CN101325920B - 模块化的力传感器 - Google Patents

模块化的力传感器 Download PDF

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CN101325920B
CN101325920B CN2006800463204A CN200680046320A CN101325920B CN 101325920 B CN101325920 B CN 101325920B CN 2006800463204 A CN2006800463204 A CN 2006800463204A CN 200680046320 A CN200680046320 A CN 200680046320A CN 101325920 B CN101325920 B CN 101325920B
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tube portion
equipment
surgical instruments
strain gauge
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CN101325920A (zh
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S·J·布卢门卡兰兹
D·Q·拉金
R·库马
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Intuitive Surgical Operations Inc
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Abstract

提供一种模块化力传感器设备、方法以及系统以改进力和扭矩的感测并将力和扭矩反馈给执行遥控机器人外科手术的外科医生。在一个实施例中，模块化力传感器包括含有多个应变计的管部分、可操作地耦连到外科器械的轴的近侧管部分以及接近耦连到与末端部分耦连的腕关节的远侧管部分，所述外科器械的轴可操作地耦连到机器人外科系统的操纵器臂。

Description

模块化的力传感器
技术领域
本发明一般地涉及外科机器人系统，并更具体地涉及用于感测施加于外科器械的力的改进的系统、装置以及方法。背景技术 
在机器人辅助外科手术中，外科医生典型地从可能远离病人的位置(举例来说，在手术室的对面，在不同的房间或者在与病人完全不同的建筑物内)操作主控制器以控制外科器械在外科部位的运动。主控制器通常包括一个或者多于一个的手输入装置，例如通过带有用于在外科部位铰接器械的位置和方向的伺服电机的控制器而可操作地耦连到外科器械的手持式腕万向节、操纵杆、外骨骼手套、手钻或者类似的装置。伺服电机典型地是电动机械装置或者外科操纵器臂(“从动装置”)的一部分，电动机械装置或者外科操纵器臂包括连接在一起以支撑和控制外科器械的多个关节、连杆装置等等，所述外科器械已直接地被引入显露的外科部位或者通过套管针套被插入体腔内的切口，例如病人的腹部。取决于外科程序，可用多种外科器械例如组织抓取器、针驱动器、电外科学的烧灼探测器等等，从而为外科医生执行各种功能，举例来说，收回组织、保持或者驱动针、缝合、抓取血管、或者解剖、烧灼或者凝结组织。外科医生在程序期间可以利用许多不同的外壳器械/工具。 
