embodiments of the present disclosure.

Figure 8 shows an exploded view of a drive shaft, parallel manipulator and machine module in accordance with some embodiments of the present disclosure.

Figure 9 illustrates a cross-sectional view of a drive shaft and slider in accordance with some embodiments of the present disclosure.

Figure 10 shows a perspective view of a receiving shaft and drive yoke in accordance with some embodiments of the present disclosure.

Figure 11 shows a cross-sectional view of a force sensor in accordance with some embodiments of the present disclosure.

Figure 12 shows an exploded view of a force sensor in accordance with some embodiments of the present disclosure.

The following description will refer to the accompanying drawings to describe the invention more fully. Exemplary embodiments of the present disclosure are illustrated in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. 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. Similar reference numbers indicate identical 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 indicates otherwise. Furthermore, when used herein, "comprises" and/or "includes" or "includes" and/or "includes" or "has" and/or "has", an integer, a step, an operation, an element and/or an element , but does not exclude 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. Furthermore, unless clearly defined in the context, terms such as those defined in general dictionaries should be interpreted to have meanings consistent with their meanings in the relevant art and the present disclosure, and will not be interpreted as idealistic or overly formal meanings.

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

Figure 1 shows a 3D representation of a medical device in accordance with some embodiments of the present disclosure. Figure 2 illustrates a cross-sectional view of a medical device in accordance with some embodiments of the present disclosure. Figure 3 shows an exploded view of a medical device in accordance with 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 operably coupled between the end platform 11-1 and the base platform 11-2. The drive shaft 12 is provided between the end platform 11-1 and the base platform 11-2. Furthermore, the drive shaft 12 is rotatably supported by the end platform 11-1. In some embodiments, 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 further includes a sensor system 14 disposed between the adapter 13 and the end platform 11-1. Sensor system 14 is configured to monitor forces exerted and received by 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 control 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 respectively operating the plurality of arms 11 - 3 and a shaft motor for operating the transmission shaft 12 . The handle 16 allows the user to hold and manipulate the medical device 1 during operation. The control module 17 allows the user to trigger, stop or adjust the action 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, order of joints in each arm, and type of actuator. In some embodiments, the parallel manipulator may be a six-DOF 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 coupling coupled to the underside of base platform 11-2. A first joint of the actuator, a second joint coupled to the end platform 11-1, and a third joint between the first joint and the second joint. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In some embodiments, the first joint is a prismatic joint (or, alternatively, a linear joint). In some embodiments, the second joint is a ball joint. In some embodiments, the third joint is a universal joint. Among them, 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 respectively include a plurality of marks for emitting electromagnetic signals, sound waves, heat or other perceptible signals, and for positioning the marks in a specific direction relative to the device body. Adapter for angle mounting. In some embodiments, markers and adapters are used with spatial sensors to enable target tracking functionality during operation. The second positioning unit 18-2 may be provided in the area between the adapter 13 and the end platform 11-1. In some embodiments, the second positioning unit 18-2 is provided on the end platform 11-1. In other embodiments, the second positioning unit 18-2 is provided on the adapter 13. In other embodiments, the second positioning unit 18-2 is provided on the tool T1.

