CN114680953B

CN114680953B - Medical devices for manipulating surgical tools

Info

Publication number: CN114680953B
Application number: CN202011612535.6A
Authority: CN
Inventors: 林允中; 萧琇云; 何旻军
Original assignee: Bingshuosheng Medical Co ltd; Bingshuo Medical Singapore Pte Ltd
Current assignee: Bingshuo Medical Singapore Pte Ltd
Priority date: 2020-12-30
Filing date: 2020-12-30
Publication date: 2025-02-18
Anticipated expiration: 2040-12-30
Also published as: CN114931402A; CN114931402B; CN114680953A

Abstract

The invention discloses a medical device. The medical device comprises a parallel manipulator. The parallel manipulator has an end platform connected to a surgical tool and a base platform connected to a machine module. The machine module is connected to the surgical tool via a transmission shaft arranged between the end platform and the base platform.

Description

Medical device for manipulating surgical tools

Technical Field

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

Background

The parallel mechanism is capable of positioning and orienting the end platform in up to six or more degrees of freedom. The end platforms of the parallel mechanism may be used to support a medical device, such as a diagnostic device or a surgical tool. Because the end platforms of the parallel mechanism can be made extremely small, the mechanism can be used for both surgical procedures through large surgical openings and endoscopic procedures through small surgical openings or body bores.

The parallel mechanism is particularly suitable for use in surgical procedures by remote control, since the end platform can be maneuvered with high precision and dexterity. The mechanism is capable of adjusting the position of the end platform, making the mechanism suitable for medical applications requiring precise micro-motion. However, having a motor for controlling the surgical tool mounted on the end platform can cause additional weight and force to the end platform during operation. Additional weight and force can affect the response time and accuracy of the range/path of the operating plan. Therefore, to improve the accuracy of the medical device, it is desirable to minimize forces affecting the end platforms of the parallel manipulator.

Disclosure of Invention

In view of the foregoing, there is a need for a medical device having a drive shaft that solves the above-mentioned problems.

To achieve the above objects, one aspect of the present disclosure relates to a medical device including a parallel manipulator having an end platform, and a base platform mechanically coupled to the end platform, an adapter having a body detachably coupled to the end platform, and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke, a drive shaft rotatably supported by the end platform, the drive shaft having a drive yoke configured to transmit mechanical force to the receiving yoke, a flexible rod connected to the drive yoke, and a slider connected to the flexible rod, the shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably engaged to the slider.

Another aspect of the disclosure relates to a medical device including a parallel manipulator having an end platform, and a base platform mechanically connected to the end platform, a sensor system mechanically attached to the end platform, an adapter having a body and a receiving shaft rotatably supported by the body and configured to transfer the mechanical force to the receiving shaft, a drive shaft drivingly connected to the drive shaft and configured to transfer the mechanical force to the drive shaft, and a shaft motor.

According to one aspect of the present disclosure, a medical device can be provided that can improve the accuracy of the medical device by minimizing noise from the drive shaft.

Drawings

So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings. It is to be noted, however, that the appended drawings illustrate only typical embodiments of this disclosure and are therefore not to be considered limiting of its scope, for the disclosure may admit to other equally effective embodiments.

Fig. 1 illustrates a 3D representation of a medical device according to some embodiments of the disclosure;

FIG. 2 illustrates a cross-sectional view of a medical device according to some embodiments of the present disclosure;

FIG. 3 illustrates an exploded view of a medical device according to some embodiments of the present disclosure;

FIG. 4A illustrates a perspective view of a drive shaft according to some embodiments of the present disclosure;

FIG. 4B illustrates a cross-sectional view of a drive shaft according to some embodiments of the present disclosure;

FIG. 5 illustrates an exploded view of a drive shaft according to some embodiments of the present disclosure;

FIG. 6 illustrates an exploded view of an adapter according to some embodiments of the present disclosure;

FIG. 7 illustrates a perspective view of a machine module according to some embodiments of the present disclosure;

FIG. 8 illustrates an exploded view of a drive shaft, a parallel manipulator, and a machine module according to some embodiments of the present disclosure;

FIG. 9 illustrates a cross-sectional view of a drive shaft and a slider according to some embodiments of the present disclosure;

FIG. 10 illustrates a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure;

FIG. 11 illustrates a cross-sectional view of a force sensor according to some embodiments of the present disclosure;

Fig. 12 illustrates an exploded view of a force sensor according to some embodiments of the present disclosure.

