WO2022262791A1 - Robotic arm and introducer assembly, and surgical robot system and control method - Google Patents

Robotic arm and introducer assembly, and surgical robot system and control method Download PDF

Info

Publication number
WO2022262791A1
WO2022262791A1 PCT/CN2022/099066 CN2022099066W WO2022262791A1 WO 2022262791 A1 WO2022262791 A1 WO 2022262791A1 CN 2022099066 W CN2022099066 W CN 2022099066W WO 2022262791 A1 WO2022262791 A1 WO 2022262791A1
Authority
WO
WIPO (PCT)
Prior art keywords
surgical robot
joint
joint part
protrusion
robot according
Prior art date
Application number
PCT/CN2022/099066
Other languages
French (fr)
Chinese (zh)
Inventor
陈功
蒋友坤
Original Assignee
上海微创医疗机器人（集团）股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海微创医疗机器人（集团）股份有限公司 filed Critical 上海微创医疗机器人（集团）股份有限公司
Publication of WO2022262791A1 publication Critical patent/WO2022262791A1/en

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots

Definitions

  • the present application relates to the technical field of medical devices, in particular to a mechanical arm and a passer assembly, a surgical robot system and a control method.
  • the threader is generally mounted on the robotic arm through a mechanical structure, and there is a risk of loosening. Once the threader is loose, the movement of the robotic arm will drive the threader to move on the patient's body surface, causing trauma to the patient in the lightest cases, and even causing out-of-control movement of surgical instruments in severe cases.
  • a surgical robot including:
  • a mechanical arm the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer;
  • a monitoring device at least partially disposed at the first junction or the second junction and configured to acquire a signal of interest
  • a control module communicatively connected with the monitoring device, configured to determine whether the second joint is effectively connected to the first joint according to the target signal.
  • the target signal includes an electrical signal, or the target signal includes distance information or pressure information between the second joint part and the first joint part after they are connected.
  • control module judges whether the second joint is effectively connected to the first joint according to the continuity and/or stability of the target signal.
  • the first engaging portion includes a base and an engaging mechanism
  • the base is provided with an engaging groove
  • the engaging mechanism is at least partially disposed in the engaging groove
  • the detection portion is disposed on the engaging groove.
  • the second engaging part includes a protrusion for inserting into the engaging groove and matingly connected with the engaging mechanism.
  • the engaging mechanism includes an operating part and an assembling part, and the engaging mechanism is configured to drive the assembling part to separate from the protrusion when the operating part is acted on by an external force; When cancelled, the fitting portion fits the protrusion in the engagement groove.
  • the fitting part includes a buckle and a first elastic member, and the buckle is used to engage with the protrusion;
  • the engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the buckle to move, and separates the buckle from the protrusion, and at the same time, the elastic member stores elastic potential energy ; when the external force is canceled, the elastic member releases the elastic potential energy and drives the buckle to move to connect with the protrusion.
  • the engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the magnetic body to move away from the protrusion, so that the magnetic force received by the protrusion decreases, and at the same time
  • the second elastic member stores elastic potential energy; when the external force is canceled, the second elastic member releases the elastic potential energy and drives the magnetic body to move in a direction close to the bump, so that the bump The magnetic force experienced by the block increases.
  • the operation part includes an operation area and a wedge-shaped force transmission surface; the operation area is used to receive external force, and the wedge-shaped force transmission surface is in contact with the assembly part and used to transmit the external force to the assembly part to The fitting portion is urged to separate from the bump.
  • the assembly part is arranged in the main groove; the operating part is partially arranged in the operation channel and can move along the operation channel; the wedge-shaped force transmission surface extends into the main groove and is in contact with The fittings are in contact.
  • the joint mechanism further includes a partition, which is arranged in the main tank body and divides the main tank body into a first slot section and a second slot section; the first slot section is used for accommodating the The protrusion; the fitting part is accommodated in the second slot section; the operation channel communicates with the second slot section.
  • the first engaging portion includes a hoop body and a fastener, and the fastener is disposed on the hoop body and is used to form the first engaging portion into a closed loop; when the When the second joint part is inserted into the closed ring, and the second joint part is effectively connected with the first joint part, the hoop body presses the second joint part in the radial direction;
  • the detection part is arranged on the hoop body.
  • the present application also provides a surgical robot system, including a passer and the aforementioned surgical robot; the passer is provided with a second joint for connecting with the mechanical arm .
  • the present application also provides a mechanical arm assembly, including
  • Step S110 Obtain a target signal representing the connection status of the robotic arm and the threader
  • Step S120 judging whether the threader is effectively connected to the mechanical arm through the target signal, if yes, then execute step S130, if not, then do not allow the mechanical arm to move after an alarm;
  • the surgical robot of the present application includes a mechanical arm, a monitoring device and a control module, wherein the distal end of the mechanical arm is provided with a first joint, and the first joint is used to connect with the second joint on the passer
  • the monitoring device includes a detection part, the detection part is arranged at the first joint part, and is used to obtain the target signal; the control module is connected to the monitoring device in communication, and is used to judge the target signal according to the target signal. Whether the second joint part is effectively connected to the first joint part.
  • the surgical robot when used to perform a surgical operation, it can monitor the connection state of the second joint part and the first joint part in real time, so that the connection state between the second joint part and the first joint part can be monitored in real time.
  • the connection is effective, the operator is further prompted or the surgical operation is directly suspended to improve surgical safety.
  • Fig. 1 is a schematic diagram of an application scenario of a surgical robot system provided by the present application according to an embodiment
  • Fig. 2 is a schematic diagram of a doctor's console of a surgical robot system provided by the present application according to an embodiment
  • Fig. 3 is a schematic diagram of a surgical robot in a surgical robot system according to an embodiment of the present application when performing surgery;
  • Fig. 4 is a schematic diagram of an image display device of a surgical robot system according to an embodiment of the present application.
