WO2024046147A1 - Surgical system and force feedback method - Google Patents

Abstract

Provided are a surgical system and a force feedback method. The surgical system comprises a surgical instrument (310, 320, 330), an input device (102, 103), a driving device (213), and a controller (2500). A handpiece (1133, 2133, 2133a, 2133b) of the input device (102, 103) is configured for controlling the opening angle of the surgical instrument (310, 320, 330). The driving device (213) comprises a first motor (213a) and a second motor (213b) configured for driving the surgical instrument (310, 320, 330) to perform opening and closing motions. The controller (2500) is configured for determining whether operation data of the first motor (213a) and the second motor (213b) is greater than a threshold. If the operation data is greater than a first threshold, a first rotation angle of the handpiece (1133, 2133, 2133a, 2133b) at this time is acquired, and a second rotation angle of a subsequent movement of the handpiece (1133, 2133, 2133a, 2133b) is acquired. A feedback force is output to the handpiece (1133, 2133, 2133a, 2133b) on the basis of the first and second rotation angles.

Description

A surgical system and force feedback method

This application is required to be submitted to the China Intellectual Property Office on August 31, 2022, with the application number 202211054800.2 and the priority of the Chinese patent application with the invention name "A Surgical System"; and it is required to be submitted to China on August 31, 2022 Intellectual Property Office, the application number is 202211057444.X, and the invention title is “A surgical system and force feedback method”.

Technical field

The present application relates to the field of medical devices, and in particular to a master-slave remote operation surgical system and a force feedback method.

Background technique

Minimally invasive surgery refers to a surgical method that uses modern medical instruments such as laparoscope and thoracoscope and related equipment to perform surgery inside the human cavity. Compared with traditional surgical methods, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery.

With the advancement of science and technology, minimally invasive medical robot technology has gradually matured and been widely used. Minimally invasive medical robot-assisted surgery systems usually include a master console and a slave operating device. The doctor controls the slave operating device by controlling the input device of the master console. The slave operating device is used to respond to the control commands sent by the master console and perform the corresponding surgery. operate. The instrument is connected to a driving device of the slave operating device for performing surgical operations. The distal end of the instrument includes an end effector for performing surgical operations and a joint assembly connected to the end effector that can move with multiple degrees of freedom.

When doctors remotely operate the surgical robot-assisted surgery system, they cannot intuitively feel the force exerted by surgical instruments on human tissue, which may cause unexpected situations, such as excessive clamping force of surgical instruments, damaging the tissue.

Contents of the invention

Based on this, the present application provides a surgical system in a first aspect, which includes a surgical instrument including a clamping part; an input device including a gripping part for controlling the gripping part. Opening and closing angle; driving device, which includes a first motor and a second motor, the first motor and the second motor Used to drive the clamping part to perform opening and closing actions; the controller is configured as:

Obtain operating data of the first motor and the second motor;

Determine whether operating data of the first motor and the second motor is greater than a first threshold;

If the operating data is greater than the first threshold, obtain the first rotation angle of the holding member at this time;

Obtain a second rotation angle of the holding member, and output a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle angle;

Or, if the operating data is greater than the first threshold, obtain the first opening and closing angle of the clamping portion at this time;

Obtain a second opening and closing angle of the clamping portion, and output a feedback force to the gripper based on the first opening and closing angle and the second opening and closing angle, wherein the second opening and closing angle is smaller than the third opening and closing angle. One opening and closing angle.

In a specific embodiment, the operating data of the first motor and the second motor includes one of the current, voltage, and rotation speed of the first motor and the second motor.

In a specific embodiment, the surgical instrument further includes a long shaft and a wrist, the clamping part is rotatably connected to the wrist, and the wrist is rotatably connected to the distal end of the long shaft; The driving device includes a third motor for driving the wrist to perform a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain stationary to maintain the clamp. The opening and closing angle of the handle remains unchanged;

In a specific embodiment, the controller is further configured to:

Obtain the operating data of the third motor;

Determine whether the operating data of the third motor is greater than a second threshold;

If the operating data of the third motor is greater than the second threshold, obtain the third rotation angle of the holding member at this time;

Obtaining a fourth rotation angle of the holding member, and outputting a feedback force to the holding member based on the third rotation angle and the fourth rotation angle, the fourth rotation angle being smaller than the third rotation angle;

In a specific embodiment, the controller is further configured to:

Obtain the operating data of the third motor;

Determine whether the operating data of the third motor is greater than a second threshold;

If the operating data of the third motor is greater than the second threshold, obtain the first pitch angle of the wrist at this time;

Obtaining a second pitch angle of the wrist, and outputting a feedback force to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is smaller than the first pitch angle;

In a specific embodiment, the surgical instrument also contains a plurality of winches and a decoupling mechanism in the instrument box, and the first and second winches of the plurality of winches are respectively used to receive the first and second winches. The power input of the motor, the first winch is connected to the clamping part through a first pair of cables, the second winch is connected to the clamping part through a second pair of cables, the first pair of cables and the A second pair of cables is wound around the decoupling mechanism, and when the first motor drives the wrist to rotate, the decoupling mechanism moves to increase the tension in the first pair of cables and the second pair of cables. The length of one pair of cables in the instrument box is reduced by the length of the other pair of cables in the instrument box, thereby maintaining the opening and closing angle of the clamping portion unchanged.

In a specific embodiment, the input device further includes an actuator and a link assembly. One end of the link assembly is connected to the actuator and the other end is connected to the holding member. The actuator A feedback force is provided to the gripping member based on the clamping force and through the linkage mechanism.

In a specific embodiment, the linkage mechanism includes a first link and a second link. One end of the first link is rotatably connected to the handle, and the other end is connected to one end of the second link. Rotatingly connected, the other end of the second link is connected with the actuator.

In a specific embodiment, the input device includes a housing, an actuator and a first sheave connected to the actuator, and the first sheave is rotationally connected to the housing through a first pin, The first sheave is connected to the holding member through a first cable, and the actuator provides a feedback force to the holding member based on the clamping force and through the first cable.

In a second aspect, the present application provides a surgical system, including a surgical instrument, a driving device and a controller. The surgical instrument includes a long shaft, including a proximal part and a distal part; and an end effector, including a wrist and a clamping part. , the wrist is rotatably connected to the distal part, and the clamping part is rotatably connected to the wrist;

The driving device includes a plurality of motors, the first motor and the second motor of the plurality of motors are used to drive the clamping part to perform opening and closing actions, and the third motor of the plurality of motors drives the wrist part to perform pitching. action When, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping portion unchanged;

The controller is configured as:

Obtain operating data of the third motor;

Determine whether the operating data of the third motor is greater than a pre-stored threshold;

If the operating data of the third motor is greater than the threshold, obtain the first rotation angle of the holding member at this time;

Obtain a second rotation angle of the holding member, and output a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle angle;

Or, if the operating data of the third motor is greater than the threshold, obtain the first pitch angle of the wrist at this time;

Obtaining a second pitch angle of the wrist, and outputting a feedback force to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is greater than the first pitch angle .

In a second aspect, the present application provides a force feedback control method for a surgical system. The remote operation surgical system includes a surgical instrument, an input device and a driving device. The surgical instrument includes a clamping part; the input device includes a grip. A holding member used to control the opening and closing angle of the clamping portion;

The driving device includes a first motor and a second motor, and the first motor and the second motor are used to drive the clamping portion to perform opening and closing actions;

The methods include:

Obtain operating data of the first motor and the second motor;

Determine whether operating data of the first motor and the second motor is greater than a pre-stored threshold;

If the operating data is greater than the threshold, obtain the first rotation angle of the holding member at this time;

Obtaining a second rotation angle of the holding member, and outputting a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle;

Or, if the operating data is greater than the threshold, obtain the first opening and closing angle of the clamping part at this time;

Obtain a second opening and closing angle of the clamping portion, and output a feedback force to the gripper based on the first opening and closing angle and the second opening and closing angle, wherein the second opening and closing angle is smaller than the first opening and closing angle. Opening and closing angle.