Detailed Description

The present disclosure now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the disclosure are shown. This disclosure may, however, be embodied in many different forms and should not be construed as limited to the exemplary embodiments set forth herein. Rather, these exemplary embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. Like reference numerals refer to like elements throughout.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" or "comprising," when used herein, specify the presence of stated features, regions, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, regions, integers, steps, operations, elements, components, and/or groups thereof.

Unless defined otherwise, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

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

In some embodiments, the medical device 1 further comprises a housing 15, a handle 16, and a control module 17. The base platform 11-2 is mechanically attached to the housing 15 and houses a machine module 19, which machine module 19 is configured to manipulate movement of the plurality of arms 11-3, which in turn controls movement of the end platform 11-1. The machine module 19 includes a plurality of actuators for manipulating the plurality of arms 11-3 accordingly and a shaft motor for manipulating the drive shaft 12. The handle 16 allows a user to hold and manipulate the medical device 1 during operation. The control module 17 allows the user to trigger, stop or adjust the action of the surgical tool T1 or perform other functions of the medical device 1.

The parallel manipulator may be classified based on degrees of freedom, number of arms, joint order in each arm, and type of actuator. In some embodiments, the parallel manipulator may be a six-degree-of-freedom parallel manipulator having six degrees of freedom (6-DOF). In some embodiments, the plurality of arms 11-3 includes six arms. In some embodiments, each arm 11-3 has a first joint coupled to an actuator under the base platform 11-2, a second joint coupled to the end platform 11-1, and a third joint between the first joint and the second joint. In some embodiments, the parallel manipulator is a 6-PUS parallel manipulator. In one place

In some embodiments, the first joint is a prismatic joint (or, alternatively, a linear joint). In some embodiments, the second joint is a ball joint. In some embodiments, the third joint is a universal joint. Wherein, the universal joint adopts two rotation joints to form.

In some embodiments, the medical device 1 further comprises a first positioning unit 18-1 and a second positioning unit 18-2. The first positioning unit 18-1 and the second positioning unit 18-2 respectively comprise a plurality of markers for emitting electromagnetic signals, acoustic waves, heat or other perceptible signals, and an adapter for mounting the markers in a specific orientation/angle with respect to the body of the device. In some embodiments, markers and adapters are used in conjunction with the space sensor to implement a target tracking function during operation. The second positioning unit 18-2 may be provided in the region between the adapter 13 and the end stage 11-1. In some embodiments, the second positioning unit 18-2 is disposed on the end platform 11-1. In other embodiments, the second positioning unit 18-2 is disposed on the adapter 13. In other embodiments, the second positioning unit 18-2 is disposed on the tool T1.

Fig. 4A illustrates a perspective view of a propeller shaft in accordance with some embodiments of the present disclosure. Fig. 4B illustrates a cross-sectional view of a propeller shaft in accordance with some embodiments of the present disclosure. In some embodiments, the drive shaft 40 is rotatably supported by the end platform and slidingly engaged to the base platform. In some embodiments, drive shaft 40 includes a drive yoke 41 configured to transmit mechanical force to a surgical tool (i.e., surgical tool T1 in fig. 1), a flexible rod 42 (Pliable rod) connected to drive yoke 41, and a slider 43 connected to flexible rod 42. In some embodiments, the flexible rod 42 is a resilient structure. The flexible rod 42 structurally accommodates the applied force and returns to the original configuration when the force is removed. The flexible rod 42 is sufficiently stiff to withstand and transfer mechanical forces from the spindle motor. In one exemplary embodiment, the flexible rod 42 is a spring tube having multiple layers. In some embodiments, the flexible rod 42 has four layers (i.e., flexible rod 42 in fig. 4B). In some embodiments, the maximum distance between the end platform and the base platform is greater than the length of the flexible rod, and the minimum distance between the end platform and the base platform is substantially the same as the length of the flexible rod. In this way, the flexible rod is not subjected to pressure when the medical device is not in use.

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

On the other hand, when the distance between the end platform and the base platform is greater than the minimum distance, a portion of the slider is exposed between the end platform and the base platform. When the maximum distance between the end platform and the base platform is present, the amount of overlap between the slider and the drive shaft is not less than 5mm. However, in other embodiments, the amount of overlap between the slider and the drive shaft may be less than 5mm when at the maximum distance between the end platform and the base platform. In other words, the minimum amount of overlap between the slider and the drive shaft is no more than 5mm. During operation, forces may be applied to the flexible rod, resulting in deformation. The elasticity of the flexible rod allows it to deviate from the central axis of the slider by 30 ° and to return to a non-deformed shape upon removal of the applied force.