  • Fig. 5 is a schematic diagram of a partial structure of a surgical robot provided by the present application according to an embodiment
  • Fig. 6 is an enlarged schematic view of A of the surgical robot system shown in Fig. 5;
  • Fig. 7 is a schematic diagram of the overall structure of the first joint on the robotic arm of the surgical robot system according to an embodiment of the present application
  • Fig. 8 is a schematic structural view of a passer of a surgical robot system according to an embodiment of the present application.
  • Fig. 9 is a flow chart of the operation performed by the surgical robot system provided by the present application according to an embodiment
  • Fig. 10 is a cross-sectional view of the robotic arm of the surgical robot system provided by the present application according to an embodiment when it is connected to the passer, the figure shows that the switch of the monitoring device is set in the joint groove;
  • Fig. 11 is a schematic diagram of the overall structure of the first joint at the distal end of the robotic arm of the surgical robot system according to another embodiment of the present application;
  • Fig. 12 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application.
  • Fig. 13 is a partial structural schematic diagram of the threader shown in Fig. 12;
  • Fig. 14 is a schematic diagram of the connection relationship between the robotic arm and the passer of the surgical robot system according to another embodiment of the present application, in which the switch of the monitoring device is set in the joint groove;
  • Fig. 15 is a B-B sectional view of the first joint portion of the mechanical arm shown in Fig. 14;
  • Fig. 16 is a cross-sectional view of the robotic arm of the surgical robot system according to another embodiment of the present application when it is connected to the passer, and the monitoring device is not shown in the figure;
  • Fig. 17 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application.
  • Fig. 18 is a schematic diagram of the connection between the robotic arm assembly and the passer according to still another embodiment of the present application, and the monitoring device is not shown in the figure.
  • Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification.
  • the present application can also be implemented or applied through other different specific implementation modes.
  • Various details in this specification can also be modified or changed based on different viewpoints and applications, and without departing from the spirit of this application.
  • the diagrams provided in this embodiment are only schematically illustrating the basic idea of the application, and only the components related to the application are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the layout type of the components may also be more complicated.
  • each embodiment of the content described below has one or more technical features.
  • this does not mean that the applicant must implement all the technical features in any embodiment at the same time, or only implement part or all of the technical features in different embodiments separately.
  • those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the application and depending on design specifications or implementation requirements, Or selectively implement a combination of some or all of the technical features of multiple embodiments, so as to increase the flexibility of implementing the present application.
  • the singular forms “a”, “an” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless the content clearly states otherwise.
  • the term “or” is generally employed in its sense including “and/or” unless the content clearly dictates otherwise.
  • the terms “installation”, “connection” and “connection” should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct Connected, can also be indirectly connected through an intermediary, can be the internal communication of two elements or the interaction relationship between two elements.
  • FIG. 1 shows a schematic diagram of an application scenario of a surgical robot system according to an embodiment of the present application
  • Fig. 2 shows a schematic diagram of a doctor's console of the surgical robot system
  • Fig. 3 shows a schematic diagram of the surgical robot system A schematic diagram of a surgical robot when performing surgery
  • FIG. 4 shows a schematic diagram of an image display device of the surgical robot system.
  • the surgical robot system includes a control end and an execution end.
  • the control terminal includes a doctor console 10 .
  • the execution end includes a surgical robot 20 and an image display device 30 .
  • the doctor console 10 includes a main operator 11 .
  • the surgical robot 20 includes a plurality of mechanical arms 100, at least one of which is used to mount an image acquisition device, and at least one of which is used to mount a surgical instrument 1 (as shown in FIG. 5 ).
  • the image acquisition device is used for inserting into the patient's body and providing surgical field information.
  • the surgical instrument 1 is intended to be inserted into the body of a patient and to perform surgical operations mainly within the surgical field of view.
  • the image display device 30 is communicatively connected with the image acquisition device to receive and display the surgical field of view information.
  • a master-slave control relationship is formed between the master operator and the robotic arm 100 . That is, during the operation, the operator uses both hands to control the main operator 11 to control the movement of the mechanical arm 100 according to the surgical field of view information acquired by the image acquisition device at the doctor's console 10, and then controls the movement of the mechanical arm 100.
  • the above-mentioned surgical instrument 1 executes relevant movement instructions of the master operator to complete various operations.
  • doctor's console 10 is also provided with a pedal control part 12, and the operator can complete the input of related operations such as electric cutting and electrocoagulation by pedaling.
  • the present application does not limit the configuration of the robotic arm 100 , which may be a mechanical fixed-point robotic arm or an active fixed-point robotic arm.
  • the surgical robot system further includes a passer 200 , which is connected to the distal end of the robotic arm 100 , penetrates the patient's body surface, and provides an access channel.
  • the surgical instrument 1 or the image acquisition device enters the patient's body through the access channel provided by the introducer 200 .
  • the connection state of the introducer 200 and the mechanical arm 100 has a very important influence on the smooth progress of the operation. Specifically, when the introducer 200 is effectively connected with the robotic arm 100 , the operator can perform surgical operations. However, when the introducer 200 is not effectively connected with the mechanical arm 100 , the operator may cause injury to the patient if the operator still performs the operation.
  • the "effective connection” mentioned here means that the introducer 200 is stably connected with the robotic arm 100, and there is no looseness or shaking between the two.
  • the threader 200 is not effectively connected to the robotic arm 100, which means that the threader 200 is not connected to the robotic arm 100, or although the threader 200 is connected to the on the mechanical arm 100, but there is looseness and shaking between the two.
  • the purpose of the embodiments of the present application is to provide a surgical robot system that can automatically monitor whether the introducer 200 is effectively connected to the mechanical arm 100 , so as to improve the safety of surgery.
  • the mechanical arm and the threader In order to ensure the effective connection between the mechanical arm and the threader, the mechanical arm and the threader not only achieve a stable mechanical assembly structure, but also realize electrical signal indication.