Figure 4A shows a perspective view of a drive shaft in accordance with some embodiments of the present disclosure. Figure 4B shows a schematic diagram of a universal joint in accordance with some embodiments of the present disclosure. In some embodiments, drive shaft 40 is rotatably supported by the end platform and slidably coupled to the base platform. In some embodiments, drive shaft 40 includes a drive yoke 41 configured to transmit mechanical force to a surgical tool (ie, surgical tool T1 in FIG. 1 ), a first rod 44 connected to drive yoke 41 , a first rod 44 connected to A second rod 45 of a rod 44, a universal joint 46 (universal joint) connected between the first rod 44 and the second rod 45, and a sliding member 43 connected to the second rod 45. In some embodiments, the universal joint 46 (including the connecting shaft in the joint) is made of solid metal with better structural strength, so that compared with a flexible rod composed of a metal spring tube, it can have Better service life. The universal joint 46 structurally adapts to the applied force and returns to the original structure when the force is removed. Universal joint 46 is stiff enough to withstand and transmit the mechanical forces from the shaft motor. In an exemplary embodiment, universal joint 46 includes a connecting The first connecting piece 46-1 connected to the first rod 44, the second connecting piece 46-2 connected to the first connecting piece 46-1, and the second connecting piece 46-2 and the second rod 45 The third connecting piece 46-3 between. As shown in Fig. 4B, the first connecting member 46-1 is pivotally connected to the second connecting member 46-2 through the first connecting shaft S1 and the second connecting shaft S2, and the first connecting member 46-1 is relative to the second connecting member 46-1. The member 46-2 is swingable in the first direction D1 and the second direction D2 respectively. In addition, the second connecting member 46-2 is pivotally connected to the third connecting member 46-3 through the third connecting shaft S3 and the fourth connecting shaft S4, and the second connecting member 46-2 is relative to the third connecting member 46-3 They are swingable in the first direction D1 and the second direction D2 respectively. Specifically, the first connecting member 46-1 rotates in the first direction D1 with the first connecting axis S1 as the center relative to the second connecting member 46-2, and rotates relative to the second connecting axis S2 with the second connecting axis S2 as the center. The two connecting parts 46-2 rotate in the second direction D2. In addition, the second connecting member 46-2 rotates in the first direction D1 with respect to the third connecting member 46-3 with the third connecting axis S3 as the center, and rotates with respect to the third connecting member 46-3 with the fourth connecting axis S4 as the center. The connecting piece 46-3 rotates in the second direction D2. Since the transmission shaft 40 is rotatable, neither the first direction D1 nor the second direction D2 is a fixed direction, as long as the planes corresponding to the first direction D1 and the second direction D2 are vertical.

In some embodiments, the universal joint 46 may further include a fourth connecting member 46-4 connected between the first connecting member 46-1 and the second connecting member 46-2 and a fourth connecting member 46-2 connected to the second connecting member 46-2. and the fifth connecting piece 46-5 between the third connecting piece 46-3. As shown in FIG. 4B, the first connecting member 46-1 is rotatably connected to the fourth connecting member 46-4 with the first connecting axis S1 as the center, and the second connecting member 46-2 is connected with the second connecting axis. S2 is centrally rotatable and pivotally connected to the fourth connecting member 46-4. In addition, the second connecting member 46-2 is pivotably connected to the fifth connecting member 46-5 with the third connecting axis S3 as the center, and the third connecting member 46-3 is rotatably connected with the fourth connecting axis S4 as the center. Rotatingly and pivotally connected to the fifth connecting member 46-5. In some embodiments, the fourth connecting member 46-4 may be provided with a first through hole and a second through hole, and an end of the first connecting member 46-1 adjacent to the fourth connecting member 46-4 is provided with a pair of first pivot ears 46- 11. The first connecting shaft S1 passes through the pair of first pivot ears 46-11 and the first through hole, so that the first connecting member 46-1 is pivotably connected to the fourth connecting member 46 with the first connecting shaft S1 as the center. -4. In addition, one end of the second connecting member 46-2 adjacent to the fourth connecting member 46-4 is provided with a pair of third Two pivot lugs 46-21, the second connecting shaft S2 passes through the pair of second pivot lugs 46-21 and the second through hole, so that the second connecting member 46-2 is pivotably connected to the second connecting shaft S2 as the center. The fourth connector 46-4. Correspondingly, the fifth connecting member 46-5 may be provided with a third through hole and a fourth through hole. The second connecting member 46-2 is provided with a pair of third pivot ears 46-22 at one end adjacent to the fifth connecting member 46-5. The third connecting shaft S3 passes through the pair of third pivot ears 46-22 and the third through hole, so that the second connecting member 46-2 is pivotably connected to the fifth connecting member 46-5 with the third connecting shaft S3 as the center. In addition, the third connecting member 46-3 is provided with a pair of fourth pivot ears 46-31 at one end adjacent to the fifth connecting member 46-5, and the fourth connecting shaft S4 passes through the pair of fourth pivot ears 46-31 and the fourth through hole. The third connecting member 46-3 is pivotably connected to the fifth connecting member 46-5 with the fourth connecting axis S4 as the center. In some embodiments, the fixed points at both ends of the universal joint 46 are fastened with attachment screws to the milling pin plane of the solid metal shaft, so that the milling pin plane will not be tightened due to structural deformation under long-term use. The defect of insufficient strength. In some embodiments, the maximum distance between the end platform and the base platform is greater than the combined length of the first member 44, the universal joint 46, and the second member 45, and the minimum distance between the end platform and the base platform is It is substantially the same as the total length of the first rod 44 , the universal joint 46 and the second rod 45 . This way, the universal joint 46 is not stressed when the medical device is not in use.