Description of drawings

Figure 1 is a top view of a remotely operated surgical system for surgical operations according to one embodiment of the present application;

Figure 2 is a schematic diagram of a device according to an embodiment of the present application;

Figure 3A is a schematic diagram of the main console of the surgical system according to an embodiment of the present application;

Figure 3B is a schematic diagram of the input device of the main console according to an embodiment of the present application;

Figure 4 is a schematic diagram of a slave operating device of the surgical system according to an embodiment of the present application;

Figure 5 is a schematic diagram of the robotic arm of the slave operating device according to an embodiment of the present application;

6A-6D are schematic diagrams of the end effector of the surgical instrument according to one embodiment of the present application;

Figures 7A-7B are schematic diagrams of the end effector performing a pitching action according to the embodiment shown in Figures 6A-6D;

Figure 8A is a schematic diagram of the internal structure of the instrument box of the surgical instrument shown in Figures 6A-6D;

Figures 8B-8C are schematic diagrams of the instrument box decoupling process shown in Figure 8A;

9A-9B are schematic diagrams of an end effector of a surgical instrument according to another embodiment of the present application;

Figure 10A is a schematic diagram of the internal structure of the instrument box of the surgical instrument shown in Figures 9A-9B;

Figures 10B-10C are schematic diagrams of the instrument box decoupling process shown in Figure 10A;

Figure 11A is a schematic diagram of the handle of the input device according to an embodiment of the present application;

Figure 11B is a cross-sectional view of the handle shown in Figure 11A;

Figure 11C is a cross-sectional view of the handle shown in Figure 11A from another perspective;

Figure 12 is a schematic diagram of the applied force analysis of the end effector clamping member according to one embodiment of the present application;

Figure 13A is a schematic diagram of the handle of the input device according to one embodiment of the present application;

Figure 13B is a perspective view of the handle of the embodiment shown in Figure 13A.

Detailed ways

In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present application are shown in the accompanying drawings. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided for the purpose of making the disclosure of the present application more thorough and comprehensive, and are not intended to limit the present application.

It should be noted that when a component is said to be "set on" another component, it can be directly placed on another component. There can also be centered components on the component. When an element is said to be "connected" to another element, it can either be directly connected to the other element, intervening elements may also be present, or the two elements can be interconnected via signals. When an element is said to be "coupled" to another element, it can either be directly coupled to the other element, intervening elements may also be present, or the two elements can interact via signals. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation manner and should It will be understood that these spatially relative terms are intended to cover different orientations of the device in use or operation in addition to the orientation depicted in the figures, e.g., if the device is turned over in the figures, then it is described as orientated in the figures. Elements or features that are "below" or "beneath" other elements or features will be oriented "above" the other elements or features. Thus, the example term "below" may include both upper and lower orientations.

The terms "distal" and "proximal" used in this article are directional terms, which are commonly used terms in the field of interventional medical devices. "Distal" refers to the end far away from the surgeon during the operation, and "proximal" refers to the operation. The end of the procedure closest to the surgeon.

The term "tool" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the tool including an end effector, which may be a surgical device for performing a surgical procedure. Surgical instruments such as cauterizers, clamps, staplers, scissors, imaging equipment (such as endoscopes or ultrasound probes), and the like. Some tools used in embodiments of the present application further include providing the end effector with an articulating component (e.g., a joint assembly) such that the position and orientation of the end effector can be manipulated for movement in one or more mechanical degrees of freedom relative to the instrument axis. . Further, end effectors include jaws that also include functional mechanical degrees of freedom, such as opening and closing. The tool may also include stored information that may be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the tool and one or more system elements.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing specific embodiments only and is not intended to limit the application. As used herein, the terms "and/or" and "and/or" include any and all combinations of one or more of the associated listed items.

A remotely operated surgical system according to one embodiment of the present application is shown in Figure 1. The remotely operated surgical system The surgical system includes a master console 10 and a slave operating device 20. The master console 10 is remotely connected to the slave operating device 20. The slave operating device 50 includes a plurality of robotic arms 21, and a plurality of instruments and/or imaging devices are respectively detachable. are mounted on different robotic arms 21. The surgeon S can remotely operate and control instruments and/or imaging equipment on the main console 10. The main console 10 is configured to send control signals to the slave operating device 20 and display images acquired from the slave operating device 20 according to the operation of the surgeon S. The surgeon S can observe the three-dimensional imaging in the patient's body provided by the imaging system through the main console 10. By observing the three-dimensional image in the patient's body, the surgeon S can control the operation device 10 to perform related operations (for example, with an immersive feeling). Perform surgical procedures or obtain internal images of patients). The master console 10 and the slave operating device 20 can be placed in the same room for remote operation, or they can be placed in different rooms, or even located in different cities.

The main console 10 is also connected to the electronic equipment cart C through remote communication. The electronic equipment cart C is connected to the main console 10 and the slave operating device 20 through remote communication. The electronic equipment cart 30 may include an energy generating device, an image signal Processing devices and other electronic equipment. In this embodiment, wired Ethernet communication is used for remote communication between the main console 10, the slave operating device 20, and the electronic equipment cart C. However, the remote communication is not limited to wired Ethernet communication and may also be other wired methods. For example, it includes but is not limited to serial port, CAN, RS485, RS232, USB, SPI, etc., or wireless communication methods, such as but is not limited to WiFi, NB, Zigbee, Bluetooth, RFID, etc.

Teleoperated surgical systems also often include imaging systems that enable the operator to view the surgical site from outside the patient's body. The imaging system typically includes an imaging device (such as an endoscope) with video image capture capabilities and one or more video display devices for displaying the captured images. Typically, the imaging device includes optics of one or more imaging sensors (eg, CCD or CMOS sensors) that will acquire images within the patient's body. The one or more imaging sensors may be placed at a remote end of the imaging device, and the signals generated by the one or more sensors may be transmitted along a cable or wirelessly for processing and display on the video display device.

One or more cannulas are connected to the distal end of the robotic arm 21, and the cannulas are inserted into the body of the patient P lying on the operating bed T. Assistant A installs the tool 30 on the robotic arm 21 according to the surgical conditions, or replaces/reloads the tool 30 from the robotic arm 21. After the tool 30 is installed on the robotic arm 21, it is inserted into the body of the patient P through the cannula. Surgeon S, assistant A, and anesthesiologist B form the basic surgical team.

The tool 30 may be a surgical instrument such as an electric cauterizer, a clamp, a stapler, or an ultrasonic scalpel for performing surgical operations, or may be an imaging device (such as an endoscope) for acquiring images or other surgical tools. In some embodiments, as shown in FIG. 2 , the tool 30 includes a transmission box 31 , a long shaft 32 and an end effector 33 . The transmission box is used to receive the power input on the robotic arm 21 and transmit it to the end effector 33 . The actuator 33 may be a device for performing surgery, such as a clamp, an ultrasonic scalpel, etc.; it may also be an imaging device, such as an image sensor.

The main console of an embodiment of the present application is shown in Figure 3A. The main console 100 includes a display device 101, an armrest, first and second input devices 102, 103, an observation device 104 and a plurality of pedals 105. Two input devices Devices 102, 103 are respectively used to control different instruments or imaging equipment. The display device 101 is used to display images acquired by the above imaging system. For example, the display device 101 is a three-dimensional imaging display device. The surgeon S observes the image displayed by the display device 101 through the observation device 104 . The armrest 11 is used to place the surgeon's arms and/or hands. In some embodiments, according to actual needs, the armrest can be omitted, or the observation device 104 can be omitted, and direct observation can be performed at this time.

The surgeon S controls the tool movement of the slave operating device 20 by operating the first and second input devices 102 and 103. The control signal processing system of the master console 10 processes the input signal of the input device 102 and then sends a control signal to the slave operating device 20. The slave operating device 20 responds to the control signal of the master console 100 and performs corresponding operations, that is, master-slave control. In some embodiments, the control signal processing system may also be provided in the slave operating device 20 , for example, in the base of the slave operating device 20 .

In some embodiments, as shown in Figure 3B, the first input device 102 includes a handle 1021, a wrist joint assembly 1030, and an elbow joint assembly 1040. The handle 1021 is used for the surgeon to hold, and the wrist joint assembly 1030 is used for movement. To change the posture of the first input device 102, such as the posture of the handle 1021. The elbow joint assembly 1040 is used to change the position of the first input device 102, such as the position of the handle 1021.

The wrist joint assembly 1030 includes a plurality of wrist joints 1301, 1032, 1033, 1034. Each wrist joint 1301, 1032, 1033, 1034 is rotationally connected to each other through an L-shaped connecting rod, wherein the wrist joint 1031 rotates around the axis X1, The wrist joint 1032 rotates around its axis X2, the wrist joint 1033 rotates around its axis X3, the wrist joint 1034 rotates around its axis X4, and each wrist joint 1301, 1032, 1033, 1034 rotates around its respective axis to change the posture of the input device 102. In some embodiments, the posture of the input device 102 includes the posture of the intersection of axis X1, axis X2, axis X3, and axis X4.

The elbow joint assembly 1040 includes a plurality of elbow joints 1041, 1042, 1043. The elbow joint 1041 rotates around its axis X5, the elbow joint 1042 rotates around its axis X6, and the elbow joint 1043 rotates around its axis X7. Each elbow joint 1041, 1042, 1043 rotate about their respective axes thereby changing the position of the input device 102 .

The wrist joint assembly 1030 and the elbow joint assembly 1040 include multiple motors, and the multiple motors are used to drive the wrist joint assembly 1030 and the elbow joint assembly 1040 to move. In some embodiments, the controller 250 controls the movement of one or more motors of the wrist joint assembly 1030, thereby controlling the movement of the wrist joint assembly 1030, thereby changing the posture of the first input device 102 and/or the second input device 103. Follow the posture of the instrument end; alternatively, align the posture of the first input device 102 and/or the second input device 103 with the posture of the instrument end.