  • the electrical signal indication is used to indicate that the mechanical assembly between the robotic arm and the passer is in an effective connection state.
  • the surgical robot system also includes a monitoring device 300 (marked in Figure 10 and Figure 14 ) and a control module (the control module can be located at the doctor's console 10, or at the surgical robot 20, or at the above image display device 30).
  • the monitoring device 300 is used to obtain a target signal, and the target signal is used to judge whether the second joint part 210 is effectively connected to the first joint part 110 (that is, to judge whether the threader 200 is connected to the first joint part 110 or not). Whether the mechanical arm 100 is effectively connected).
  • the control module is communicatively connected with the monitoring device 300 for receiving the target signal and judging whether the second joint part 210 and the first joint part 110 are effectively connected.
  • the detection part is used to convert the mechanical operation mode of the first joint part 110 and the second joint part 210 after assembly, and/or the mechanical assembly state of effective connection, etc., into optical/electrical, etc. Signals captured by electronic equipment.
  • the detection part is disposed on the first joint part 110 or the second joint part 210 , and it includes, for example, a switch or a sensor.
  • the detection part is disposed on the first joint part 110 or the second joint part 210 , and protrudes from the surface on which the first joint part 110 and the second joint part 210 abut when they are effectively connected.
  • the detection part is arranged on the first joint part 110 or the second joint part 210, and is used for connecting the first joint part 110 and the second joint part 210 when the detection part
  • the gap to the detected object is converted into an optical/electrical signal.
  • the optical/electrical signal may be an analog signal or a digital signal.
  • the control module is used for judging whether the first joint part 110 and the second joint part 210 are effectively connected according to the continuity and/or stability of the optical/electrical signal.
  • the detection unit may be a switch
  • the monitoring device 300 further includes a monitoring circuit connected to the switch.
  • the monitoring circuit together with the switch forms a closed loop and generates an electrical signal as the target signal.
  • the switch is continuously triggered, so that the monitoring device 300 generates a continuous and stable electrical signal.
  • the switch cannot be triggered, so that the circuit structure cannot generate electrical signals, or the switch is triggered intermittently resulting in the The circuit structure described above produces intermittent electrical signals.
  • the control module can determine that the second joint part 210 is effectively connected to the first joint part 110 . And when the monitoring device 300 does not generate an electrical signal, or generates an electrical signal intermittently (that is, generates a discontinuous electrical signal), the control module can determine that the second joint 210 and the first joint are 110 Not validly connected.
  • the switch can be a contact switch device, or a non-contact switch device such as a proximity switch (ie, a proximity sensor).
  • the detection part includes a pressure sensor
  • the target signal output by the monitoring device 300 is the pressure information between the second joint part 210 and the first joint part 110 .
  • the pressure between the second joint part 210 and the first joint part 110 can be stably maintained within a predetermined range.
  • the pressure information also fluctuates with the shaking between the two (that is, the pressure information not stably within the predetermined range).
  • the control module may determine that the two are effectively connected. And when the pressure information is not continuously and stably maintained within the predetermined range, the control module may determine that there is no effective connection between the two.
  • the detection part includes a distance sensor
  • the target signal output by the monitoring device 300 represents distance information between the second joint part 210 and the first joint part 110 .
  • the monitoring principle of the distance sensor is the same as that of the pressure sensor, that is, when the second joint part 210 is effectively connected with the first joint part 110, the second joint part 210 and the first joint part 110 will The distance between a joint portion 110 can be continuously and stably maintained within a predetermined range. When there is shaking between the second joint part 210 and the first joint part 110 and the two are not effectively connected, the distance information also fluctuates with the shaking between the two.
  • Specific types of the distance sensor may be an infrared sensor, a Hall sensor, and the like.
  • the monitoring device 300 further includes wires for transmitting the light/electrical signals detected by the detection part to the control module.
  • the monitoring circuit is coupled to the detection part, and is used to convert the optical/electrical signal detected by the detection part into a target signal that can be recognized by the control module.
  • the target signal is, for example, an analog signal or information within an amplitude range received by the control module.
  • control module can confirm that the connection between the first joint part 110 and the second joint part 210 is active connection.
  • the stability within the preset duration is characterized by the received target signal being continuous within the preset duration and the amplitude is stable within the preset amplitude range; or the received target signal is within the preset duration Characterized by maintaining within a predetermined range.
  • the monitoring circuit delays outputting the target signal by monitoring the stability of the optical/electrical signal provided by the detection unit within a preset time period.
  • the delayed duration is set according to the duration of the monitored optical/electrical signal.
  • the monitoring device 300 can also output the electrical signal immediately.
  • the monitoring device 300 is determined according to the assembly structure of the first joint part 110 and the second joint part 210 and the target signal output by the monitoring device 300 based on the assembled structural relationship of the two joint parts.
  • control module may also start to control the mechanical arm with a delay, and the delay time may also be set based on the duration of the target signal.
  • control module may be located at the doctor console 10 , or at the surgical robot 20 , or at the image display device 30 .
  • the control module when the control module determines that the second joint part 210 is not effectively connected with the first joint part 110, it may directly control the mechanical arm 100 to stop moving, so as to suspend the surgical operation.
  • the surgical robot system further includes a display module, which is communicatively connected with the control module and used to display whether the second joint part 210 is effectively connected to the first joint part 110 .
  • the display module may include a beeping alarm and/or an indicator light for sound and light alarms to prompt the operator.
  • the image display device may also be directly used as the display module.
  • Step S110 Obtain a target signal representing a connection state between the robotic arm and the passer.
  • Step S120 judging whether the threader is effectively connected to the robotic arm according to the target signal, if yes, execute step S130, if not, the display module gives an alarm, or does not allow the robotic arm to move.
  • Step S130 Start the master-slave control mode and control the movement of the robotic arm so that surgical instruments can perform surgical operations; the surgical instruments include but are not limited to clamps, scissors, graspers, stylus holders, cutting blades, staplers, for example Wait.