通过遥控操纵执行遥控机器人外科手术的这种新方法已经创造了很多新的挑战。其中一个挑战是提供给外科医生精确地“感觉”经由机器人操纵器正在由外科器械操纵的组织的能力。外科医生必须依赖由器械或者缝合施加的力的可见指示。为了通过系统手控或者通过例如视觉显示或者可听声音的其他装备将力和扭矩反馈到外科医生用户，感测施加到器械(例如机器人内窥镜外科器械的末端受动器(举例来说，夹钳、抓紧器、刀片等等))的顶端的力和扭矩是所期望的。来自在DLR的 G.Hirzinger实验室的用于这一目的的一个装置描述在Int’l Journalof Medical Robotics and Computer Assisted Surgery第1期第1卷第58页F.Cepolina和R.C.Michelini的“Review of Fixtures forLow-Invasiveness Surgery”中，其内容在此并入供各种参考。然而，该设计不利地将力传感器放置于腕关节的末端(或者外侧)，因此需要使电线或者光纤电缆的路径通过挠曲腕关节并且还需要使偏航和抓握轴位于分开的旋转轴上。 
执行外科手术典型地所期望的另一个问题是像相对小的器械那样在尽可能小的空间装配和定位末端受动器的机械动作所必要的电线。 
因此，所需要的是在病人的外科部位上远程控制外科器械的改进的遥控机器人系统和方法。特别地，这些系统和方法应该配置成将力和扭矩的准确反馈提供给外科医生以改进使用者的认知和器械的控制。发明内容 
本发明提供设备、系统以及方法用于改进外科医生执行机器人外科手术对力和扭矩的反馈与感测。在一个实施例中，模块化的力传感器包括含有多个应变计的管部分、可操作地耦连到外科器械的轴的近侧管部分以及接近耦连到与末端部分耦连的腕关节的远侧管部分，该外科器械的轴可能可操作地耦连到机器人外科系统的操纵器臂。 
轴向取向的应变计组经由模块化设备位于或者靠近接近(或者内侧)机器人外科器械的可移动腕的器械轴的远侧端，以感测在器械的远侧顶端的力和扭矩而没有由于顶端(例如可移动腕)结构的变化或者稳态温度变化产生的误差。 
有利地，本发明为外科医生改进了力和/或者扭矩的感测和反馈并且基本消除了使精密电线通过器械的柔性腕关节的问题。可以将力传感器设备作为独立的模块化元件进行生产、测试和校准并在常规的器械装配过程中将力传感器设备与其他的元件组装在一起。另外，可以选择与器械轴的材料不同的传感器结构构件的材料，器械轴的设计考虑因素可能折衷传感器所需的机械属性。 
发明的范围由并入本节供参考的权利要求限定。通过下面的一个或者多个实施例的详细描述将使本领域的技术人员获得对本发明的实施例的更完整的理解以及对其中附加优点的认识。将参考首先要简要描述的附图页。附图说明 
图1A是根据本发明的实施例的机器人外科系统和方法的透视图。 
图1B是根据本发明的实施例的图1中的机器人外科系统的机器人外科臂手推车系统的透视图。 
图1C是根据本发明的实施例的图1A中的机器人外科系统的主控制台的主透视图。 
图2是根据本发明的实施例包括可操作地耦连接近(或者内侧的)腕关节的模块化力传感器设备的外科器械的透视图。 
图3A是根据本发明的实施例的模块化力传感器设备的透视图。 
图3B说明了根据本发明的实施例可操作地耦连到外科器械的轴和末端部分的图3A的模块化力传感器。 
图3C说明了根据本发明的实施例带有覆盖部分模块化力传感器的保护盖的图3A的模块化力传感器。 
图4A是根据本发明的另一个实施例的模块化力传感器设备的内管的透视图。 
图4B是根据本发明的实施例的覆盖模块化力传感器设备的图4A的内管的外管/盖的局部截面图。 
图4C示出了根据本发明的实施例的模块化力传感器的图4B的内管和外管之间的插入材料和可操作地耦连到模块化力传感器的电线或者光纤电缆。 
图4D示出了根据本发明的实施例的可操作地耦连接近(或者内侧的)外科器械的腕关节的模块化力传感器设备的局部截面图。 
通过参考下面的详细描述，很好地理解本发明的实施例和它们的优点。应该明白，相同的参考数字用于表示在一个或者多于一个的图中 所示的相同的元件。也应该明白，这些图不一定是成比例绘制的。具体实施方式 