In some embodiments, during operation of the medical device, when the end platform and the base platform are at a minimum distance, only the first rod 44 , the universal joint 46 and the second rod 45 are exposed to the end platform and the base between platforms. In other embodiments, during operation of the medical device, when the end platform and the base platform are at a minimum distance, a portion of the first rod 44 , the universal joint 46 , the second rod 45 and the slider are exposed to Between the end platform and the base platform. In other words, when the end platform and the base platform are at a minimum distance, the slider 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 part 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 the maximum distance, the overlap between the slider and the drive shaft is not less than 5mm. However, in other embodiments, at the maximum distance between the end platform and the base platform, the slider and The amount of overlap between drive shafts can be less than 5mm. In other words, the minimum overlap between the slide and the drive shaft is no more than 5mm. During operation, a force may be applied to the universal joint 46 causing the first and second connections 46-1, 46-2 to swing and change back to the first connection 46-1 when the applied force is removed. and the second connecting member 46-2 does not swing in its original shape.

In some embodiments, the slider is substantially flat relative to the base platform when the end platform and the base platform are at a minimum distance. Furthermore, the combined length of the first rod 44, the universal joint 46 and the second rod 45 is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, the slider extends from the base platform when the end platform and base platform are at a minimum distance. Furthermore, the combined length of the first rod 44, the universal joint 46 and the second rod 45 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 end platform and base platform are at a minimum distance. Furthermore, the combined length of the first rod 44, the universal joint 46 and the second rod 45 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 universal joint 46 is in a normal state. In some embodiments, the normal state of the universal joint 46 is that the universal joint 46 is in a relatively unstressed state. Therefore, the universal joint 46 maintains its original shape in a normal state (ie, the first connecting member 46-1 and the second connecting member 46-2 do not swing).

In an exemplary embodiment, the length L40 of the drive shaft 40 is substantially 11.5 cm (ie, 11.495 cm). In an exemplary embodiment, the combined length L42 of the first rod 44, the universal joint 46, and the second rod 45 is substantially 5.5 cm (ie, 5.475 cm). In an exemplary embodiment, the diameter D42 of the first rod 44 and the second rod 45 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 drive yoke 41 is substantially 1.3 cm. However, the above 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 in accordance with some embodiments of the present disclosure. In some embodiments, the first rod 44 , the universal joint 46 and the second rod 45 may be collectively referred to as the universal joint drive shaft 42 , and for convenience of the following description, FIG. 5 simplifies the universal joint drive shaft 42 as a rod. to express. The drive yoke 41 and the slider 43 respectively have through holes into which the universal joint drive shaft 42 is inserted. To physically attach the universal joint drive shaft 42 to the drive yoke 41 and slide 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 universal joint drive shaft 42 to the inner surface of the through hole of the drive yoke 41 . In some embodiments, pins 41-21 and 41-22 are disposed orthogonally to each other. The pins 43 - 21 and 43 - 22 are used to press or press the other end of the universal joint drive shaft 42 to the inner surface of the through hole of the slider 43 . In some embodiments, pins 43-21 and 43-22 are disposed orthogonally to each other. Therefore, the orthogonal positioning of pins 41-21, 41-22, 43-21 and 43-22 ensures that the universal joint drive shaft 42 is firmly fixed to the drive yoke 41 and slide 43 during operation.

When a flexible rod composed of a metal spring tube is used to connect between the transmission yoke 41 and the sliding member 43, because the spring fatigue life is low, the flexible rod can be composed of a spring wire wound with multiple bundles of metal thin wires. In addition, because the flexible rod must maintain a bent state during use, its rigidity cannot be too high. However, the diameter of the spring wire of the flexible rod will affect its rigidity. Therefore, when the flexible rod is required to have elastic function and can be bent, a spring wire with a smaller diameter must be used, but a spring with a smaller diameter must be used. The service life of the wire is not long. In addition, the transmission shaft 12 can transmit the rotational torque output by the motor to the surgical tool T1. However, during the rotation of the flexible rod, the metal surfaces of the spring wires rub against each other to generate metal dust, thus increasing the risk of damaging the inside of the platform. One of the beneficial effects of the present invention is that the medical device 1 provided by the present invention can be connected between the transmission yoke 41 and the sliding member 43 using a universal joint 46. The universal joint 46 can cooperate with the end platform to perform multi-directional movement. In order to achieve six degrees of freedom of movement, it can also solve the problem of poor service life when using flexible rods composed of metal spring tubes. In addition, the universal joint 46 is less likely to rub and generate dust during rotation, thereby reducing the risk of damaging the inside of the platform.