  • step S140 is also included: the monitoring device also monitors the connection status between the threader and the robotic arm in real time, and the control module judges the threading Whether there is an effective connection between the device and the robotic arm. If yes, the surgical operation is continued; if not, the display module gives an alarm, and/or the master-slave control mode is temporarily interrupted to suspend the surgical operation.
  • the monitoring device 300 monitors the connection status between the threader 200 and the robotic arm 100 in real time by means of, for example, monitoring progress. Once the two are not effectively connected, the control unit immediately generates an interrupt event to suspend the surgical operation; by prompting the operator to reconnect the mechanical arm 100 and the introducer 200 to ensure surgical safety.
  • the base 111 is provided with an engaging groove 112, which provides a limited space, so that the second engaging part 210 has no movable space in the direction of the piercing operation, even in the direction perpendicular to the direction of the piercing operation.
  • the engaging mechanism is at least partially disposed in the engaging groove 112 for fixing and releasing the second engaging portion 210 .
  • the engaging mechanism fixes and releases the second engaging portion 210 by adjusting at least one of position, posture, or deformation.
  • the joint mechanism includes an operation part (the first operation part 113 or the second operation part 123 described later) and an assembly part.
  • the operating portion is used by an assembler to apply an external force to make the protrusion 211 move in and out of the engagement groove 112 .
  • the operating part drives the fitting part to separate from the protrusion 211, and when the external force is canceled, the fitting part makes the protrusion 211 fit on the In the engagement groove 112 .
  • the fitting part includes a first elastic part 115, and the operation part directly acts on the first elastic part 115 to adjust the space in the joint groove and make the protrusion 211 enter and exit the joint. Groove 112.
  • the operating part is the first operating part 113
  • the assembling part further includes a buckle 114
  • the buckle 114 is used to engage with the protrusion 211 .
  • the engaging mechanism is configured such that when the first operating portion 113 is subjected to an external force, the first operating portion 113 drives the buckle 114 to move, and separates the buckle 114 from the protrusion 211 , and at the same time, the first elastic member 115 deforms and stores elastic potential energy. When the external force is canceled, the first elastic member 115 releases the elastic potential energy, and drives the buckle 114 to move to connect with the protrusion 211 .
  • the operator when installing the threader 200 on the mechanical arm 100, the operator only needs to apply an external force to the first operating part 113, and insert the protrusion 211 into the engaging groove 112, and then The connection between the two can be realized by canceling the external force.
  • the operator applies an external force to the first operation part 113 and pulls the protrusion 211 out of the engagement groove 112 .
  • the detection part can be set at any suitable position in the joint groove 112, and can also be set at other positions at the first joint part 110, as long as it can meet the requirements of the second joint part 210 and the It only needs to be continuously triggered when the first joint part 110 is effectively connected, but cannot be continuously triggered when the second joint part 210 and the first joint part 110 are not effectively connected.
  • the operation part includes an operation area and a wedge-shaped force transmission surface.
  • the operating area accepts the force exerted by the assembler, and the wedge-shaped force transmission surface changes the direction of the external force according to the energy storage direction of the first elastic member 115 in the assembly portion, thereby utilizing the deformation of the elastic member to adjust the excess space in the joint groove.
  • the present application also provides another embodiment, the difference between this embodiment and the previous embodiment is that the operation part is the second operation part 123, and the assembly part includes a second The elastic member 121 and the magnetic body 122 ; and, the protrusion 211 also has ferromagnetism, so that the protrusion 211 can be attracted by the magnetic body 122 .
  • the engaging mechanism is configured such that when the second operating portion 123 is subjected to an external force, the second operating portion 123 drives the magnetic body 122 to move away from the protrusion 211 , so as to The magnetic force received by the protrusion 211 is reduced, and at the same time, the second elastic member 121 deforms and stores elastic potential energy.
  • the second elastic member 121 releases the elastic potential energy, and drives the magnetic body 122 to move toward the protruding block 211 , so that the magnetic force on the protruding block 211 increases.
  • the magnetic body 122 By rationally designing the magnetic body 122 so that when the distance between it and the bump 211 is the smallest, the bump 211 remains fixed under the action of the magnetic force so that the second joint portion 210 and the The first engaging portion 110 remains in an effectively connected state.
  • the joint mechanism further includes a partition 124 .
  • the engaging groove 112 includes a main groove body and an operating channel communicating with each other, and the partition plate 124 is arranged in the main groove body and divides the main groove body (in the axial direction) into a first groove section 112a and a second groove section 112a.
  • the slot section 112b, the operation channel communicates with the second slot section 112b.
  • the protrusion 211 is used for inserting into the first slot segment 112 a and for pressing against the partition plate 124 .
  • the magnetic body 122 is movably disposed in the second groove segment 112b, the second elastic member 121 is disposed on the side of the magnetic body 122 away from the partition 124, and the second elastic member The (axial) opposite ends of 121 abut against the magnetic body 122 and the bottom wall of the second slot section 112b respectively.
  • the second operation part 123 is partially disposed in the operation channel, and can move along the operation channel.
  • the second operation part 123 includes an operation area 123a and a wedge-shaped force transmission surface 123b, the operation area 123a is used to receive external force, the wedge-shaped force transmission surface 123b extends along the operation channel and partially extends into the second In the slot section 112b, the wedge-shaped force transmission surface 123 is in contact with the magnetic body 122, and transmits the external force to the magnetic body 122, so as to drive the magnetic body 122 to move away from the protrusion 211. .
  • FIG. 17 and FIG. 18 are schematic diagrams showing the connection relationship between the robotic arm 100 and the passer 200 of the surgical robot system provided by still another embodiment of the present application.
  • the first joint part 110 includes a hoop body 131 and a fastener 132, and the fastener 132 is used to be arranged on the hoop body 131 and for forming the first engaging portion 110 into a closed loop.