In some embodiments, the slider is substantially planar with respect to the base platform when the end platform and the base platform are at a minimum distance therebetween. Furthermore, the length of the flexible rod is substantially the same as the minimum distance between the end platform and the base platform. In other embodiments, the slider is moved from the base platform when the end platform and the base platform are at a minimum distance from each other

Extending. Furthermore, the length of the flexible rod is less than the minimum distance between the end platform and the base platform. In other embodiments, the slider is recessed from the base platform when the end platform and the base platform are at a minimum distance therebetween. Furthermore, the length of the flexible rod is greater than the minimum distance between the end platform and the base platform. But the flexible rod is in a normal state during the minimum distance between the end platform and the base platform. In some embodiments, the normal state of the flexible rod is a state in which the flexible rod is in a relatively unstressed state. Thus, the flexible rod maintains its original shape (i.e., without stretching, bending, or compressing) under normal conditions.

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

Fig. 5 illustrates an exploded view of a propeller shaft according to some embodiments of the present disclosure. In some embodiments, the drive yoke 41 and the slider 43 have through holes, respectively, into which the flexible rod 42 is inserted. To physically attach the flexible rod 42 to the drive yoke 41 and the slider 43, pins 41-21, 41-22, 43-21 and 43-22 are used, respectively. The pins 41-21 and 41-22 serve to press or press one end of the flexible rod 42 to the inner surface of the through hole of the drive yoke 41. In some embodiments, pins 41-21 and 41-22 are disposed orthogonal to each other. Thus, the flexible rod 42 may be disposed to be biased to one side of the drive yoke 41. The pins 43-21 and 43-22 serve to press or press the other end of the flexible rod 42 to the inner surface of the through hole of the slider 43. In some embodiments, pins 43-21 and 43-22 are disposed orthogonal to each other. Thus, the flexible rod 42 may be disposed to be biased to one side of the slider 43. While the flexible rod 42 may be off-center with respect to the drive yoke 41 and the slider 43, the orthogonal positioning of the pins 41-21, 41-22, 43-21, and 43-22 ensures that the flexible rod 42 is securely fixed to the drive yoke 41 and the slider 43 during operation.

In some embodiments, drive yoke 41 includes a protrusion 41-1 configured to transfer mechanical force to a receiving shaft of an adapter (i.e., adapter 13 in fig. 1). The protrusion 41-1 is configured to minimize contact with the receiving shaft of the adapter during operation to prevent noise from being generated on the adapter (i.e., to avoid the generation of unwanted force and moment inputs on the adapter).

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

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

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

In some embodiments, the adapter further comprises a first bearing 63 and a second bearing 64. In some embodiments, the first bearing 63 and the second bearing 64 are flange bearings, wherein an extension or lip on the outer race of the bearing is designed to aid in the mounting and positioning of the bearing. In some embodiments, the flange of the first bearing 63 is positioned on the surface of the base 61 facing the cover 62. In some embodiments, the flange of the second bearing 64 is positioned on a surface of the base 61 facing away from the cover 62.

In some embodiments, the adapter further comprises a retaining ring 65. In some embodiments, the retaining ring 65 is radially mounted on the groove 66-3 of the receiving shaft 66. The retaining ring 65 may be a C-ring. In some embodiments, the diameter of the receiving yoke 66-1 is greater than the diameter of the chuck 66-2. Thus, the diameter of the receiving yoke 66-1 is wider than the inner rings of the bearings 63 and 64. Bearings 63 and 64 may be sandwiched between a receiving yoke 66-1 and a retaining ring 65. Thus, the receiving yoke 66-1 and the retaining ring 65 serve to assist in the installation and positioning of the receiving shaft 66.

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

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

Fig. 8 illustrates an exploded view of a drive shaft, a parallel manipulator, and a machine module, according to some embodiments of the present disclosure. The axle motor 92 of the machine module is coupled to the axle base 91 of the parallel manipulator. In some embodiments, the rotor 92-1 of the spindle motor 92 is inserted into a recessed area of the spindle base 91. Drive shaft 94 is attached to rotor 92-1 and is configured to move in the same direction as rotor 92-1. The slide 93 of the drive shaft is slidingly engaged to the shaft motor 92. In some embodiments, the slider 93 is slidingly engaged to the drive shaft 94, wherein mechanical forces generated by the shaft motor are transferred to the slider 93 through the drive shaft 94. The slider 93 has a socket, and the cross-sectional shape profile of the drive shaft 94 is complementary in structure to the cross-sectional shape profile of the socket. The socket is configured to slide along the drive shaft 94. Further illustrations and related descriptions of the relationship between the drive shaft and the slide should be disclosed in fig. 9.