In some embodiments, as shown in FIG. 4 , the slave operating device 200 includes multiple robotic arms 210 , 220 , 230 , 240 and a controller 2500 . The multiple robotic arms 210 , 220 , 230 , 240 may be of the same configuration. , it can also be in different configurations. Multiple tools 310, 320, 330, 340 are installed on multiple robotic arms 210, 220, 230, 240. Specifically, the first instrument 310 among the multiple tools is detachably installed. In the first robot arm 210 of the plurality of robot arms, the second instrument 320 is detachably installed on the third robot arm 230, and the third instrument 330 is detachably installed on the fourth robot arm 240. Among the plurality of tools, The imaging device 340 is detachably mounted on the second robot arm 220. In some other embodiments, the instrument and the imaging device can interchange the installed robotic arms. For example, the third instrument 330 and the imaging device 320 can interchange the installed robotic arms. After the exchange, the imaging device is installed on the third robotic arm 230. In the equipment 340, the second instrument 320 is installed on the second robotic arm 220.

The controller 2500 is configured to control the joint movements of the driving robot arms 210, 220, 230, 240, and the movements of the instruments 310, 320, 330 and the imaging device 340 in response to control signals from the master console 100 or the slave operating device 20. . The controller 2500 may be provided in the base of the slave operating device 200. In some embodiments, the controller 2500 may also be provided on each robot arm. It is understandable that the controller 2500 may also be provided in the master console 100. In some embodiments, the controller 2500 and the above-mentioned control signal processing system are the same control device, or the controller 2500 and the above-mentioned control signal processing system are different control devices respectively provided in the slave operating device 20 and the master console 10 .

As shown in FIG. 5 , taking the first robotic arm 210 among multiple robotic arms as an example, the robotic arm 210 includes a flat The parallelogram mechanism 211 and the arm 212 are arranged in parallel. The driving device 213 is slidably disposed on the arm 212. The driving device 213 is used to drive the end effector 313 of the surgical instrument 310. The parallelogram mechanism 211 is used to rotate the surgical instrument 310 around a remote site. The center of movement rotates. The driving device 213 includes a plurality of motors 213a, 213b, 213c, and 213d. After the instrument box 311 is installed on the driving device 213, the plurality of motors 213a, 213b, 213c, and 213d are connected to the transmission device in the instrument box 311. The plurality of motors 213a , 213b, 213c, 213d drive the long shaft 312 and the end effector 313 by driving the transmission device. The first motor 213a and the second motor 213b are used to drive the end effector 313 to perform opening and closing actions, and the third motor 213c is used to drive the end effector 313 to open and close. To drive the end effector 313 to perform the pitching action, the fourth motor 213d is used to drive the long shaft 312 to rotate. In some embodiments, the driving device 213 and the instrument box 311 may also be connected through a sterile adapter.

The end effectors of existing surgical instruments have kinematic couplings. When the driving device drives the end effector to move, two or more motors are required to participate in driving one degree of freedom movement of the end effector, such as driving the end effector 313. The motor for opening and closing the clamping part not only needs to drive the opening and closing of the clamping part, but may also need to cooperate with the decoupling movement when the end effector 313 performs pitching motion. One embodiment of the present invention provides a mechanically decoupled surgical instrument. Through mechanical decoupling, the motor that drives the opening and closing movement of the clamping portion only drives the opening and closing movement of the clamping portion.

Motion decoupling of end effectors of surgical instruments

In one embodiment, as shown in FIG. 6A , the end effector 150 includes a first bracket 210 and a wrist 220 . The distal end of the first bracket 210 includes a first pillar 314 and a second pillar 315 . The proximal end of the first bracket 210 includes a first pillar 314 and a second pillar 315 . The end includes a base frame 316. One end of the base frame 316 is connected to the long axis. A first pillar 314 and a second pillar 315 are formed extending from the other end of the base frame 316 toward the distal end of the end effector 150. The first pillar 314 and the second pillar 315 are The pillar 315 and the bottom frame 316 form a substantially U-shaped clamp structure.

A first pin 311 and a second pin 312 are provided between the first pillar 314 and the second pillar 315. The first pin 311 and the second pin 312 are fixedly connected to the first pillar 314 and the second pillar 315 side by side, wherein the first pin 311 and the second pin 312 are fixedly connected to the first pillar 314 and the second pillar 315. One pin 311 is closer to the base 316 of the first bracket 210 than the second pin 312.

In order to better demonstrate the structure of the proximal end of the end effector 150, the first bracket 210 is not shown in Figures 6B and 6C. As shown in Figures 6B and 6C, a first pulley group is provided on the first pin 311. A pulley set includes a first pulley 211, a second pulley 212, a third pulley 213 and a fourth pulley 214 arranged in sequence on the first pin 311. A second pulley set is arranged on the second pin 312. The second pulley set includes a pulley set in sequence. The fifth pulley 215, the sixth pulley 216, the seventh pulley 217 and the eighth pulley 218 placed on the second pin 312, the first pulley 211 to the eighth pulley 218 are all used to guide the driving cable, because they are used to guide the driving. The pulleys of the cable are all arranged on the first bracket 210, and there are no pulleys on the wrist 220. Therefore, the volume of the wrist 220 can be made smaller, making the end effector 150 smaller, and there is no risk of the pulleys falling off.

The wrist 220 is provided with a third pillar 317, a fourth pillar 318 and a pitch wheel 319. The third pillar 317 and the fourth pillar 318 extend from the pitch wheel 319 along the distal end of the end effector 150. The third pillar 317, The fourth pillar 318 and the pitch wheel 319 form a roughly U-shaped frame. The pitch wheel 319 is installed on the second pin 312 . The wrist 220 can rotate around AA′ of the axis of the second pin 312 to achieve the pitch of the end effector 150 sports.

A third pin 313 is provided between the third pillar 317 and the fourth pillar 318, and the third pin 313 is perpendicular to the first pin 311 and the second pin 312. The clamping part 260 of the end effector 150 includes a first clamping part 261 and a second clamping part 262. The first clamping part 261 and the second clamping part 262 are rotatably arranged on the wrist 220 through a third pin 313. On, the first clamping member 261 and the second clamping member 262 can rotate around the axis BB' of the third pin 313 to realize the opening, closing and yawing movements of the clamping part 260. The clamping member 262 may be a clamp for clamping tissue, a stapler for suturing, or a cautery for electric cauterization, or the like.

The driving cables provided on the end effector 150 include a first pair of cables 151 and a second pair of cables 152 for operating the end effector 150 to open, close, and yaw, and a third pair of cables 153 for operating the end effector 150 to pitch. The first pair of cables 151 includes a first drive cable 151A and a second drive cable 151B. The second pair of cables 152 includes a third drive cable 152A and a fourth drive cable 152B, and the third pair of cables 153 includes a fifth drive cable 153A and a sixth drive cable 153B.

As shown in Figures 6C and 6D, on the side of the end effector 150, the first pair of cables 151 is wound on the first pulley set and the second pulley set in the same way as the second pair of cables 152 is wound on the first pulley set and the second pulley set. The winding method is opposite. The first driving cable 151A of the first pair of cables 151 is wound on the first pulley set and the second pulley set in the same way as the second driving cable 151B is wound on the first pulley set and the second pulley set. , the third driving cable 152A of the second pair of cables 152 is wound in the same manner on the first pulley set and the second pulley set, and the fourth driving cable 152B is wound on the first pulley set and the second pulley set in the same manner. same. Specifically, the proximal end of the first driving cable 151A is connected to the transmission device in the instrument box 170 , and the distal end of the first driving cable 151A extends toward the distal end of the end effector 150 after being guided by the front of the first pulley 211 , and continues to extend along the distal end of the terminal instrument 150 after passing through the rear guide of the fifth pulley 215 and is finally fixed on the first clamping member 261 . The second driving cable 151B extends toward the distal end of the end effector 150 after passing through the front guide of the fourth pulley 214, and continues to extend toward the distal end of the end effector 150 after passing through the rear guide of the eighth pulley 218, and is finally fixed on on the first clamping member 261. The distal end of the third driving cable 152A extends toward the distal end of the end effector 150 after being guided by the rear of the second pulley 212, and continues to extend toward the distal end of the end instrument 150 after being guided by the front of the sixth pulley 216 and is fixed. On the second clamp 262, the distal end of the fourth driving cable 152B extends toward the distal end of the end effector 150 after passing through the rear guide of the third pulley 213, and continues toward the end after passing through the front guide of the seventh pulley 217. The distal end of tip instrument 150 extends and transitions onto second clamp 262 .