本发明提供了用于当为病人执行机器人辅助外科程序时感测施加到组织的力的多部件系统、设备以及方法，所述外科程序具体包括开放的外科程序、神经外科程序，例如立体定向技术和内窥镜程序比如腹腔镜检查、关节镜检查、胸腔镜检查以及类似的程序。本发明的设备和方法作为允许外科医生从远离病人的位置通过伺服机构操纵外科器械的遥控机器人外科系统的一部分是特别有用的。所以，本发明的操纵器设备或者从动装置通常将由具有六个或者更多自由度(举例来说，3个位置自由度而3个方向自由度)的运动学上等效的主控器驱动从而形成带有力反回的远程呈现系统。适当的从-主系统的描述可以在1995年8月21日申请的序号为08/517,053的美国专利申请中找到，该申请的整个公开在此并入供各种参考。 
具体参考附图，其中相同的数字代表相同的元件，根据本发明的实施例说明了机器人外科系统10。如图1A到1C所示，机器人系统10通常包括一个或者多于一个安装到或者靠近手术台O的外科操纵器组件51和位于外科医生的控制台90用于允许外科医生S观察外科部位并控制操纵器组件51的主控制组件。系统10也将包括一个或者多于一个的观察范围组件和适于可移动地耦连到操纵器组件51(下面更详细的讨论)的多个外科器械组件54。机器人系统10通常包括至少两个操纵器组件51并且优选地包括三个操纵器组件51。操纵器组件51的确切数目将取决于外科程序和手术室内的空间限制以及其他的因素。如下面详细阐述的，其中一个组件51将典型地操作观察范围组件(举例来说，在内窥镜检查程序中)以便观察外科部位，而其他的操纵器组件51操作外科器械54以便在病人P上执行各种程序。 
控制组件可以位于外科医生的控制台90，外科医生的控制台90通常位于与手术台O相同的房间以便外科医生可以与他/她的助手(们)通话并直接监视手术程序。然而，应该理解，外科医生S能够位于不同的房间或者在与病人P完全不同的建筑物内。主控制组件通常包括支撑、用于将外科部位的图象显示给外科医生S的监视器以及一个或者多于一个用于控制操纵器组件51的主控器。主控器(一个或多个)可以包括多种输入装置，例如手持式腕万向节、操纵杆、手套、板机枪、手动操作的控制器、声音识别装置等。优选地，将提供给主控器与关联的外科器械组件54相同的自由度从而给外科医生提供远程呈现、外科医生立即接近并专注于外科部位的感知、以及直观印象，主控器与器械54形成一体的感知，使得外科医生具有好象器械54是他的手的一部分似的直接且直观地控制器械54的强烈感觉。位置、力和触觉反馈传感器(未示出)也可被利用在器械组件54上从而当外科医生操作遥控机器人系统时将位置、力和触觉感知从外科器械传送回到他/她的手部。在1995年8月21日申请的序号为08/517,053的美国专利中描述了一种用于给操作者提供遥控呈现的适当系统和方法，该申请已在前面并入供参考。
监视器94将适当地耦连到观察范围组件，这样外科部位的图像被提供到接近外科医生控制台上的外科医生的手部。优选地，监视器94将在显示器上显示图象，设置显示器的方向使得外科医生感觉到他或者她实际上直接俯视在手术部位上。所以，虽然观测点(举例来说，内诊镜或者观察照相机)可能并不源于图象的视点，但是外科器械54的图象看上去像是大体位于操作者手部所在的位置。另外，实时图象优选地转换成立体图象，这样操作者能够操纵末端受动器和手动控制器好像以基本上真实呈现地观察工作空间。通过真实的呈现，意味着图象的呈现是模仿实际上操纵外科器械54的操作者的视点的真实立体图象。因此，控制器(未示出)将外科器械54的坐标转换为察觉的位置以便立体图象是倘若照相机或者内诊镜直接位于外科器械54后面时人们可以看到的图象。在1994年5月5日申请的序号为08/239,086的(现在美国专利号为5,631,973)的美国专利申请中描述了一种用于提供这个虚拟图象的适当坐标转换系统，该申请的整个公开在此并入供各种参考。 