In some embodiments, drive yoke 41 includes a protrusion 41 - 1 configured to transmit mechanical force to a receiving shaft of the adapter (ie, adapter 13 in FIG. 1 ). The protrusion 41 - 1 is configured to minimize contact with the receiving shaft of the adapter during operation to prevent the generation of noise on the adapter (that is, to avoid the input of unwanted forces and moments 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, 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, in which extensions or lips on the outer rings of the bearings are designed to aid in mounting and positioning of the bearings. In some embodiments, the flange of the first bearing 51 is positioned on a surface of the end platform 50 facing away from the base platform (ie, positioned between the end platform 11-1 and the adapter 13 in Figure 3). In some embodiments, the flange of the second bearing 52 is positioned on a surface of the end platform 50 facing the base platform (i.e., positioned between the end platform 11-1 and the base platform 11-2 in Figure 3) .

In some embodiments, the retaining ring 54 is mounted radially on the groove 41 - 4 of the drive yoke 41 . Retaining ring 54 may be a C-shaped ring. In some embodiments, a washer 53 is disposed between the retaining ring 54 and the second bearing 52 to prevent the second bearing 52 from wearing. Furthermore, the washer 53 serves to fill the gap between the flange 41 - 3 of the drive 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 through the use of retaining ring 54 . Bearings 51 and 52 may be sandwiched between flange 41 - 3 of drive yoke 41 and retaining ring 54 . Therefore, the flange 41 - 3 of the drive yoke 41 and the retaining ring 54 serve to assist in the installation and positioning of the drive yoke 41 .

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

In some embodiments, the adapter also includes first bearing 63 and 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 rings of the bearings are designed to aid in 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 a 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, the retaining ring 65 is mounted radially on the groove 66 - 3 of the receiving shaft 66 . Retaining ring 65 may be a C-shaped ring. In some embodiments, the diameter of receiving yoke 66-1 is greater than the diameter of chuck 66-2. In this way, 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, the receiving yoke 66 - 1 and the retaining ring 65 serve to assist in the installation and positioning of the receiving shaft 66 .

Figure 7 shows an isometric view of a machine module in accordance with 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 Figure 1); and Shaft motor 82 configured to generate mechanical force for manipulating the 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 a shaft 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 . Shaft base 72 serves to provide structural support for shaft motor 82 . In some embodiments, drive shaft 40 is disposed within a recessed area of shaft base 72 . Part of shaft motor 82 May be exposed in a recessed area of shaft base 72 . Drive shaft 40 and shaft motor 82 may be slidably engaged within the recessed area of shaft base 72 .

Figure 8 shows an exploded view of a drive shaft, parallel manipulator and machine module in accordance with some embodiments of the present disclosure. The axis motor 92 of the machine module is coupled to the axis base 91 of the parallel manipulator. In some embodiments, the rotor 92 - 1 of the shaft motor 92 is inserted into the recessed area of the shaft base 91 . Drive shaft 94 is attached to rotor 92-1 and is configured to move in the same direction as rotor 92-1. The drive shaft slide 93 is slidingly engaged to the shaft motor 92 . In some embodiments, slide 93 is slidingly coupled to drive shaft 94 , wherein the mechanical force generated by the shaft motor is transferred to slide 93 through drive shaft 94 . The slide 93 has a socket and the cross-sectional shape profile of the drive shaft 94 is structurally complementary to that 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 slide should be disclosed in Figure 9.

In some embodiments, the cylinder 95 is placed within the recessed area of the shaft base 91 . When the medical device is assembled, the cylinder 95 surrounds the slider 93 and the slider 93 surrounds the 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. The Young's modulus of the drive shaft 94 is different from that of the slider 93 . 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 slide 93 and drive shaft 94 is a friction-resistant metallic polymer.

In some embodiments, 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 coated on the inner surface of slide 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 the Young's modulus of the cylinder 95 . In some embodiments, the material of slide 93 is steel and the material of cylinder 95 is copper. In a In some embodiments, the material of slider 93 and cylinder 95 is an anti-friction metal polymer.