  • the second joint part 210 of the passer 200 is, for example, a cylindrical structure, and the outer diameter of the cylindrical structure is slightly larger than the inner diameter of the closed ring.
  • the hoop body 131 is a split ring structure
  • the fastener 132 is, for example, a clamping structure, which includes a first clamping part and a second clamping part, and the first clamping part and the clamping part are The second clamping portions are respectively disposed on opposite ends of the opening 131 a of the hoop body 131 . Insert the first joint part 210 (that is, the cylindrical structure) of the introducer 200 into the inner side of the hoop body 131, and then connect the first clamping part and the second clamping part.
  • the hoop body 131 is deformed, so that the first joint part 110 forms the closed loop, and the hoop body 131 exerts a radial extrusion force on the first joint part 210, so as to hold the first joint part 210 tightly.
  • the first joint part 210 is described above.
  • the embodiment of the present application also provides a surgical robot, which includes a robotic arm, a monitoring device, and a control module.
  • a surgical robot which includes a robotic arm, a monitoring device, and a control module.
  • the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer.
  • the detection part of the monitoring device is arranged at the first joint part and is used for acquiring a target signal.
  • the control module communicates with the monitoring device, receives the target signal, and judges whether the second joint is effectively connected to the first joint according to the target signal.
  • the embodiment of the present application also provides a mechanical arm assembly, including a mechanical arm and a monitoring device.
  • the first joint part is provided on the mechanical arm, and the first joint part is used to connect with the second joint part on the passer.
  • the detection part of the monitoring device is arranged at the first joint part, and is used for acquiring a target signal, and the target signal is used for judging whether the second joint part is effectively connected to the first joint part.
  • the operation safety can be effectively improved.
  • the control module can provide electrical on-off control, thereby reducing the risk of surgery caused by unstable assembly of the threader.

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)

Abstract

The present application provides a robotic arm and introducer assembly, and a surgical robot system and control method. The surgical robot system comprises: a robotic arm, a distal end of the robotic arm being provided with a first joining portion; an introducer, the introducer being provided with a second joining part, and the second joining part being used for connecting to the first joining part; a monitoring apparatus comprising a detection part, the detection part being disposed at the first joining part and/or the second joining part, and being used for acquiring a target signal; the target signal being used to determine whether the second joining part is effectively connected to the first joining part; and a control module communicatively connected to the monitoring device and configured to determine, according to the target signal, whether the second joining part is effectively connected with the first joining part. In this way, the surgical robot system can prevent a surgeon from performing a surgical operation when the mechanical arm and the introducer are not effectively connected, thereby improving operation safety.

Description

机械臂及穿引器组件、手术机器人***及控制方法Robotic arm and introducer assembly, surgical robot system and control method 技术领域technical field
本申请涉及医疗器械技术领域，具体涉及一种机械臂及穿引器组件、手术机器人***及控制方法。The present application relates to the technical field of medical devices, in particular to a mechanical arm and a passer assembly, a surgical robot system and a control method.
背景技术Background technique
手术机器人的出现符合精准外科的发展趋势，其已成为帮助医生完成手术的有利工具。目前da Vinci手术机器人已广泛地应用在全球各大医院。手术机器人对患者的伤害小，使得患者术后恢复较快，为患者带来了福音。The emergence of surgical robots is in line with the development trend of precision surgery, and it has become a useful tool to help doctors complete operations. At present, da Vinci surgical robots have been widely used in major hospitals around the world. Surgical robots cause little harm to patients, making patients recover faster after surgery, which brings good news to patients.
手术机器人的设计理念是采用微创伤的方式精准地实施复杂的外科手术。在传统手术面临种种局限的情况下，手术机器人突破了人眼的局限，采用立体成像技术，将患者体内的器官更加清晰地呈现给操作者。在原本术者的手部难以伸入的区域内，手术机器人的机械臂不仅能够驱使手术器械完成360°转动、挪动、摆动、夹持等操作，还能够避免抖动。利用手术机器人执行手术操作，具有创口小、出血少、患者恢复快的优势，因而极大地缩短了患者术后住院时间。此外，术后存活率和康复率也明显提高。因此，手术机器人受到广大医患的青睐，并且作为一种高端的衣领器械已广泛地应用于各种临床手术中。Surgical robots are designed to precisely perform complex surgical procedures in a minimally invasive manner. In the face of various limitations in traditional surgery, surgical robots break through the limitations of the human eye and use stereoscopic imaging technology to present the organs in the patient's body to the operator more clearly. In the area where the operator's hand is difficult to reach, the robotic arm of the surgical robot can not only drive the surgical instrument to complete 360° rotation, movement, swing, clamping and other operations, but also avoid shaking. The use of surgical robots to perform surgical operations has the advantages of small wounds, less bleeding, and faster recovery of patients, thus greatly shortening the postoperative hospital stay of patients. In addition, the postoperative survival rate and recovery rate are also significantly improved. Therefore, surgical robots are favored by doctors and patients, and as a high-end collar instrument, they have been widely used in various clinical operations.
利用手术机器人执行手术操作时，需要借助穿引器提供手术器械进入患者体内的通道。穿引器一般通过机械结构安装在机械臂上，并且存在松动的风险。一旦穿引器松动，机械臂的运动会带动穿引器在患者体表移动，轻者对患者造成创伤，重者甚至导致手术器械的运动失控。When using a surgical robot to perform a surgical operation, it is necessary to provide a passage for surgical instruments to enter the patient's body with the help of a passer. The threader is generally mounted on the robotic arm through a mechanical structure, and there is a risk of loosening. Once the threader is loose, the movement of the robotic arm will drive the threader to move on the patient's body surface, causing trauma to the patient in the lightest cases, and even causing out-of-control movement of surgical instruments in severe cases.