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

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

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

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

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

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

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

In other embodiments, the drive shaft and the slider have different structures for transmitting mechanical forces. The drive shaft has a protrusion. The slider has a groove corresponding to the protrusion. In the assembled medical device, the protrusions of the drive shaft are inserted into the grooves of the slider. The height of the recess is sufficient such that the protrusion remains in the recess when the slider slides off the drive shaft during operation. The protrusions are configured to slide along the corresponding grooves. Further, the drive shaft is configured to transfer mechanical force to the slider via protruding sidewalls of the drive shaft tangential to recessed inner sidewalls of the slider upon movement.

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

Fig. 10 illustrates a perspective view of a receiving shaft and a drive yoke according to some embodiments of the present disclosure. In some embodiments, the drive yoke 102 of the drive shaft has at least one protrusion 102-1. The at least one protrusion 102-1 extends from the body 102-2 of the drive yoke 102. In some embodiments, the protrusion 102-1 is cylindrical. The receiving shaft 101 has a receiving yoke 101-1. The receiving yoke 101-1 has a recess 101-2 that is complementary in structure to the at least one protrusion 102-1 of the drive yoke 102. In assembling the medical device, the top of the body 102-2 is inserted into the recessed area of the receiving yoke 101-1. During operation, the drive yoke 102 is configured to transfer mechanical forces to the receiving yoke 101-1 through the side walls of the protrusion 102-1 tangential to the inner side walls of the recess 101-2. In this way, contact between the receiving yoke 101-1 and the drive yoke 102 is minimized during operation to prevent unwanted noise from being generated by the drive yoke 102.

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

During operation, noise from the drive shaft is minimized as much as possible so that no problems arise in monitoring the movement of the surgical tool. In some embodiments, a sensor system may be used to monitor the surgical tool. Fig. 11 illustrates a cross-sectional view of a force sensor according to some embodiments of the present disclosure. Fig. 12 illustrates an exploded view of a force sensor according to some embodiments of the present disclosure. In some embodiments, the sensor system 110 is disposed between the end platform 130 and the adapter 120. The sensor system 110 is configured to measure the force of the adapter 120. The sensor system 110 has a through hole in which the receiving shaft 121 rotatably supported by the bearing 122 and the transmission shaft 140 rotatably supported by the bearing 131 meet.

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

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

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

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

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

Accordingly, one aspect of the present disclosure provides a medical device including a parallel manipulator having an end platform and a base platform mechanically coupled to the end platform, an adapter having a body detachably coupled to the end platform and a receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke, a drive shaft rotatably supported by the end platform, the drive shaft having a drive yoke configured to transfer mechanical force to the receiving yoke, a flexible rod coupled to the drive yoke, and a slider coupled to the flexible rod, and a shaft motor configured to generate mechanical force to drive the drive shaft, the shaft motor having a drive shaft slidably engaged to the slider.

In some embodiments, the medical device further comprises a sensor system disposed between the end platform and the adapter,

The sensor system is configured to measure a force on the adapter.

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

In some embodiments, the drive yoke has a protrusion and the receiving yoke has a recess that is complementary in structure to the protrusion. In some embodiments, the drive yoke is configured to transfer mechanical force to the receiving yoke through sidewalls of the protrusion tangential to the groove when in motion.

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

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

In some embodiments, the drive shaft has a protrusion and the slider has a recess corresponding to the protrusion. In some implementations

In an embodiment, the protrusion is configured to slide along the groove.

In some embodiments, the minimum amount of overlap between the drive shaft and the slider is not less than 5mm.

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

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

In some embodiments, the young's modulus of the drive shaft is different than the young's modulus of the slider, and the young's modulus of the slider is different than the young's modulus of the cylinder.

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

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

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

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

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

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

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

In some embodiments, the medical device further comprises a cylinder disposed on a central region of the base platform. The cylinder, the slider and the drive shaft are assembled in sequence within each other.