The proximal ends of the fifth driving cable 153A and the sixth driving cable 153B of the third pair of cables 153 reach the instrument box 170 , and their distal ends are accommodated in the annular groove 319A of the pitch wheel 319 , and their ends are respectively fixed on the wrist. In the part 220, the fifth driving cable 153A and the sixth driving cable 153B together drive the wrist 220 to rotate along the axis AA', and then the wrist 220 drives the first clamping part 230 and the second clamping part 240 to rotate along the axis AA'. pitching motion.

The coupling relationship between the third pair of cables 153 of the end instrument 150 and the first and second pairs of cables 151, 152 will be described in detail below. When the end effector 150 is to perform pitching motion, the instrument box 170 needs to retract and pull the third pair of cables 153. The fifth driving cable 153A or the sixth driving cable 153B of the cable 153 causes the wrist 220 to drive the first clamping part 230 and the second clamping part 240 to pitch together around the first axis AA', as shown in FIGS. 7A and 7B As shown, the winch 171 in the instrument box 170 pulls the sixth driving cable 153B, so that the wrist 220 and the first clamping part 230 and the second clamping part 240 move around the first axis AA'. If the end effector 150 only To perform the pitching motion, it is necessary to maintain the length of the cable portion of the first pair of cables 151 and the second pair of cables 152 between the second pulley group and the clamping portion unchanged, otherwise it will cause yaw or opening and closing motion of the end effector 150 .

During the process of the end effector 150 rotating from the straight state shown in Figures 6A-6D to the pitched state shown in Figures 7A-7B, when the instrument box 170 retracts and pulls the sixth driving cable 153B, if the end effector 150 needs to rotate The target pitch angle is α, then plane a needs to be rotated by α angle from the position in Figure 6D to At the position of plane b in Figure 7A, if the radii of the pulleys of the first pulley group and the second pulley group are both r1, in order for the end effector 150 to successfully rotate the target's pitch angle α, the first drive cable 151A and the second pulley set must be The wrapping angle lengths of the driving cable 151B on the fifth pulley 215 and the eighth pulley 218 respectively increase by the length L, where L=α*r1, and the corresponding third driving cable 152A and the fourth driving cable 152B are respectively on the sixth pulley 215 and the eighth pulley 218. The length of the wrapping angle on the pulley 216 and the seventh pulley 217 is reduced by the length L at the same time.

In order for the end effector 150 to perform pitching motion, the lengths of the first driving cable 151A and the second driving cable 151B on the end effector 150 must be increased or decreased at the same time, and the lengths of the third driving cable 152A and the fourth driving cable 152B The length on the end effector must be reduced or increased at the same time, so the movement of the third pair of cables 153 is limited to the first pair of cables 151 and the second pair of cables 152 .

The relationship in which the change of one element is affected/restricted by another element is called a coupling relationship, that is, there is a coupling relationship between one element and another element. For the first pair of cables 151 , the second pair of cables 152 and the third pair of cables 153 , this coupling relationship is such that any movement of any cable between the second pair of cables 152 and the third pair of cables 153 will cause the other cables to fail. Desired movement, resulting in undesired movement of the end effector. This coupling relationship causes the pitching motion of the end effector to interact with the opening and closing and/or deflecting motions, and the pitching motion and the opening and closing and/or deflecting motions of the end effector are not independent of each other, so that the end effector 150 cannot correctly Perform surgical procedures. Therefore, it is necessary to release the coupling relationship between the third pair of cables 153 and the first pair of cables 151 and/or the second pair of cables 152 so that the movement of the third pair of cables 153 is no longer restricted by the first pair of cables 151 and/or Or the second pair of cables 152, the movements of the two can be independent of each other, without interfering or affecting each other, so as to eliminate the problem between the third pair of cables 153 and the first pair of cables 151 and/or the second pair of cables 152. The coupling relationship is called decoupling.

Regarding how to decouple the above coupling relationship, an existing decoupling method is to use software algorithms for decoupling. However, the existing software decoupling method cannot decouple the type of end effector of the present invention. The present invention proposes A mechanical decoupling solution is to provide a mechanical decoupling mechanism in the instrument box 170 of the surgical instrument 120 to decouple the coupling relationship between the first pair of cables 151 , the second pair of cables 152 and the third pair of cables 153 .

FIG. 8A is a schematic diagram of an instrument box 170 according to an embodiment of the present invention. The instrument box 170 is suitable for receiving power input and driving the end effector shown in FIG. 6A . The instrument box 170 includes a first winch 171 and a second winch 172 for driving the end effector 150 to perform opening and closing and/or yaw movements. The third winch 173 for pitching movement of the end effector 150, and the fourth winch 174 for driving the long shaft 160 to rotate. The first driving cable 151A and the second driving cable 151B of the first pair of cables 151 are respectively wound on the first winch 171 in an opposite winding manner, and the third driving cable 152A and the fourth driving cable 152B of the second pair of cables 152 are respectively wound in opposite directions. The fifth drive cable 153A and the sixth drive cable 153B of the third pair of cables 153 are respectively wound on the third winch 173 in an opposite winding manner. The eight drive cables 154B are each wound around the fourth winch 174 in opposite winding patterns.

When the first motor 213a in the driving device 132 drives the first winch 171 to rotate, the first winch 171 retracts or releases the first driving cable 151A or the second driving cable 151B to make the first clamping member 261 surround its third pin. 313 rotates, when the second motor in the driving device 132 drives the second winch 172 to rotate, the second winch 172 retracts or releases the second driving cable 152A and the third driving cable 152B to make the second clamping member 262 surround the third driving cable 152A. Three pins 313 rotation. When the third motor driving 213c in the driving device 132 rotates the third winch 173, the third winch 173 retracts or releases the fifth driving cable 153A and the sixth driving cable 153B so that the wrist 220 revolves around the axis of the second pin 312 AA' rotates so that the end effector 150 performs a pitching motion. When the fourth motor in the driving device 132 drives the fourth winch 174 to rotate with its shaft 174A, the fourth winch 174 retracts or releases the seventh driving cable 154A or the eighth driving cable 154B to realize the rotational movement of the driving long shaft 160 .

The instrument box 170 also includes a decoupling mechanism for decoupling the coupling relationship between the third pair of cables 153 and the first and second pairs of cables 151 and 152 on the end effector 150 side. The decoupling mechanism includes a decoupling wheel 1761 and the sliding frame 176. The sliding frame 176 includes a supporting frame 1762 and a first guide part 1763 and a second guide part 1764 connected to both ends of the supporting frame 1762. The first and second driving cables 151A and 151B are wound around the first guide part 1763. , the third and fourth driving cables 152A, 152B are wound around the second guide part 1764, the decoupling wheel 1761 is connected to the support frame 1762 through the first decoupling cable 1767 and the second decoupling cable 1768, and the decoupling wheel 1761 is driven by The first decoupling cable 1767 and the second decoupling cable 1768 in turn control the movement of the carriage 176 .

The decoupling wheel 1761 and the third winch 173 may be disposed on the same shaft 173A, and the decoupling wheel 1761 and the third winch 173 rotate coaxially. The decoupling wheel 1761 and the third winch 173 have different radii. The radius of the decoupling wheel 1761 is r2, and the radius of the third winch 173 is R2, where r2<R2. The decoupling wheel 1761 is pulled or pulled by Releasing the first decoupling cable 1767 or the second decoupling cable 1768 causes movement of the carriage 176 .

The decoupling process is shown in Figure 8B. When the third winch 173 rotates counterclockwise (first direction), the third winch 173 pulls the sixth driving cable 153B and simultaneously releases the fifth driving cable 153A, so that the end effector 150 The wrist 220 rotates about the axis AA' of the second pin 312 as shown in Figures 7A and 7B, and the entire end effector 150 performs a pitching motion. Since the decoupling wheel 1761 and the third winch 173 rotate coaxially, the decoupling wheel 1761 pulls the second decoupling cable 1768 and releases the first decoupling cable 1767 at the same time. If the arc length of the decoupling wheel 1761 is L /2, then the carriage 176 moves a distance of L/2 in the direction A under the pull of the second decoupling cable 1768. At this time, due to the movement of the carriage 176, the first driving cable 151A and the second driving cable 151B are in the instrument box. The lengths in the instrument box 170 will be reduced by L at the same time. Correspondingly, the lengths of the third driving cable 152A and the fourth driving cable 152B in the instrument box 170 will be increased by L at the same time.

