Driving assembly, surgical instrument system and surgical robot

Abstract

The invention relates to a driving assembly, a surgical instrument system and a surgical robot. The surgical robot comprises a mechanical arm and the surgical instrument system; the surgical instrument system comprises a surgical instrument and the driving assembly; the surgical instrument comprises an end effector, and the tail end of the mechanical arm is connected with the surgical instrument system; the driving assembly comprises a shell, a driving module, a measuring module and a fixed flange; the driving module comprises a driving motor and a driving shaft; the driving motor is accommodated in the shell; the driving motor is used for driving the end effector to move through the driving shaft; the fixed flange is connected with the driving shaft, and the fixed flange and the driving shaft are kept relatively static in the circumferential direction; the measuring module is used for obtaining the rotating variable quantity of the fixed flange so as to obtain the output torque of thedriving motor according to the rotating variable quantity of the fixed flange, and then the acting force borne by the end effector is obtained. According to the invention, the accuracy of tail end force detection is improved, and the difficulty and cost of force detection are also reduced.

Description

technical field [0001] The invention relates to the technical field of medical instruments, in particular to a driving assembly, a surgical instrument system and a surgical robot. Background technique [0002] Minimal invasive surgery refers to surgical operations performed by doctors using modern medical equipment such as abdominal and thoracoscopes and supporting instruments. Compared with open surgery, minimally invasive surgery has many advantages such as less trauma, less bleeding, and faster recovery, and has been more and more widely used in clinical operations. In recent years, with the development of science and technology and the improvement of medical needs, laparoscopic surgical robots for assisting minimally invasive surgery have emerged and developed rapidly. Modern medical equipment integrating large systems. [0003] The emergence of laparoscopic surgical robots overcomes many shortcomings of traditional minimally invasive surgery, has the advantages of saf...

AI Technical Summary

Problems solved by technology

[0004] Some existing surgical instruments add a force-sensing detection component at the end of the instrument, but the forceps at the end of the instrument have many degrees of freedom and the volume space is very limited (the diameter of the end of the instrument is usually less than 10mm). It is extremely difficult to arrange force sensing components

At the same time, since the surgical instruments must undergo strict disinfection treatment before each use, the disinfection environment can easily damage the force detection components at the clamp head

These factors lead to a sharp increase in the processing cost of this type of force-sensing surgical instrument, and the service life is very short

For this reason, in some existing design schemes, the force-sensing detection component is installed on the transmission component to detect the force on the end of the instrument, but the electrical signal of the force on the end of the instrument acquired by the force-sensing detection component needs to be transmitted through a conductor. The relative movement between the end parts of the device will wear the conductor, causing electrical signal transmission to induce reliability problems due to the life loss of the conductor, and also increase the cost of clinical use

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