提供伺服控制以便将主控器的机械运动传递到操纵器组件51。伺服控制可以从控制台90分离或者与控制台90集成在一起。伺服控制通常将力和扭矩反馈从外科器械54提供到手动操作主控器。另外，伺服控制可以包括安全监视控制器(未示出)从而安全地阻止系统操作或者至少抑制响应于识别的非期望状况的所有机器人运动(举例来说，对病人施加过大的力、失配的编码器读取等等)。伺服控制优选地具有3dB截止频率为至少10赫兹的伺服带宽以便系统能够迅速地并准确地响应外科医生行使的快速手动作而滤除非期望的外科医生手震动。为了有效地操作这个系统，操纵器组件51具有相对低的惯性，并且驱动电机具有相对低的变速轮或者滑轮耦连。任何适当的常规的或者专用的伺服控制都可以用于实施本发明，那些并入的力和扭矩反馈特别适用于系统的遥控呈现操作。 
参考图2，示出了根据本发明的实施例包括可操作地耦连到刚性轴110的远侧端并接近于腕关节121的模块化力传感器设备100的外科器械54的透视图。末端部分120，例如外科末端受动器，经由腕关节121耦连到力传感器设备100。外壳150可操作地耦连到刚性轴110的近侧端并且包括将器械54机械并电力地耦连到操纵器51的界面152。 
现在结合图1A-1C和图2参考图3A-3C，根据本发明的实施例将描述用于感测力和扭矩并将力和扭矩反馈给外科医生的改进的设备、系统以及方法。图3A示出了在一个实施例中包括管102的模块化力传感器设备100的透视图，该管102包括许多个(举例来说，3、4、6或者8个)安装到管102的表面并轴向取向(平行于管的纵向轴z)的应变计104(举例来说，104a和104b)。图3B示出了根据本发明的实施例可操作地耦连到外科器械的轴110和末端部分120的图3A的模块化力传感器设备100。图3C示出了包括覆盖管102的盖或者轴套113的模块化力传感器设备100的截面图。 
根据本发明的实施例，力传感器设备100是适于在离顶端的指定距离处作为腹腔镜外科器械54的轴110的一部分并入的可独立生产的模块，在顶端可能有带专用夹钳、切割装置或者其他的末端部分120的铰接腕。在一个实例中，管102可以由充分牢固的材料制成并且可以是线轴形状，包括带有在其之间下陷部分102a的末端部分102b、102c。应变计104可以安装在下陷部分102a的表面上。近侧管部分102c可操作地耦连到外科器械54的轴110并且远侧管部分102b可操作地耦连到腕关节121。在一个实例中，完整的力传感器设备的直径配合器械轴的直径， 因此允许器械的整个组件(包括耦连的力传感器设备)在没有附加摩擦或者阻碍的情况下通过套管或者密封件。 
力传感器设备100包括末端部分制动电缆或者杆的直通通道109。末端部分102b的末端特征108确保安全的安装和角度上对准主要的器械轴和器械的腕/夹钳/其他的末端部分子组件。引线或者光纤电缆116(举例来说，屏蔽双绞线、同轴电缆或者光纤)可以从应变计104嵌到管102的近侧管部分102c中的槽112和外科器械54的轴110中的匹配槽内。然后引线或者光纤电缆116可嵌入例如环氧树脂的胶粘灌注混合物。 
在一个实施例中，如图3C所展示的，盖113位于管102表面上的安装的应力计104和其他的电路元件之上并封装它们，从而提供传感器的机械保护。在一个实例中，盖113是套在下陷部分102a上的机械保护织物套并且由编织的树脂浸制玻璃纤维或者电屏蔽的金属编织物构成。 
如在2005年12月30日申请的序号为60/755,108的美国临时专利中公开的，该申请的内容已经在前面并入供参考，应变计104可以绕管102的圆周以一定间隔隔成圈(举例来说，120度间隔的3个计量器或者90度间隔的4个计量器)。用各种求和与差分的算术方法合并来自传感器的信号从而获得作用在器械顶端上的三个垂直力(举例来说，FX、FY 和FZ)和绕垂直于轴心线的两个轴(举例来说，x轴和y轴)的扭矩的测量值。根据本发明，当采用两组或两圈计量器时，力的测量独立于在器械的远侧端的铰接腕机构的方向和有效杠杆臂长。对末端部分120作用的力被力感测元件探测，经由询问器或者处理器可以将力传感器元件可操作地耦连到伺服控制器以便告知外科医生这些力(举例来说，经由主控器)。认识到通过在管上的不同轴位置添加第二圈类似取向的计量器(举例来说，两组3个计量器或者两组4个计量器)可以获得额外施加的力矩信息(举例来说，TX和TY)和消除力数据对器械腕长度、方向以及结果的夹钳距离的依赖。 