Therefore, the length reduction amount of the first driving cable 151A and the second driving cable 151B in the instrument box 170 is required to be the same as the wrapping angle length of the first driving cable 151A and the second driving cable 151B on the fifth pulley 215 and the eighth pulley 218 respectively. The increase in length of the third driving cable 152A and the fourth driving cable 152B in the instrument box 170 is equal to the length increase of the third driving cable 152A and the fourth driving cable 152B on the sixth pulley 216 and the seventh pulley 217 The required reductions in angular lengths are equal. On the contrary, as shown in FIG. 8C , when the third winch 173 and the decoupling wheel 1761 rotate clockwise (second direction) together, the lengths of the first driving cable 151A and the second driving cable 151B in the instrument box 170 increase. The amount of reduction required for the wrap angle length of the first drive cable 151A and the second drive cable 151B on the fifth pulley 215 and the eighth pulley 218 respectively, the third drive cable 152A and the fourth drive cable 152B in the instrument box 170 The length reduction is equal to the required increase in wrap angle length of the third drive cable 152A and the fourth drive cable 152B on the sixth pulley 216 and the seventh pulley 217 . Thus, the change in length of the first pair of cables and the second cable on the end effector side caused by the pitching motion of the end effector is entirely provided by the change in length of the first pair of cables and the second cable within the instrument box 170, Therefore, the movement of the third pair of cables will no longer be restricted by the first pair of cables and the second pair of cables, and the decoupling mechanism realizes the decoupling relationship between the third pair of cables and the first pair of cables and the second pair of cables.

In order to enable the decoupling mechanism to accurately and controllably decouple the coupling relationship between the third pair of cables 153, the first pair of cables 151, and the second pair of cables 152, the decoupling wheel 1761 of the decoupling mechanism drives the carriage 176 always along a straight line. The wire moves, and the change in length of the first drive cable 151A, the second drive cable 151B, the third drive cable 152A and the fourth drive cable 152B resulting from the movement of the decoupling member 176 is always linear.

As shown in FIG. 9A , it is a schematic structural diagram of a terminal instrument 250 according to an embodiment of the present invention. The terminal instrument 250 includes a wrist 410 with a substantially U-shaped structure, a first bracket 510 , a clamping part 610 and a driving cable. The distal end of the first pair of cables 251 is installed on the first clamping member 611 of the clamping part 610, and its proximal end is connected to the first winch in the instrument box 270. The distal end of the second pair of cables 252 is installed on the clamping part 610. On the second clamping member 612 of the part 610, its proximal end is connected to the winch in the instrument box 270, and the first pair of cables 251 and the second pair of cables 252 cooperate to operate the first clamping member 611 and the second clamping member 612 Rotating around the axis BB′ of the first pin 512 realizes the opening, closing and yawing movements of the terminal instrument 250 . The distal end of the third pair of cables 253 is mounted on the wrist 410, and the proximal end is connected to the third winch in the instrument box 270.

The first pair of cables 251 includes a first drive cable 251A and a second drive cable 251B, and the second pair of cables includes 252 a third drive cable 252A and a fourth drive cable 252B. The first pulley set 320 is fixed on the wrist 410, and the second pulley set 330 is installed on the first bracket 510, wherein the first pulley set 320 includes first, second, third and fourth pulleys 321, 322, 323, 324, The second pulley group 330 includes fifth, sixth, seventh and eighth pulleys 325, 326, 327 and 328.

The first pair of cables 251 and the second pair of cables 252 are wound in the same manner on the first pulley set 320 and the second pulley set 320, but the first driving cable 251A and the second driving cable 251B of the first pair of cables 251 are wound on the first pulley set 320 The third drive cable 252A and the fourth drive cable 252B of the second pair of cables 252 are wound in opposite ways on the first pulley set 320 and the second pulley set 330 . Specifically, the first driving cable 251A passes through the front guide of the first pulley 321 and then passes through the rear guide of the fifth pulley 325 and then passes through the first bracket 510 and extends into the long axis 160; the second drive cable 251B passes through the third The guide at the rear of the pulley 323 then passes through the guide at the front of the seventh pulley 327 and then extends through the first bracket 510 into the long axis 160 . The third driving cable 252A passes through the front guide of the second pulley 322 and then passes through the rear guide of the sixth pulley 326 before passing through the wrist 210 and extending into the long axis 160 . The fourth drive cable 352B passes through the rear of the fourth pulley 324 . After being guided by the front part of the eighth pulley 228, it passes through the wrist part 410 and extends into the terminal long axis 160.

In this embodiment, there is also a coupling relationship between the third pair of cables 253, the first pair of cables 251, and the second pair of cables 252. Specifically, as shown in Figure 9B, when the instrument box 270 of the surgical instrument releases the third pair of cables When the fifth driving cable 253A of the third pair of cables 253 is retracted and the sixth driving cable 253B of the third pair of cables 253 is retracted, the desired pitching motion of the end effector 250 is that the wrist 410 and the clamping portion 610 of the end effector 250 revolve around the second pin together. The axis AA′ of 511 rotates clockwise, and the clamping portion 610 does not move around the first pin 412 during the rotation.

However, due to the above winding method of the driving cable, when the wrist portion 410 and the clamping portion 610 rotate counterclockwise around the axis AA' of the second pin 412, the first driving cable 251A of the first pair of cables 351 and the second pair of cables 351 are rotated counterclockwise. The wrapping angle length of the third driving cable 252B of the two pairs of cables 252 on the fifth pulley 325 and the sixth pulley 326 respectively will increase, while the second driving cable 252B and the fourth driving cable 252B are on the seventh pulley 227 and the eighth pulley respectively. The length of the wrapping angle on the pulley 228 will be reduced, thereby causing the clamping portion 610 to rotate counterclockwise around the axis BB' of the first pin 412 from the dotted line position in the figure to the solid line position in the figure, which is undesirable. There is also a coupling relationship between the three pairs of cables 253 and the first pair of cables 251 and the second pair of cables 252 .

Therefore, the present invention also provides an instrument box that can decouple the above-mentioned surgical instrument 250. As shown in FIG. 10A, the instrument box 270 includes a first winch 271 for driving the end instrument 250 to perform opening, closing, and yaw. The second winch 272 is used to drive the terminal instrument 250 to perform pitching motion, the third winch 273 is used, and the fourth winch 274 is used to drive the long shaft 160 to rotate. The proximal ends of the first drive cable 251A and the second drive cable 251B of the first pair of cables 251 are wound on the first winch 271 in an opposite winding manner, and the third drive cable 252A and the fourth drive cable 252B of the second pair of cables 252 The proximal ends of the third pair of cables 253 are respectively wound on the second winch 272 in an opposite winding manner. The fifth driving cable 253A and the sixth driving cable 253B of the third pair of cables 253 are respectively wound on the third winch 273 in an opposite winding manner. The sixth drive cable 254A and the seventh drive cable 254B of the pair of cables are respectively wound on the fourth winch element 274 in opposite winding patterns.

The instrument box 270 also includes a decoupling mechanism for decoupling the coupling relationship between the third pair of cables 253 and the first pair of cables 251 and the second pair of cables 252 on the end effector 250 side. The decoupling mechanism includes a decoupling wheel 275 The decoupling wheel 275 and the third winch 273 are coaxially arranged with the sliding frame 276. The sliding frame 276 includes a support frame 2761 and guide wheels 2763 and 2764 provided at both ends of the support frame 2761. The first driving cable 251A and the third driving cable 252A are guided by the first guide part 2763 and then enter the long shaft 160 . The second driving cable 251B and the fourth driving cable 152B are guided by the second guide part 2764 and then enter the long shaft 160 . inside the shaft. The decoupling wheel 275 is used to drive the slave carriage 276 to change the length of the first pair of cables 251 and the second pair of cables 252 in the instrument box, thereby decoupling the connection between the third pair of cables and the first and second pairs of cables. coupling relationship.

As shown in FIG. 10B , when the third winch 273 rotates in the first direction (counterclockwise), the third winch 273 pulls the fifth driving cable 253B and simultaneously releases the fourth driving cable 253A, so that the wrist of the terminal instrument 250 220 rotates along the axis AA′ of the second pin 511 . Since the decoupling wheel 275 and the third winch 273 are coaxially arranged, when the decoupling wheel 275 rotates in the first direction, it releases the first decoupling cable 2765 and simultaneously pulls the second decoupling cable 2766 to pull the support frame 2761 of the carriage 276 Move along direction A in the instrument box 270, so that the lengths of the first driving cable 251A and the third driving cable 252A in the driving device are simultaneously reduced, and the lengths of the second driving cable 251B and the fourth driving cable 252B in the driving device are simultaneously reduced. Increase.

As shown in FIG. 10C , when the third winch 273 and the decoupling wheel 275 rotate together in the second direction opposite to the first direction, the entire decoupling process and the above-mentioned third winch 273 and the decoupling wheel 275 rotate in the first direction. The process is opposite, so the changes caused by the driving cable and the decoupling cable are also opposite to the above-mentioned movement in the first direction.

Therefore, the pitch movement of the end effector 250 requires changes in the wrapping angle lengths of the first driving cable 151A of the first pair of cables 251 and the third driving cable 152A of the second pair of cables on the fifth pulley 225 and the sixth pulley 226 respectively. The amount, as well as the change amount of the wrapping angle length of the second driving cable 151B and the fourth driving cable 152B on the seventh pulley 227 and the eighth pulley 228 respectively, are all caused by the first movement of the decoupling member 176 of the decoupling mechanism. A change in the length of the drive cable 151A and the third drive cable 152A within the drive device, and a change in the length of the second drive cable 152B and the fourth drive cable 152B within the drive device provide such that movement of the third pair of cables No longer limited by the first pair of cables and the second pair of cables, precise decoupling between the third pair of cables and the first and second pairs of cables is achieved.