In some embodiments, in order to reduce friction between the sliding member 93 and the cylinder 95, a lubricant is coated on the outer surface of the sliding member 93. In some embodiments, a lubricant is coated on the interior surface of barrel 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 in accordance with some embodiments of the present disclosure. Representative illustrations of slider 21 and drive shaft 22 are provided to aid in describing the sliding engagement therebetween. The slider 21 has a socket 21-1. The cross-sectional shape profile of the drive shaft surface 22-1 is structurally complementary to the cross-sectional shape profile of the socket 21-1. Socket 21-1 is configured to slide along drive shaft 22 when required during operation of the medical device. In other embodiments, an amount of overlap is required between the drive shaft 22 and the slide 21 during operation to ensure that mechanical forces are transmitted between them. The overlap between the drive shaft 22 and the slider 21 during operation is not less than 5 mm to ensure the transmission of mechanical force 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 5 mm to 100 mm. 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 multiple 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. Socket 21 - 1 is a closed opening that grips multiple facets of drive shaft 22 . The angle between the facets of drive shaft 22 provides gripping force for drive slide 21 .

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

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

Figure 10 shows a perspective view of a receiving shaft and drive yoke in accordance with some embodiments of the present disclosure. In some embodiments, the drive shaft drive yoke 102 has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the drive 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 drive yoke 102 . When assembling the medical device, the top of body 102-2 is inserted into the recessed area of receiving yoke 101-1. During operation, the drive yoke 102 is configured to transmit mechanical force to the receiving yoke 101-1 through the side walls of the protrusion 102-1 that are tangential to the inner side walls 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, drive yoke 102 has two protrusions 102-1. The protrusions 102-1 extend from the side walls of the drive yoke 102 in opposite directions to each other. The two protrusions 102-1 are spaced 180° apart from each other. The receiving yoke 101-1 has two grooves 101-2 complementary to the two protrusions 102-1. In the same manner as the two protrusions 102-1, the two grooves 101-2 are arranged opposite each other. In some embodiments, drive yoke 102 is a dog-bone drive joint and receiving 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 surgical tools. In some embodiments, a sensor system may be used to monitor the surgical tool. Figure 11 illustrates a cross-section of a force sensor in accordance with some embodiments of the present disclosure. face diagram. Figure 12 shows an exploded view of a force sensor in accordance with some embodiments of the present disclosure. In some embodiments, sensor system 110 is disposed between end platform 130 and adapter 120 . Sensor system 110 is configured to measure the force of 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 . Force relay 111 is removably coupled to adapter 120 . In some embodiments, force relay 111 has grooves and protrusions that interlock with 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 the 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 using 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 back 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 projectively overlap with them.

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

In some embodiments, in addition to the predetermined force and the predetermined torque, the force applied to the adapter 120 includes 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 comes into contact with and exerts a force on a target object such as a bone during operation. Torque deviation is indicated during operation when set on the receiving shaft 121 The impact of a surgical tool on the motion of the receiving axis when it comes into contact with a target object such as bone and exerts a force on it.

In some embodiments, 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 operation 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 deviation and torque deviation are deviations from the predetermined range of the operation plan (ie, the predetermined force and the predetermined torque). Adjust the direction/angle and position of the surgical tool based on force deviation and torque deviation. The direction/angle and position of the surgical tool are adjusted by controlling the actuator that moves the parallel manipulator. The movement of surgical tools 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 including: a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform; an adapter having a removable 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 mechanical force configured to transmit mechanical force to the receiving yoke a drive yoke, a first rod connected to the drive yoke, a second rod connected to the first rod, a universal joint connected between the first rod and the second rod, and a second rod connected to a sliding member of the member; and a shaft motor configured to generate mechanical force to drive a drive shaft, the shaft motor having a drive shaft slidably coupled to the sliding member.

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

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

In some embodiments, the drive yoke has a protrusion and the receiving yoke has a groove that is structurally complementary to the protrusion. In some embodiments, the drive yoke is configured to transmit mechanical force to the receiving yoke upon movement through a raised sidewall tangential to the groove.

In some embodiments, the slide has a socket. The cross-sectional profile of the drive shaft is structurally complementary to the cross-sectional 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 5 mm.

In one embodiment, the universal joint includes a first connection member connected to the first rod member, a second connection member connected to the first connection member, and a third connection member connected between the second connection member and the second rod member. Three connecting parts; the first connecting part is pivotally connected to the second connecting part through the first connecting shaft and the second connecting shaft, and the first connecting part is moveable in the first direction and the second direction respectively relative to the second connecting part. Swinging; the second connecting piece is pivotally connected to the third connecting piece through the third connecting shaft and the fourth connecting shaft, and the second connecting piece is swingable in the first direction and the second direction respectively relative to the third connecting piece. of.