在一个实例中，可以使用各种应变计或应变计量器，包括但不限于常规的箔型电阻计、半导体计量器、使用布拉格光栅或者法布里-珀罗技术的光纤电缆型计量器或者其他的装置，例如应变感测表面声波(SAW) 装置。光纤电缆布拉格光栅(FBG)计量器可能是有优势的，因为两个感测元件可沿一个光纤以已知间距放置，从而仅需沿器械轴提供四个光纤。 
两种光纤技术都需要将光学编码的应变信息解码为与机器人外科系统的计算机控制硬件兼容的电信号的询问器部件。然后处理器可用于根据来自应变计/传感器的信号计算力。 
另外，可能是联合安装的无应变的计量器或者泊松应变计，这些计量器接近每个轴计量器以圆周方向定向且并入桥接制成的电路从而消除温度影响。应变计桥接电路以某一方式被制作成给出由作用在器械顶端夹钳上的横向力(FxFy)产生的弯曲载荷的最佳信号。 
对于电阻箔或者半导体应变计，诸如裸管芯运算放大器的有源元件和诸如次级电阻器或者电容器的无源元件可以以混合电路的方式附着接近由接合线或者光纤电缆或者厚膜电路线路连接的应变计从而放大、过滤和/或者调整计量器输出信号以抑制噪声源。光纤电缆计量器不需要这种元件。 
耦连力传感器设备100的外科器械54可以包括在器械轴110的近侧端的平行导电线路的圆周盘绕的绝缘挠性电路型辅助环，其准许器械轴大体自由旋转同时将输入计量器激励功率和输出计量器信号传送到器械54的固定外壳150。 
外壳150在一个实施例中经由无菌适配器接口152可操作地接合机器人操纵器臂51。均在2005年12月20日申请的序号为11/314,040的美国专利申请和序号为60/752,755的美国临时申请中公开了可应用的外壳、无菌适配器接口以及操纵器臂，这些申请的全部公开(包括其中作为参考并入的所有参考文献)在此并入供各种参考。可应用的轴、末端部分、外壳、无菌适配器以及操纵器臂可从California的Sunnyvale的Intuitive Surgical公司购买到。 
在优选的构造中，末端部分120具有一系列运动，包括俯仰和偏航运动、绕z轴旋转以及末端受动器的制动，其经由通过轴110的电缆和外壳150传递来自操纵器臂51的运动和电信号。末端部分120沿x、y和z轴的运动可以由操纵器臂51提供。例如在序号为6,331,181，6,491,701和6,770,081的美国专利中描述了驱动组件、臂、前臂组件、 适配器以及其他可应用的零件的多个实施例，这些申请的全部公开(包括其中作为参考并入的公开)在此并入供各种参考。 
注意根据本发明可以改进各种外科器械，包括但不限于带有和不带有末端受动器的工具，例如夹钳、剪刀、抓紧器、持针器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、血管夹施夹钳、切割刀片、灌注器、导尿管以及抽吸口。可替换地，外科器械可以包含用于除去、切除、切割或者凝结组织的电外科探测器。这种外科器械可以在市场上从California的Sunnyvale的Intuitive Surgical公司购买到。 
对于上面提到的方法和设备，使用校准过程可能是有优势的，在校准过程中力和扭矩的组合被连续地、同时地或组合地施加到器械顶端同时确定修正因数和偏差从而施加到用于结合计量器输出以获得Fx、Fy、Fz、Tx和Ty的理论方程。这种校准可以通过直接计算修正因数和偏差或者通过诸如嵌入在校准固定设备或者器械本身中的神经网络的学习系统来实现。在任何校准方法中，校准数据可被编程到嵌入在器械中的集成电路内以便使外科系统在器械使用时能够使用单独的器械来正确地识别和施加其修正因数和偏差。 