After the above mechanical decoupling, the driving motor that drives the movement of the clamping part only drives the movement of the clamping part and does not need to participate in the decoupling movement. In other words, when the third motor 213c drives the wrist pitching motion of the surgical instrument, the third motor 213c drives the movement of the clamping part. 1. The second motors 213a and 213b can be stationary, so that the opening and closing angle of the clamping portion of the end effector remains unchanged. At this time, changes in the operating data of the first and second motors 213a and 213b that drive the clamping member (such as a sudden change in current) can only be caused by clamping to human tissue, so the clamping can be determined based on the operating data. The clamping force exerted to the human body tissue and providing force to the input device based on the clamping force feedback.

One embodiment of the present invention also provides an input device with force feedback. As shown in Figure 11A, the handle 1130 of the input device is rotationally connected to the wrist joint 1031. The handle 1130 includes a housing 1131 and a holding member 1133. The holding member 1133 Rotatingly mounted on the housing 1131, the housing 1131 also includes a handle 1132. When using the handle 1130, the operator holds the handle 1132 like a gun and holds the grip 1133 with his fingers.

As shown in Figures 11B and 11C, the handle 1130 also includes a force feedback device. The force feedback device includes a force feedback motor 1201, a transmission cable 1203 and a first sheave 1204. The force feedback motor 1201 is connected to the first sheave 1204 through the transmission cable 1203. . The bracket 1134 of the holding member 1133 is connected to the first sheave 1204 through the second sheave 1205. The second sheave 1205 and the first sheave 1204 are arranged on the same pin 1135, and the encoder 1207 is fixed on the first sheave. 1204, and is coaxially arranged with the first and second sheave 1204, 1205, for detecting the rotation angle of the first and second sheave 1204, 1205. In some embodiments, the first sheave 1204 and the second sheave 1205 may not be disposed on the same pin. For example, the first sheave 1204 and the second sheave 1205 may be disposed on different pins. The sheave 1204 and the second sheave 1205 are directly connected through a cable or gear.

The bracket 1134 is connected to the second sheave 1205 through a first actuation cable 1206a and a second actuation cable 1206b. The first and second actuation cables 1206a, 1206b extend along opposite sides of the bracket 1134. The first actuation cable 1206a and the second actuation cable 1206b extend along the opposite sides of the bracket 1134. One end of the cable 1206a and one end of the second actuation cable 1206b are respectively fixed on both sides of the bracket 1134. The first and second actuation cables 1205a and 1206b are wound around the second sheave 1205 in opposite ways, and the first and second actuation cables 1205a, 1206b are wound on the second pulley 1205 in an opposite manner, and the first and second actuation cables 1205a, 1206b are wound on the second pulley 1205 in an opposite manner. The other end of the moving cable 1206a and the other end of the second actuation cable 1206b are fixed on the second sheave 1205. In some embodiments, the first actuation cable 1206a and the second actuation cable 1206b extend in grooves in the side walls of the bracket 1134.

In one embodiment, the holding member 1133 is rotationally connected to the housing 1131 through a second pin 1136, and the second pin 1136 is parallel to the first pin 1135, so that when the holding member 1133 rotates, the first drive The cable 1206a and the second drive cable 1206b are not easily slipped out of the grooves in the side walls of the bracket 1133.

When the operator presses the grip 1133, the bracket 1133 of the grip 1133 rotates in the clockwise direction CW as shown in the figure. Under the pull of the first actuation cable 1206a, the second sheave 1205 rotates counterclockwise. When the operator pulls the grip The holding member 1133 rotates in the counterclockwise CCW direction around the second pin 1133, and the second actuation cable 1206b pulls the first sheave 1135 to rotate clockwise. Encoder 1207 can detect the second The sheave 1205 rotates to obtain the rotation angle of the grip 1133. The controller of the surgical system controls the opening and closing angle of the clamping portion of the end effector of the surgical instrument according to the rotation angle of the grip 1133.

In some embodiments, a compressed spring (not shown) is provided between the bracket 1134 of the grip 1133 and the housing 1131. After the operator releases the grip 1133, the spring recovers so that the grip 1133 moves in the reverse direction. The hour hand rotates in the CCW direction.

After the clamping part 260 of the surgical instrument clamps the human tissue R, the force exerted on the tissue R by the clamping action of the clamping part 260 is as shown in Figure 12. During the operation of clamping the human tissue, the surgical instrument interacts with The interaction force of human tissue is usually considered to be the clamping operation force, which can be decomposed into three-dimensional axial forces F _g , F _s , and F _t along the end tool coordinate system, where F _g represents the effect of the surgical instrument on human tissue. Tooth surface clamping force, F _s represents the radial tangential force, and F _t represents the axial tensile force. Since the first clamping part 261 and the second clamping part 262 in the clamping part 260 are individually controlled by cables, and both generate interactive forces during contact with human tissue, the three-dimensional axial force F _g , F _s and F _t are further decomposed into the tooth surface of the first clamping part 261 and are three-dimensional axial components F _g ′, F _s ′, F _t ′ and the tooth surface of the second clamping part 262 and are three-dimensional axial components. Component force F _g ″, F _s ″, F _t ″, the force decomposition relationship can be expressed by the following formula

in, Represents the vector form of force F _t , the same as the force vector and Represents vector force The scalar value of and

After the clamping parts 260 and 610 of the surgical instruments 150 and 250 are clamped to human tissue, the driving cable that drives the clamping part to move will be stretched and deformed, thereby causing the first motor 213a and the second motor 213a that drive the clamping part to rotate. The current of the motor 213b suddenly changes greatly, and after the above-mentioned mechanical decoupling, the first motor 213a and the second motor 213b no longer participate in the decoupling movement, and the two motors independently drive the first clamping part of the clamping part. and the second clamping member. A sudden change in the current of the two motors indicates that the clamping part is clamping the human tissue. By inputting the current change amount into the pre-stored "operating force of the clamping part - current change amount" Force feedback model, in which the operating force includes the clamping force of the clamping part, that is, the clamping force of the clamping part when clamping to the tissue can be obtained.

In one embodiment, the "operating force of the clamping part - current change" force feedback model also includes the clamping part The relationship between the tangential force F _s of the two clamping parts and the current change amount of the third motor 213c. After the clamping parts 260 and 610 of the surgical instruments 150 and 250 are clamped to human tissue, the clamping part can also be The two clamping parts 261 and 610 are subjected to a tangential force on the tooth surface, and the tangential force on the tooth surface is perpendicular to the above-mentioned clamping force. The existence of the tangential force on the tooth surface will cause a sudden change in the current of the third motor 213c, and the third motor will The current change of 213c is input into the force feedback model to obtain the tangential force on the tooth surface of the clamping force.

In some embodiments, a calibration device is used to calibrate the mathematical relationship between the current changes of the first motor 213a, the second motor 213b and the third motor 213c and the clamping force of the clamping part measured by the pressure sensor, and finally obtain according to the mathematical relationship. "Operation force of the clamping part - current change" force feedback model.

The force feedback motor 1201 provides a feedback force to the grip 1133 based on the detected clamping force of the clamping portion through currents passing through the first motor 213a and the second motor 213b. The clamping force of the clamping parts 240 and 610 is converted into the input current of the force feedback motor 1201. The force feedback motor 1201 outputs a corresponding resistance according to the input current. The resistance can be equal to the clamping force of the clamping parts 260 and 610, and also It can be proportional to the size of the clamping force. Since the first sheave 1204 and the second sheave 1205 are arranged on the same pin, the resistance output by the feedback motor 1201 will be transmitted to the holding member 1133 through the transmission cable 1203, the first sheave 1204 and the second sheave 1205, thereby The operator can feel the resistance provided by the feedback motor 1201 when operating the handle, so that the operator can intuitively feel the resistance when the end effector of the instrument clamps the tissue, making the operation safer.

In one embodiment, as shown in the handle 2130 in Figures 13A and 13B, the handle 2130 includes a housing 2131 and two holding parts 2133a, 2133b. The two holding parts 2133a, 2133b respectively pass through the two first pins 2134a. , 2134b is rotatably connected to the housing 2131, and the opening and closing angle of the clamping portion of the end effector of the surgical instrument can be controlled by pinching the two holding pieces 2133.

The handle 2130 also includes a force feedback device. The force feedback device includes a link assembly and a force feedback actuator 2201. The link assembly includes two first links 2201a and 2201b. One ends of the two first links 2201a and 2201b pass through respectively. The two second pins 2135a and 2135b are rotationally connected to the two holding pieces 2133a and 2133b, and the other ends of the two first links 2201a and 2201b are rotationally connected to one end of the second link 2202 through a third pin 2136. The other end of the second link 2202 is connected to the force feedback actuator 2201.