Those skilled in the art will readily recognize that many modifications and variations of the apparatus and methods are possible while maintaining the teachings of the present invention. Accordingly, the above disclosure should be construed as limited only by the metes and bounds of the appended claims.

Claims

1. A medical device comprising a parallel manipulator, an adapter, a drive shaft, and a shaft motor, the parallel manipulator having:

End platform, and

A base platform mechanically coupled to the end platform,

The adapter has:

A body detachably coupled to the end platform, and

A receiving shaft rotatably supported by the body, the receiving shaft having a receiving yoke, a drive shaft rotatably supported by the end platform, the drive shaft having:

a drive yoke configured to transfer mechanical force to the receiving yoke;

A flexible rod connected to the drive yoke, and

A slider connected to the flexible rod,

The spindle motor is configured to generate a mechanical force to drive the drive shaft, the spindle motor having a drive shaft slidably engaged to the slider.

2. The medical device of claim 1, further comprising:

A sensor system disposed between the end platform and the adapter, the sensor system configured to measure a force on the adapter.

3. The medical device of claim 2, wherein the sensor system comprises:

The force relay is provided with a plurality of force sensors, the force relay is detachably coupled to the adapter; and

A force sensor mechanically attached to the force relay and the end platform and configured to convert a force applied to the adapter into an electrical signal.

4. The medical device of claim 1, wherein the medical device comprises a plurality of medical devices,

The drive yoke having a protrusion and the receiving yoke having a recess complementary in structure to the protrusion,

The transfer yoke is configured to transfer the mechanical force to the receiving yoke through a sidewall of the protrusion tangential to the recess when in motion.

5. The medical device of claim 1, wherein the medical device comprises a plurality of medical devices,

The slide member is provided with a socket which,

The cross-sectional shape profile of the drive shaft is structurally complementary to the cross-sectional shape profile of the socket,

The socket is configured to slide along the drive shaft.

6. The medical device of claim 5, wherein the cross-sectional shape profile of the socket and the drive shaft is a polygonal shape profile.

7. The medical device of claim 1, wherein the medical device comprises a plurality of medical devices,

The drive shaft has a protrusion, and the slider has a recess corresponding to the protrusion,

The protrusion is configured to slide along the groove.

8. The medical device of claim 1, wherein a minimum amount of overlap between the drive shaft and the slider is not less than 5mm.

9. The medical device of claim 1, wherein the flexible rod comprises a spring tube having a plurality of layers.

10. The medical device of claim 1, further comprising:

A cylinder surrounding the slider;

The cylinder, the slider and the drive shaft are assembled in sequence within each other.

11. The medical device of claim 10, wherein the young's modulus of the drive shaft is different than the young's modulus of the slider and the young's modulus of the slider is different than the young's modulus of the cylinder.

12. The medical device of claim 10, further comprising a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.

13. The medical device of claim 1, wherein the flexible rod is in a normal state when at a minimum distance between the end platform and base platform.

14. A medical device comprising a parallel manipulator, a sensor system mechanically attached to an end platform, an adapter detachably coupled to the sensor system, a drive shaft, and a shaft motor,

The parallel manipulator has:

The end platform, and

A base platform mechanically coupled to the end platform,

The adapter has:

A body, and

A receiving shaft rotatably supported by the body,

The drive shaft is rotatably supported by the end platform and is configured to transmit mechanical force to the receiving shaft;

The spindle motor is drivingly connected to a drive shaft and configured to transfer the mechanical force to the drive shaft.

15. The medical device of claim 14, wherein the sensor system comprises:

A force relay detachably coupled to the adapter, and

A force sensor mechanically attached to the force relay and the end platform, the force sensor configured to convert a force applied to the adapter into an electrical signal.

16. The medical device of claim 15, wherein the force sensor is an annular load cell.

17. The medical device of claim 14, wherein the medical device comprises a plurality of medical devices,

The adapter also has a first bearing configured to rotatably attach the receiving shaft to the body, and

The end platform also has a second bearing configured to rotatably attach the drive shaft to the end platform.

18. The medical device of claim 14, wherein the drive shaft comprises:

a drive yoke configured to transfer the mechanical force to a receiving yoke;

a slider slidably coupled to the spindle motor, and

A flexible rod which is pressed onto the drive yoke and the slider.

19. The medical device of claim 18, further comprising:

A cylinder disposed on a central region of the base platform;

20. The medical device of claim 19, further comprising a lubricant applied to coat a surface of at least one of the barrel, the slider, and the drive shaft.