有利地，本发明的力传感器设备100可适用于机器人内窥镜外科器械的尺寸和形状约束并且适合于各种器械。因此，末端部分102b、102c可以形成各种可应用的形状和尺寸。更进一步，可以将力传感器设备100作为独立的模块化元件进行生产、测试和校准并在常规的器械装配过程中将力传感器与其他的元件组装在一起。而且，传感器可能是带有与器械轴上的触点配合的适当电触点的模块化上的滑动件，其准许较高价值的传感器与较低成本的有限循环寿命的器械一起使用。另外，传感器结构构件102可以由有利的材料构成，其可能是与器械轴110不同的材料，器械轴110的设计考虑因素可能折衷传感器所需的属性。 
现在参考图4A至图4D，说明了根据本发明的另一个实施例的模块化力传感器设备200。与上面关于图1-3所述的那些实施例基本相似的零件或者元件的描述可应用于关于图4A-4D的这个实施例中，尽管将省略多余的描述。 
图4A是根据本发明的实施例的模块化力传感器设备200的内管 218的透视图。内管218包括近侧凸起的末端部分218b和下陷部分218a。如上面关于图1-3所述的那样应变计可以安装在下陷部分218a的表面上。凸起的末端部分218b可以包括用于给来自应变计204的电线引线或者光纤电缆规定路线的槽112。 
图4B是覆盖内管218的外管214的局部截面图。在一个实例中，力传感器设备200的外管214是由能够封装在内管218和外管214之间的环形间隙内的应变计和其他电子器件的足够牢固材料制成的同心管状结构构件。在一个实施例中，同心管被刚性接合在接近近侧部分218b的近侧端，同时在靠近远侧部分的远侧端之间的狭窄环形间隙填充有防止腕和夹钳制动电缆或者杆的高变化轴向力被传送通过承载应变计的内管的弹性材料215。注意承载计量器的部分隔离管可能是外管也可能是内管。非隔离的一对管可以承载整个轴向电缆载荷。优选地，计量器可以放置在内管上从而使计量器与环境隔离。在这种实施例中，外管214承载轴的电缆力并且也准许外管提供机械保护并可能用作对内管218上的计量器204的EMI屏蔽。 
图4C突出显示了在模块化力传感器设备200的内管218和外管214之间的弹性材料215和可操作地耦连到计量器204的电线或者光纤电缆216。图4D示出了根据本发明的实施例的可操作地耦连接近外科器械的腕关节221的模块化力传感器设备200的局部截面图。来自应变计204的引线216(举例来说，屏蔽双绞线、同轴电缆或者光纤电缆)可以嵌到管218的近侧管部分218b中的槽212和外科器械的轴210中的匹配槽内。然后引线216可能嵌入诸如环氧树脂的粘性灌注混合物。 
在一个实例中，如果外传感器承载管被安装固定在后部机构外壳，电线路线可以简化到不需要旋转关节辅助环。 
有利地，弹性材料的相对剪切和压缩特性能实现这种设计构想。低剪切模量的适当弹性材料215准许电缆载荷承载管关于传感器承载管(如上所提到的仅在管的一端刚性连接)的相对压缩和延伸。因此，电缆载荷和载荷变化不影响传感器。另一方面，限定在两个相对刚性表面(其中表面之间的间隙与表面的区域相比是小的)之间的弹性材料在垂直于限定表面的方向上(在这个例子中即在组合环形管结构的径向方向上)表 现为几乎不能压缩的刚性连接。这使得在轴向载荷管所承载的弯矩被传送到传感器管并由传感器管分担。因此，传感器管能够在没有来自由其他管承载的较高变化的轴向电缆载荷的严重干扰或者“噪声”的情况下有利地探测由横向载荷产生在器械腕和夹钳的弯矩。有利地，在内窥镜外科器械力传感器中的载荷承载构件的解耦使非期望的夹钳制动器腱力能够从力传感器上期望的横向夹钳载荷所致的弯矩中分离出来。 
可替换地，可以通过在管的未连接末端之间的环形间隙中插入较刚性低摩擦材料的环形圈以实现很紧密的配合从而获得在一端使传感器承载管从电缆载荷承载管中轴向解约束的期望效果，因此准许相对的轴向运动而传送与由于横向顶端力产生的弯矩相关联的横向运动。另一个可选择的方法是使管带有很紧密的配合并且对在远侧端的一个或者两个表面施加低摩擦涂层。然而，这些可选择的方法可能造成传感器响应中的小死区，传感器响应取决于获得可靠的配合的紧密程度。内管和外管的热膨胀系数也必须匹配否则当加热或者冷却时所需的紧密配合可能粘合在一起。 