Similar to the above cable-driven embodiment, the controller of the force feedback device detects the clamping force of the clamping part through the current of the first motor 213a and the second motor 213b. The detected clamping force of the clamping part is converted into an input current of the force feedback brake 2201. The force feedback actuator inputs resistance to the holding clamps 2133a, 2133b through the connecting rod assembly according to the input current to facilitate the operation. Provides force feedback.

In one embodiment, the force feedback actuator 2201 is connected to the second link 2202 through the third link 2203. The second link 2202 moves in a straight line, and its movement direction is consistent with the first pins 2134a, 2134b, and the second link 2202. The pins 2135a, 2135b and the third pin 2136 are vertical, and the linear motion of the second link 2202 drives the movement of the third link 2203, thereby transmitting the motion of the second link 2202 to the force feedback actuator 2201, whereby the force The feedback actuator 2201 can detect the movement amount of the second link 2202, whereby the force feedback actuator 2201 detects the opening and closing angles of the gripping parts 2133a and 2133b.

In one embodiment, a spring 2205 is provided between the two holding parts 2133a and 2133b. After the operator releases the holding parts 2133a and 2133b, the spring 2205 provides an elastic restoring force, causing the two holding parts 2133a to ,2133b stay away from each other.

In one embodiment, the controller of the force feedback device detects the tangential force of the clamping part through the current of the third motor, and the controller of the force feedback device converts the detected clamping force of the clamping part into a force The input current of the feedback motor 1201 or the force feedback brake 2201 is fed back. The force feedback actuator inputs resistance to the grip 1133 or the grips 2133a, 2133b through the connecting rod assembly according to the input current, so as to provide the operator with a clip containing Force feedback of the tangential force of the holding part.

It can be understood that in some embodiments, other operating data of the first motor 213a and the second motor 213b can also be used to establish a mathematical model of the clamping force of the clamping part and the operating data. For example, the "clamping force of the clamping part" can be established. Mathematical models such as "Clamping force - rotational speed change", "Clamping force of the clamping part - Torque change", "Clamping force of the clamping part - Voltage change".

In one embodiment, the force feedback device provides force feedback for the grip 1133 according to a force feedback model related to the opening and closing angle of the grip 1133 . Specifically, the force feedback device enables a force feedback model based on whether the end effector of the surgical instrument is clamped to human tissue. For example, the surgical system pre-stores threshold currents related to the first motor 213a and the second motor 213b. When the force feedback device detects that the currents of the first motor 213a and the second motor 213b are greater than the first threshold current, the force feedback model is started. The force feedback model is related to the opening and closing angles of the grips 1133 and 2133 of the handle. When the controller of the force feedback device detects that the currents of the first motor 213a and the second motor 213b are greater than the first threshold current, Obtain the first rotation angle of the holding parts 1133, 2133 at this time, and obtain the second rotation angle of the holding parts 1133, 2133 after moving from the first rotation angle in real time, where the second rotation angle is smaller than the first rotation angle. The angle refers to the included angle between the center line of the holding member and the handle. Taking FIG. 11C as an example, the rotation angle refers to the included angle γ between the holding member 1133 and the center line X1 of the handle 1130 . The feedback motor 1201 or the force feedback actuator 2201 of the force feedback device provides feedback force to the gripper based on the first rotation angle and the second rotation angle of the gripper. Wherein, the feedback force is obtained based on the first rotation angle and the second rotation angle, that is, the first rotation angle and the second rotation angle are input into the force inverse model, thereby obtaining the feedback force. The force feedback model is as follows:
F _mg ＝k ₁ (θ _mg -θ _grip )+k ₂ (θ _mg -θ _grip ) ² +…+k _n (θ _mg -θ _grip ) ⁿ

In the above force feedback model, F _mg is the feedback force, θ _mg is the first rotation angle of the grip, θ _grip is the second rotation angle of the grip, k ₁ , k ₂ ,..., k _n represent constant coefficients. Under construction It is obtained by measurement and calibration during the molding process. The feedback motor 1201 or the force feedback actuator 2201 outputs a feedback force to the grip according to the feedback force F _mg .

The controller of the force feedback device can be placed in the input device, or can be set in the main console 10, or in the slave operating device 20. For example, the controller 2500 in the slave operating device 20 is used to realize the controller function of the force feedback device. It can be understood that What's more, the controller of the force feedback device can be placed anywhere in the surgical system.

In one embodiment, the force feedback device provides feedback force to the gripping member 1133 based on a force feedback model related to the opening and closing angles of the two gripping members of the gripping portions 260, 610 of the instrument. Specifically, when the controller of the force feedback device detects that the current of the first motor 213a and the second motor 213b is greater than the first threshold current, it obtains the first opening and closing angle of the clamping part at this time, and obtains the clamping angle in real time. The actual second opening and closing angle after the part moves from the first opening and closing angle, wherein the second opening and closing angle is smaller than the first opening and closing angle, and the opening and closing angle refers to the opening and closing angle between the two clamping parts of the clamping part. The opening and closing angle is zero when the clamping space is closed. The feedback motor 1201 provides feedback force to the handle based on the first opening and closing angle and the second opening and closing angle, that is, the first opening and closing angle and the second opening and closing degree are input into the force inverse model, thereby obtaining the clamping force of the clamping portion, The force feedback device outputs feedback force to the holding piece according to the clamping force. In this embodiment, the force feedback model is as follows:
F _ug ＝k ₁ (θ _ug -θ _tool )+k ₂ (θ _ug -θ _tool ) ² +…+k _n (θ _ug -θ _tool ) ⁿ

In the above force feedback model, F _ug is the clamping force of the clamping part, θ _ug is the first opening and closing angle of the clamping part, θ _tool is the second opening and closing angle, k ₁ , k ₂ ,..., k _n represent constant coefficients, which are obtained by measurement calibration during the modeling process. The feedback motor 1201 or the force feedback actuator 2201 outputs a feedback force to the gripper according to the clamping force _Fug .

It can be understood that in some embodiments, it can also be determined whether the clamping part of the instrument clamps the tissue by detecting other operating data of the first motor 213a and the second motor 213b, such as the first motor 213a and the second motor 213b. Operating data such as voltage, rotation speed, and torque are used to determine whether the clamping part of the instrument is clamping the tissue.

In one embodiment, the force feedback device provides the grips 1133, 2133 with a feedback force including a tangential force related to the clamping portion according to a force feedback model related to the pitch angle of the wrist 220. The surgical system pre-stores a second current threshold related to the third motor 213c. When the controller of the force feedback device detects that the current of the third motor 213c exceeds the second current threshold, it obtains the grips 1133, 2133 at this time. the third rotation angle, and obtain the fourth rotation angle of the holding parts 1133, 2133 after moving from the third rotation angle in real time, where the fourth rotation angle is smaller than the third rotation angle. The force feedback motor 1201 or the force feedback actuator 2201 of the force feedback device provides a feedback force including a tangential force to the gripper 1133, 2133 based on the third rotation angle and the fourth rotation angle. How to obtain the feedback force through the force feedback model and the third and fourth rotation angles of the holding member can be referred to the above embodiments, which will not be described again here.

In one embodiment, the force feedback device provides feedback force to the grips 1133, 2133 based on a force feedback model related to the pitch angle of the instrument's wrist 220, 410. Specifically, when the controller of the force feedback device detects that the current of the third motor 213c is greater than the second threshold current, it obtains the first pitch angle of the wrist 220, 410 at this time, and obtains the first pitch angle of the wrist from the wrist in real time. The actual second pitch angle after a pitch angle movement, wherein the first pitch angle is smaller than the second pitch angle. The force feedback motor 1201 or the brake 2201 provides feedback force to the grip based on the first pitch angle of the wrist and the second pitch angle of the clamping part. That is, the first pitch angle and the second pitch angle of the wrist are input into the force reaction model to obtain the tangential force of the clamping part. The force feedback device outputs a feedback force to the gripping part according to the tangential force of the clamp. In this embodiment The force feedback model is as follows:
F _vg ＝k ₁ (θ _vg -θ _wrist )+k ₂ (θ _vg -θ _wrist ) ² +…+k _n (θ _vg -θ _wrist ) ⁿ

In the above force feedback model, F _vg is the tangential force of the clamping part, θ _vg is the first pitch angle of the wrist, θ _wrist is the second pitch angle of the wrist, k ₁ , k ₂ ,..., k _n represent constant values Coefficients are obtained from measurement calibration during the modeling process. The feedback motor 1201 or the force feedback actuator 2201 outputs a feedback force to the grip according to the tangential force F _vg .