发明内容Contents of the invention
本申请的目的在于提供一种机械臂及穿引器组件、手术机器人***及控制方法，其可以在手术过程中实时地监测穿引器与机械臂的连接状态，提高手术安全性。The purpose of the present application is to provide a mechanical arm and passer assembly, a surgical robot system and a control method, which can monitor the connection status of the passer and the robotic arm in real time during surgery, and improve surgical safety.
为实现上述目的，本申请提供了一种手术机器人，包括：To achieve the above purpose, the application provides a surgical robot, including:
机械臂，所述机械臂的远端设置有第一接合部，所述第一接合部用于与穿引器上的第二接合部连接；A mechanical arm, the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer;
监测装置，至少部分地设置在所述第一接合部或者所述第二接合部处并用于获取目标信号；以及，a monitoring device at least partially disposed at the first junction or the second junction and configured to acquire a signal of interest; and,
控制模块，与所述监测装置通信连接，用于根据所述目标信号判断所述第二接合部与所述第一接合部是否有效连接。A control module, communicatively connected with the monitoring device, configured to determine whether the second joint is effectively connected to the first joint according to the target signal.
可选地，所述目标信号包括电信号，或者所述目标信号包括所述第二接合部与所述第一接合部连接后两者之间的距离信息或压力信息。Optionally, the target signal includes an electrical signal, or the target signal includes distance information or pressure information between the second joint part and the first joint part after they are connected.
可选地，所述控制模块根据所述目标信号的连续性和/或稳定性判断所述第二接合部和所述第一接合部是否有效连接。Optionally, the control module judges whether the second joint is effectively connected to the first joint according to the continuity and/or stability of the target signal.
可选地，还包括显示模块，与所述控制模块通信连接，并用于显示所述第二接合部与所述第一接合部是否有效连接。Optionally, a display module is also included, connected in communication with the control module, and used to display whether the second joint part is effectively connected to the first joint part.
可选地，所述第一接合部包括基座和接合机构，所述基座上设有接合槽，所述接合机构至少部分地设置在所述接合槽内，且所述探测部设置于所述接合槽内；所述第二接合部包括用于***所述接合槽并与所述接合机构配合连接的凸块。Optionally, the first engaging portion includes a base and an engaging mechanism, the base is provided with an engaging groove, the engaging mechanism is at least partially disposed in the engaging groove, and the detection portion is disposed on the engaging groove. The second engaging part includes a protrusion for inserting into the engaging groove and matingly connected with the engaging mechanism.
可选地，所述接合机构包括操作部及装配部，所述接合机构被配置为当所述操作部受 到外力的作用时，驱使所述装配部与所述凸块分离，当所述外力被取消时，所述装配部使所述凸块装配在所述接合槽中。Optionally, the engaging mechanism includes an operating part and an assembling part, and the engaging mechanism is configured to drive the assembling part to separate from the protrusion when the operating part is acted on by an external force; When cancelled, the fitting portion fits the protrusion in the engagement groove.
可选地，所述装配部包括卡扣和第一弹性件，所述卡扣用于与所述凸块卡接；Optionally, the fitting part includes a buckle and a first elastic member, and the buckle is used to engage with the protrusion;
所述接合机构被配置为当所述操作部受到外力作用时，所述操作部驱使所述卡扣运动，并使所述卡扣与所述凸块相分离，同时所述弹性件存储弹性势能；当所述外力被取消时，所述弹性件释放所述弹性势能，并驱使所述卡扣运动至与所述凸块连接。The engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the buckle to move, and separates the buckle from the protrusion, and at the same time, the elastic member stores elastic potential energy ; when the external force is canceled, the elastic member releases the elastic potential energy and drives the buckle to move to connect with the protrusion.
可选地，所述装配部包括第二弹性件和磁性体；所述凸块具有铁磁性，并用于被所述磁性体吸引而实现与所述接合机构的连接；Optionally, the assembly part includes a second elastic member and a magnetic body; the bump has ferromagnetism and is used to be attracted by the magnetic body to realize connection with the engaging mechanism;
所述接合机构被配置为当所述操作部受到外力作用时，所述操作部驱使所述磁性体沿远离所述凸块的方向移动，以使所述凸块受到的磁力减小，同时所述第二弹性件存储弹性势能；当所述外力被取消时，所述第二弹性件释放所述弹性势能，并驱使所述磁性体沿靠近所述凸块的方向移动，以使所述凸块受到的磁力增大。The engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the magnetic body to move away from the protrusion, so that the magnetic force received by the protrusion decreases, and at the same time The second elastic member stores elastic potential energy; when the external force is canceled, the second elastic member releases the elastic potential energy and drives the magnetic body to move in a direction close to the bump, so that the bump The magnetic force experienced by the block increases.
可选地，所述操作部包括操作区和楔形传力面；所述操作区用于接受外力，所述楔形传力面与所述装配部接触，并用于将外力传递至所述装配部以驱使所述装配部与所述凸块分离。Optionally, the operation part includes an operation area and a wedge-shaped force transmission surface; the operation area is used to receive external force, and the wedge-shaped force transmission surface is in contact with the assembly part and used to transmit the external force to the assembly part to The fitting portion is urged to separate from the bump.
可选地，所述接合槽包括相互连通的主槽体和操作通道；Optionally, the engaging groove includes a main groove body and an operating channel communicated with each other;
所述装配部设置在所述主槽体内；所述操作部部分地设置在所述操作通道内，并能够沿所述操作通道移动，所述楔形传力面延伸至所述主槽体内并与所述装配部接触。The assembly part is arranged in the main groove; the operating part is partially arranged in the operation channel and can move along the operation channel; the wedge-shaped force transmission surface extends into the main groove and is in contact with The fittings are in contact.
可选地，所述接合机构还包括隔板，设置在所述主槽体内并将所述主槽体分割为第一槽段和第二槽段；所述第一槽段用于容纳所述凸块；所述第二槽段内容纳有所述装配部；所述操作通道与所述第二槽段连通。Optionally, the joint mechanism further includes a partition, which is arranged in the main tank body and divides the main tank body into a first slot section and a second slot section; the first slot section is used for accommodating the The protrusion; the fitting part is accommodated in the second slot section; the operation channel communicates with the second slot section.