也应该理解，可以潜在地通过交替的轴向指状构件实现上述的由同心管所实现的相同解耦效果，指状构件的半部分(或者一些数量)承载轴向电缆载荷同时交替的(或者剩余的)部分承载弯曲载荷。再次，这些构件可以在近侧端被刚性连接同时在远侧端在轴向方向上被解耦。 
上述的实施例说明了本发明而不是限制该发明。也应该理解，根据本发明的原理许多的修改和变化是可能的。例如，应变计的数目和它们的结构可以变化，但必须考虑可应用的力和扭矩确定。因此，发明的范围仅由所附的权利要求限定。 

Claims (28)

1.一种模块化力传感器设备，其包含：
管，该管包括近侧管部分、远侧管部分和在所述近侧管部分与所述远侧管部分之间延伸的第三管部分，
其中所述近侧管部分被配置为可操作地耦连到外科器械的轴，所述外科器械的所述轴被配置为可操作地耦连到机器人外科系统的操纵器臂；
其中所述远侧管部分被配置为支持安装所述外科器械的腕关节到所述管的远端，且所述腕关节被耦连到所述外科器械的末端部分，且
其中所述第三管部分包括多个应变计，并且所述第三管部分相对于所述近侧管部分是下陷的；以及
覆盖所述多个应变计的盖；
其中当安装到所述外科器械的轴上时，所述模块化力传感器设备被定位在所述外科器械的远侧部分。
2.如权利要求1所述的设备，其中所述第三管部分包含与所述外科器械的所述轴的材料不同的材料。
3.如权利要求1所述的设备，其中所述多个应变计包括四个一组的两组八个应变计，每组中的每个所述应变计绕所述第三管部分间隔90度放置。
4.如权利要求1所述的设备，其中所述多个应变计包括三个一组的两组六个应变计，每组中的每个所述应变计绕所述第三管部分间隔120度放置。
5.如权利要求1所述的设备，其中所述多个应变计包括绕所述第三管部分间隔90度放置的四个应变计。
6.如权利要求1所述的设备，其中所述多个应变计包括绕所述第三管部分间隔120度放置的三个应变计。
7.如权利要求1所述的设备，其中每个应变计沿平行于所述第三管部分的纵向轴线的轴线与另一个应变计对齐。
8.如权利要求1所述的设备，其中每个所述应变计的主要应变感测方向平行于所述第三管部分的纵向轴线被定向。
9.如权利要求1所述的设备，其中所述多个应变计选自由光纤电缆型应变计、箔型应变计、表面声波型应变计以及半导体型应变计组成的组。
10.如权利要求1所述的设备，其中应变计选自由法布里-珀罗应变计和光纤布拉格光栅应变计组成的组。
11.如权利要求1所述的设备，其中所述盖由从由玻璃光纤、树脂以及电屏蔽组成的组中选出的材料构成。
12.如权利要求1所述的设备，其中所述近侧管部分包括对准所述第三管部分的纵向轴线的多个槽。
13.如权利要求1所述的设备，其中所述腕关节的偏航轴线和所述末端部分的抓取轴线相同。
14.如权利要求1所述的设备，其中所述外科器械的所述末端部分选自由夹钳、剪刀、抓紧器、持针器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、血管夹施夹钳、切割刀片、烧灼探测器、灌注器、导尿管以及抽吸口组成的组。
15.一种模块化力传感器设备，其包含：
内管，其包括：
具有多个应变计的管部分，
可操作地耦连到外科器械的轴的近侧管部分，其中所述外科器械的所述轴被配置为可操作地耦连到机器人外科系统的操纵器臂；和
远侧管部分；以及
覆盖所述内管的外管，
其中所述外管固定地耦连到所述近侧管部分，
其中所述外管被配置用于安装所述外科器械的腕关节到所述外管的远端，
其中所述腕关节被耦连到所述外科器械的末端部分，以便当所述模块化力传感器设备被安装到所述外科器械的所述轴上时，所述模块化力传感器设备被定位在所述外科器械的远侧部分，并且