The technical features of the above-described embodiments can be combined in any way. To simplify the description, they are not All possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

The above-mentioned embodiments only express several implementation modes of the present application, and their descriptions are relatively specific and detailed, but they should not be understood as limiting the scope of the invention patent. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all fall within the protection scope of the present application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims (19)

A surgical system is characterized by including: A surgical instrument including a clamping portion; An input device, which includes a holding member used to control the opening and closing angle of the clamping portion; A driving device, which includes a first motor and a second motor, the first motor and the second motor being used to drive the clamping part to perform opening and closing actions; Controller, which is configured as: Obtain operating data of the first motor and the second motor; Determine whether operating data of the first motor and the second motor is greater than a first threshold; If the operating data is greater than the first threshold, obtain the first rotation angle of the holding member at this time; Obtain a second rotation angle of the holding member, and output a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle angle; Or, if the operating data is greater than the first threshold, obtain the first opening and closing angle of the clamping portion at this time; Obtain a second opening and closing angle of the clamping portion, and output a feedback force to the gripper based on the first opening and closing angle and the second opening and closing angle, wherein the second opening and closing angle is smaller than the third opening and closing angle. One opening and closing angle. The surgical system of claim 1, wherein the operating data of the first motor and the second motor include one of current, voltage, and rotational speed of the first motor and the second motor. kind. The surgical system according to claim 1, wherein the surgical instrument further includes a long axis and a wrist, the clamping part is rotationally connected to the wrist, and the wrist is connected to the long axis. The distal end is rotatably connected; the driving device includes a third motor for driving the wrist to perform a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain inactive. move to maintain the opening and closing angle of the clamping portion unchanged; The surgical system of claim 3, wherein the controller is further configured to: Obtain the operating data of the third motor; Determine whether the operating data of the third motor is greater than a second threshold; If the operating data of the third motor is greater than the second threshold, obtain the third rotation angle of the holding member at this time; Obtaining a fourth rotation angle of the holding member, and outputting a feedback force to the holding member based on the third rotation angle and the fourth rotation angle, the fourth rotation angle being smaller than the third rotation angle; The surgical system of claim 3, wherein the controller is further configured to: Obtain the operating data of the third motor; Determine whether the operating data of the third motor is greater than a second threshold; If the operating data of the third motor is greater than the second threshold, obtain the first pitch angle of the wrist at this time; Obtaining a second pitch angle of the wrist, and outputting a feedback force to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is smaller than the first pitch angle; The surgical system according to claim 3, wherein the surgical instrument is further housed in a plurality of winches and a decoupling mechanism in the instrument box, and the first and second winches of the plurality of winches are respectively used to receive The power input of the first and second motors, the first winch is connected to the clamping part through a first pair of cables, the second winch is connected to the clamping part through a second pair of cables, the The first pair of cables and the second pair of cables are wound around the decoupling mechanism. When the first motor drives the wrist to rotate, the decoupling mechanism moves to increase the number of the first pair of cables and the second pair of cables. The length of one pair of cables in the second pair of cables in the instrument box is reduced and the length of the other pair of cables in the instrument box is reduced, thereby maintaining the opening and closing angle of the clamping portion unchanged. The surgical system of claim 1, wherein the input device further includes an actuator and a link assembly, one end of the link assembly is connected to the actuator, and the other end is connected to the holding member. Connected, the actuator provides a feedback force to the gripping piece based on the clamping force and through the linkage mechanism. The surgical system of claim 7, wherein the linkage mechanism includes a first link and a second link, one end of the first link is rotatably connected to the handle, and the other end is connected to the handle. No. One end of the two connecting rods is rotationally connected, and the other end of the second connecting rod is connected with the actuator. The teleoperated surgical system of claim 1, wherein the input device includes a housing, an actuator, and a first pulley connected to the actuator, and the first pulley passes through a first The pin is rotationally connected to the housing, the first sheave and the holding member are connected through a first cable, and the actuator moves toward the holding member based on the clamping force and through the first cable. Provides feedback. A surgical system is characterized by including: Surgical instruments, including long axis, including proximal and distal parts; An end effector, which includes a wrist portion and a clamping portion, the wrist portion is rotationally connected to the distal portion, and the clamping portion is rotationally connected to the wrist portion; A driving device includes a plurality of motors, the first motor and the second motor of the plurality of motors are used to drive the clamping part to perform opening and closing actions, and the third motor of the plurality of motors drives the wrist part. When performing the pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping portion unchanged; a controller, said controller further configured to: Obtain operating data of the third motor; Determine whether the operating data of the third motor is greater than a pre-stored threshold; If the operating data of the third motor is greater than the threshold, obtain the first rotation angle of the holding member at this time; Obtain a second rotation angle of the holding member, and output a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle angle; Or, if the operating data of the third motor is greater than the threshold, obtain the first pitch angle of the wrist at this time; Obtaining a second pitch angle of the wrist, and outputting a feedback force to the grip based on the first pitch angle and the second pitch angle, wherein the second pitch angle is greater than the first pitch angle . A force feedback control method for a surgical system, characterized in that the remote operation surgical system includes a surgical instrument, an input device and a driving device, and the surgical instrument includes a clamping part; The input device includes a holding member, the holding member is used to control the opening and closing angle of the clamping portion; The driving device includes a first motor and a second motor, and the first motor and the second motor are used for Drive the clamping part to perform opening and closing actions; The methods include: Obtain operating data of the first motor and the second motor; Determine whether operating data of the first motor and the second motor is greater than a pre-stored threshold; If the operating data is greater than the threshold, obtain the first rotation angle of the holding member at this time; Obtaining a second rotation angle of the holding member, and outputting a feedback force to the holding member based on the first rotation angle and the second rotation angle, wherein the second rotation angle is smaller than the first rotation angle; Or, if the operating data is greater than the threshold, obtain the first opening and closing angle of the clamping part at this time; Obtain a second opening and closing angle of the clamping portion, and output a feedback force to the gripper based on the first opening and closing angle and the second opening and closing angle, wherein the second opening and closing angle is smaller than the first opening and closing angle. Opening and closing angle. A surgical system is characterized by including: Surgical instruments, including a long axis, which includes a proximal portion and a distal portion; An end effector, which includes a wrist portion and a clamping portion, the wrist portion is rotationally connected to the distal portion, and the clamping portion is rotationally connected to the wrist portion; A driving device includes a plurality of motors, a first motor and a second motor among the plurality of motors are used to drive the clamping portion to perform opening and closing actions, and a third motor among the plurality of motors is used to drive the The wrist performs a pitching action. When the third motor drives the wrist to perform a pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping portion unchanged; Input devices, including A holding member used to control the opening and closing angle of the clamping portion; A force feedback device coupled to the gripping piece, the force feedback device providing feedback force to the gripping piece based on the clamping force of the clamping part, the clamping force of the clamping part being based on Determined by the operating data of the first and second motors. The surgical system according to claim 12, wherein the force feedback device determines the clamping force of the clamping part based on the operating data of the first and second motors and the force feedback model, and determines the clamping force based on the force feedback model. The clamping force provides feedback force to the holding member. The surgical system of claim 13, wherein the force feedback model includes a relationship model between the operating data of the first and second motors and the clamping force of the clamping part. The remote operation surgical system of claim 14, wherein the force feedback model includes one of the current, voltage, and rotation speed of the first and second motors and the clamping force of the clamping part. model of the relationship between forces. The surgical system of claim 14, wherein the feedback device further provides feedback to the grip based on the tangential force of the clamp determined by operating data of the third motor. force. The surgical system of claim 16, wherein the force feedback model further includes a relationship model between operating data of the third motor and the tangential force of the clamping part. The surgical system of claim 12, wherein the surgical instrument further includes a plurality of winches and a decoupling mechanism contained in an instrument box, and the first and second winches of the plurality of winches are respectively used to receive The power input of the first and second motors, the first winch is connected to the clamping part through a first pair of cables, the second winch is connected to the clamping part through a second pair of cables, the The first pair of cables and the second pair of cables are wound around the decoupling mechanism. When the third motor drives the wrist to perform a pitching action, the decoupling mechanism moves to increase the number of the first pair of cables. and the length of one pair of the second pair of cables in the instrument box and reducing the length of the other pair of cables in the instrument box, thereby maintaining the opening and closing angle of the clamping portion unchanged. A surgical system is characterized by including: Surgical instruments, including long axis, including proximal and distal parts; An end effector, which includes a wrist portion and a clamping portion, the wrist portion is rotationally connected to the distal portion, and the clamping portion is rotationally connected to the wrist portion; The driving device includes a plurality of motors, the first motor and the second motor of the plurality of motors are used to drive the clamping part to perform opening and closing actions, and the third motor of the plurality of motors is used to drive the wrist part. When performing a pitching action, when the third motor drives the motor to perform a pitching action, the first and second motors can remain stationary to maintain the opening and closing angle of the clamping portion unchanged; Input devices, including A holding member used to control the opening and closing angle of the clamping portion; A force feedback device coupled to the gripping part, the force feedback device providing feedback force to the gripping part based on the tangential force of the clamping part, the tangential force of the clamping part being based on Determined by the operating data of the third motor.