In some embodiments, the universal joint further includes a fourth connecting member connected between the first connecting member and the second connecting member and a fifth connecting member connected between the second connecting member and the third connecting member; A connecting piece is rotatably and pivotally connected to the fourth connecting piece with the first connecting shaft as the center, and the second connecting piece is rotatably and pivotally connected with the fourth connecting piece with the second connecting shaft as the center; the second connecting piece It is pivotably connected to the fifth connecting piece with the third connecting shaft as the center, and the third connecting piece is rotatably connected with the fifth connecting piece with the fourth connecting shaft as the center.

In some embodiments, the medical device further includes a cylinder surrounding the slider. cylinder, The slide and the drive shaft are in turn assembled within each other.

In some embodiments, the Young's modulus of the drive shaft is different from the Young's modulus of the slide, and the Young's modulus of the slide is different from the Young's modulus of the cylinder.

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

In some embodiments, the universal joint is in a normal state when there is a minimum distance between the end platform and the base platform.

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.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not limiting. Although the present invention has been described in detail with reference to the above preferred embodiments, those of ordinary skill in the art will understand that the present invention can be modified. The technical solution may be modified or equivalently substituted 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: Shell

16: handle

17:Control module

18-1: First positioning unit

18-2: Second positioning unit

T1: Tools

Claims (16)

A medical device comprising: a parallel manipulator, an adapter, a drive shaft, and a shaft motor; the parallel manipulator having: an end platform; and a base platform mechanically coupled to the end platform; the adapter having: a removable a body coupled to the end platform; and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke; the drive shaft rotatably supported by the end platform, and the The transmission shaft has: a transmission yoke configured to transmit mechanical force to the receiving yoke; a first rod connected to the transmission yoke; a second rod connected to the first rod; a universal joint between a rod and the second rod; and a slider connected to the second rod; wherein the shaft motor is configured to generate mechanical force to drive the drive shaft, so The shaft motor has a drive shaft slidably coupled to the slide. The device of claim 1, further comprising: a sensor system disposed between the end platform and the adapter, the sensor system being configured to measure the force on the adapter. The apparatus of claim 2, wherein the sensor system includes: a force relay removably 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 electrical signal. The device of claim 1, wherein the transmission yoke has a protrusion, and the receiving yoke has a groove that is structurally complementary to the protrusion; the transmission yoke is configured to pass through the contact with the protrusion during movement. The tangential raised side walls of the groove transmit the mechanical force to the receiving yoke. The device 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 be along the drive shaft. Shaft slides. The device of claim 5, wherein the cross-sectional shape outlines of the socket and the drive shaft are polygonal shape outlines. The device 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 sliding member is not less than 5 mm. The device of claim 1, wherein the universal joint includes: a first connecting member connected to the first rod; a second connecting member connected to the first connecting member; and a second connecting member connected to the first connecting member; a third connecting piece between the second connecting piece and the second rod; wherein the first connecting piece is pivotally connected to the second connecting piece through a first connecting shaft and a second connecting shaft, and The first connecting piece is swingable in a first direction and a second direction respectively relative to the second connecting piece; and wherein the second connecting piece is pivoted through a third connecting shaft and a fourth connecting shaft. Connected to the third connecting piece, the second connecting piece is swingable in the first direction and the second direction respectively relative to the third connecting piece. The device according to claim 9, wherein the universal joint further includes: a fourth connecting member connected between the first connecting member and the second connecting member, wherein the first connecting member It is pivotably connected to the fourth connecting member with the first connecting shaft as the center, and the second connecting member is rotatably connected with the fourth connecting member with the second connecting shaft as the center. A connecting piece; and a fifth connecting piece connected between the second connecting piece and the third connecting piece, wherein the second connecting piece is a pivot joint rotatable with the third connecting shaft as the center. to the fifth connecting member, and the third connecting member is rotatably and pivotally connected to the fifth connecting member with the fourth connecting shaft as the center. The device according to claim 1, further comprising: a cylinder surrounding the sliding member; the cylinder, the sliding member and the driving shaft are assembled within each other in sequence. The device of claim 11, 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 device of claim 11, further comprising a lubricant applied to coat a surface of at least one of the cylinder, the slider and the drive shaft. The device of claim 1, wherein the universal joint is in a normal state when there is a minimum distance between the end platform and the base platform. The device of claim 3, wherein the force sensor is a ring-shaped load sensor. The device of claim 1, wherein the adapter further has a first bearing configured to rotatably attach the receiving shaft to the body; and the end platform further There is a second bearing configured to rotatably attach the drive shaft to the end platform.