其中所述外管可操作地耦连到所述内管的所述远侧管部分，以便所述多个应变计在大体不干扰来自所述外管的轴向载荷的情况下感测横向载荷。
16.权利要求15所述的设备，其中所述外管经由弹性材料可操作地耦连到所述远侧管部分。
17.权利要求15所述的设备，其中所述外管经由包括低摩擦材料的环形圈可操作地耦连到所述远侧管部分。
18.权利要求15所述的设备，其中所述外管经由低摩擦涂层可操作地耦连到所述远侧管部分。
19.权利要求15所述的设备，其中所述管部分由与所述外科器械的所述轴的材料不同的材料构成。
20.权利要求15所述的设备，其中所述多个应变计包括四个一组的两组八个应变计，每组中的每个所述应变计绕所述管部分间隔90度放置。
21.权利要求15所述的设备，其中所述多个应变计包括三个一组的两组六个应变计，每组中的每个所述应变计绕所述管部分间隔120度放置。
22.权利要求15所述的设备，其中所述多个应变计包括绕所述管部分间隔90度放置的四个应变计。
23.如权利要求15所述的设备，其中所述多个应变计包括绕所述管部分间隔120度放置的三个应变计。
24.如权利要求15所述的设备，其中所述多个应变计选自由光纤电缆型应变计、箔型应变计、表面声波型应变计以及半导体型应变计组成的组。
25.如权利要求15所述的设备，其中应变计选自由法布里-珀罗应变计和光纤布拉格光栅应变计组成的组。
26.如权利要求15所述的设备，其中所述外管由从由玻璃光纤、树脂以及电屏蔽组成的组中选出的材料构成。
27.如权利要求15所述的设备，其中所述外科器械的所述末端部分选自由夹钳、剪刀、抓紧器、持针器、微型解剖器、U形钉施夹钳、缝合器、抽吸注入工具、血管夹施夹钳、切割刀片、烧灼探测器、灌注器、导尿管以及抽吸口组成的组。
28.如权利要求15所述的设备，其中所述近侧管部分包括对准所述管部分的纵向轴线的多个槽。
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US9526583B2 (en) 2016-12-27
US20230414301A1 (en) 2023-12-28
US20150374453A1 (en) 2015-12-31
US7930065B2 (en) 2011-04-19
US9241769B2 (en) 2016-01-26
CN101325920A (zh) 2008-12-17
US20150245881A1 (en) 2015-09-03
US11135023B2 (en) 2021-10-05
US9039685B2 (en) 2015-05-26
US9101380B2 (en) 2015-08-11
US20110224684A1 (en) 2011-09-15
US20110224688A1 (en) 2011-09-15
US9060793B2 (en) 2015-06-23
US9066739B2 (en) 2015-06-30
US20110224686A1 (en) 2011-09-15
US20110224825A1 (en) 2011-09-15
US20220047341A1 (en) 2022-02-17
US9084624B2 (en) 2015-07-21
US20110224687A1 (en) 2011-09-15
US20070156019A1 (en) 2007-07-05
US20110224689A1 (en) 2011-09-15
US9883914B2 (en) 2018-02-06
US11712312B2 (en) 2023-08-01
US9125679B2 (en) 2015-09-08
US20180193100A1 (en) 2018-07-12

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