可选地，所述第一接合部包括抱箍本体和紧固件，所述紧固件设置在所述抱箍本体上，并用于使所述第一接合部形成为闭合环；当所述第二接合部***所述闭合环，且所述第二接合部与所述第一接合部有效连接时，所述抱箍本体在径向上挤压所述第二接合部；Optionally, the first engaging portion includes a hoop body and a fastener, and the fastener is disposed on the hoop body and is used to form the first engaging portion into a closed loop; when the When the second joint part is inserted into the closed ring, and the second joint part is effectively connected with the first joint part, the hoop body presses the second joint part in the radial direction;
所述探测部设置在所述抱箍本体上。The detection part is arranged on the hoop body.
为实现上述目的，本申请还提供了一种手术机器人***，包括穿引器和如前所述的手术机器人；所述穿引器上设有第二接合部，用于与所述机械臂连接。In order to achieve the above purpose, the present application also provides a surgical robot system, including a passer and the aforementioned surgical robot; the passer is provided with a second joint for connecting with the mechanical arm .
为实现上述目的，本申请还提供了一种机械臂组件，包括In order to achieve the above purpose, the present application also provides a mechanical arm assembly, including
如前所述的手术机器人中的机械臂；以及，A robotic arm in a surgical robot as previously described; and,
如前所述的手术机器人中的监测装置。Monitoring devices in surgical robots as previously described.
为实现上述目的，本申请还提供了一种穿引器组件，包括穿引器和如前所述的手术机器人中的监测装置。To achieve the above object, the present application also provides a passer assembly, including the passer and the monitoring device in the surgical robot as mentioned above.
为实现上述目的，本申请还提供了一种手术机器人***的控制方法，所述控制方法包括：In order to achieve the above purpose, the present application also provides a control method of a surgical robot system, the control method comprising:
步骤S110：获取表示机械臂和穿引器的连接状态的目标信号；Step S110: Obtain a target signal representing the connection status of the robotic arm and the threader;
步骤S120：通过所述目标信号判断所述穿引器是否有效连接于所述机械臂，若是，则执行步骤S130，若否，则报警后不允许所述机械臂运动；Step S120: judging whether the threader is effectively connected to the mechanical arm through the target signal, if yes, then execute step S130, if not, then do not allow the mechanical arm to move after an alarm;
步骤S130：控制所述机械臂运动，以使手术器械执行手术操作。Step S130: Control the movement of the robotic arm to make surgical instruments perform surgical operations.
与现有技术相比，本申请的机械臂及穿引器组件、手术机器人***及控制方法具有如下优点：Compared with the prior art, the mechanical arm and the passer assembly, the surgical robot system and the control method of the present application have the following advantages:
本申请的手术机器人包括机械臂、监测装置和控制模块，其中，所述机械臂的远端设置有第一接合部，所述第一接合部用于与穿引器上的第二接合部连接；所述监测装置包括 探测部，所述探测部设置在所述第一接合部处，用于获取目标信号；所述控制模块与所述监测装置通信连接，用于根据所述目标信号判断所述第二接合部和所述第一接合部是否有效连接。如此，当使用手术机器人执行手术操作时，其能够实时地监测所述第二接合部与所述第一接合部的连接状态，从而能够在所述第二接合部与所述第一接合部未有效连接时，进一步提示操作者或直接中止手术操作，以提高手术安全性。The surgical robot of the present application includes a mechanical arm, a monitoring device and a control module, wherein the distal end of the mechanical arm is provided with a first joint, and the first joint is used to connect with the second joint on the passer The monitoring device includes a detection part, the detection part is arranged at the first joint part, and is used to obtain the target signal; the control module is connected to the monitoring device in communication, and is used to judge the target signal according to the target signal. Whether the second joint part is effectively connected to the first joint part. In this way, when the surgical robot is used to perform a surgical operation, it can monitor the connection state of the second joint part and the first joint part in real time, so that the connection state between the second joint part and the first joint part can be monitored in real time. When the connection is effective, the operator is further prompted or the surgical operation is directly suspended to improve surgical safety.
附图说明Description of drawings
附图用于更好地理解本申请，不构成对本申请的不当限定。其中：The accompanying drawings are used for better understanding of the present application, and do not constitute an improper limitation of the present application. in:
图1是本申请根据一实施例所提供的手术机器人***的应用场景示意图；Fig. 1 is a schematic diagram of an application scenario of a surgical robot system provided by the present application according to an embodiment;
图2是本申请根据一实施例所提供的手术机器人***的医生控制台的示意图；Fig. 2 is a schematic diagram of a doctor's console of a surgical robot system provided by the present application according to an embodiment;
图3是本申请根据一实施例所提供的手术机器人***的手术机器人在执行手术时的示意图；Fig. 3 is a schematic diagram of a surgical robot in a surgical robot system according to an embodiment of the present application when performing surgery;
图4是本申请根据一实施例所提供的手术机器人***的图像显示装置的示意图；Fig. 4 is a schematic diagram of an image display device of a surgical robot system according to an embodiment of the present application;
图5是本申请根据一实施例所提供的手术机器人的局部结构示意图；Fig. 5 is a schematic diagram of a partial structure of a surgical robot provided by the present application according to an embodiment;
图6是图5所示的手术机器人***的A处的放大示意图；Fig. 6 is an enlarged schematic view of A of the surgical robot system shown in Fig. 5;
图7是本申请根据一实施例所提供的手术机器人***的机械臂上的第一接合部的整体结构示意图；Fig. 7 is a schematic diagram of the overall structure of the first joint on the robotic arm of the surgical robot system according to an embodiment of the present application;
图8是本申请根据一实施例所提供的手术机器人***的穿引器的结构示意图；Fig. 8 is a schematic structural view of a passer of a surgical robot system according to an embodiment of the present application;
图9是本申请根据一实施例所提供的手术机器人***在执行手术时的流程图；Fig. 9 is a flow chart of the operation performed by the surgical robot system provided by the present application according to an embodiment;
图10本申请根据一实施例所提供的手术机器人***的机械臂与穿引器连接时的剖视图，图中示出监测装置的开关设置于接合槽内；Fig. 10 is a cross-sectional view of the robotic arm of the surgical robot system provided by the present application according to an embodiment when it is connected to the passer, the figure shows that the switch of the monitoring device is set in the joint groove;
图11是本申请根据另一实施例所提供的手术机器人***的机械臂远端的第一接合部的整体结构示意图；Fig. 11 is a schematic diagram of the overall structure of the first joint at the distal end of the robotic arm of the surgical robot system according to another embodiment of the present application;
图12是本申请根据另一实施例所提供的手术机器人***的穿引器的结构示意图；Fig. 12 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application;
图13是图12所示的穿引器的局部结构示意图；Fig. 13 is a partial structural schematic diagram of the threader shown in Fig. 12;
图14是本申请根据另一实施例所提供的手术机器人***的机械臂与穿引器的连接关系示意图，图中示出监测装置的开关设置在接合槽内；Fig. 14 is a schematic diagram of the connection relationship between the robotic arm and the passer of the surgical robot system according to another embodiment of the present application, in which the switch of the monitoring device is set in the joint groove;
图15是图14所示的机械臂的第一接合部的B-B剖视图；Fig. 15 is a B-B sectional view of the first joint portion of the mechanical arm shown in Fig. 14;
图16是本申请根据另一实施例所提供的手术机器人***的机械臂与穿引器连接时的剖视图，图中未示出监测装置；Fig. 16 is a cross-sectional view of the robotic arm of the surgical robot system according to another embodiment of the present application when it is connected to the passer, and the monitoring device is not shown in the figure;
图17是本申请根据再一实施例所提供的手术机器人***的穿引器的结构示意图；Fig. 17 is a schematic structural view of a passer of a surgical robot system according to another embodiment of the present application;
图18是本申请根据再一实施例所提供的机械臂组件与穿引器连接时的示意图，图中未示出监测装置。Fig. 18 is a schematic diagram of the connection between the robotic arm assembly and the passer according to still another embodiment of the present application, and the monitoring device is not shown in the figure.
[附图标记]：[reference sign]:
1-手术器械；1 - Surgical instruments;
10-医生控制台，20-手术机器人，30-图像显示装置；10-doctor console, 20-surgical robot, 30-image display device;
100-机械臂，110-第一接合部，111-基座，112-接合槽，112a-第一槽段，112b-第二槽段，113-第一操作部，114-卡扣，115-第一弹性件，121-第二弹性件，122-磁性体，123-第二操作部，123a-操作区，123b-楔形传力面，124-隔板，131-抱箍本体，131a-开口，132-紧固件；100-mechanical arm, 110-first joint, 111-base, 112-joint slot, 112a-first slot section, 112b-second slot section, 113-first operating part, 114-buckle, 115- First elastic member, 121-second elastic member, 122-magnetic body, 123-second operating part, 123a-operating area, 123b-wedge-shaped force transmission surface, 124-partition plate, 131-clamp body, 131a-opening , 132 - fasteners;
200-穿引器，210-第二接合部，211-凸块；200 - threader, 210 - second joint, 211 - bump;
300-监测装置。300 - Monitoring device.
具体实施方式detailed description
以下通过特定的具体实例说明本申请的实施方式，本领域技术人员可由本说明书所揭露的内容轻易地了解本申请的其他优点与功效。本申请还可以通过另外不同的具体实施方式加以实施或应用。本说明书中的各项细节也可以基于不同观点与应用，以及在没有背离本申请的精神下进行各种修饰或改变。需要说明的是，本实施例中所提供的图示仅以示意方式说明本申请的基本构想，遂图式中仅显示与本申请中有关的组件而非按照实际实施时的组件数目、形状及尺寸绘制，其实际实施时各组件的型态、数量及比例可为一种随意的改变，且其组件的布局型态也可能更为复杂。Embodiments of the present application are described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementation modes. Various details in this specification can also be modified or changed based on different viewpoints and applications, and without departing from the spirit of this application. It should be noted that the diagrams provided in this embodiment are only schematically illustrating the basic idea of the application, and only the components related to the application are shown in the diagrams rather than the number, shape and shape of the components in actual implementation. Dimensional drawing, the type, quantity and proportion of each component can be changed arbitrarily during actual implementation, and the layout type of the components may also be more complicated.
另外，以下说明内容的各个实施例分别具有一个或多个技术特征。然而，这并不意味着使用本申请者必需同时实施任一实施例中的所有技术特征，或仅能分开实施不同实施例中的一部或全部技术特征。换句话说，在以实施为可能的前提下，本领域技术人员可依据本申请的公开内容，并视设计规范或实作需求，选择性地实施任一实施例中的部分或全部技术特征，或者选择性地实施多个实施例的部分或全部的技术特征的组合，以增加本申请实施时的弹性。In addition, each embodiment of the content described below has one or more technical features. However, this does not mean that the applicant must implement all the technical features in any embodiment at the same time, or only implement part or all of the technical features in different embodiments separately. In other words, on the premise that implementation is possible, those skilled in the art can selectively implement some or all of the technical features in any embodiment according to the disclosure of the application and depending on design specifications or implementation requirements, Or selectively implement a combination of some or all of the technical features of multiple embodiments, so as to increase the flexibility of implementing the present application.
如在本说明书中所使用的，单数形式“一”、“一个”以及“该”包括复数对象，复数形式“多个”包括两个以上的对象，除非内容另外明确指出外。如在本说明书中所使用的，术语“或”通常是以包括“和/或”的含义而进行使用的，除非内容另外明确指出外。术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。As used in this specification, the singular forms "a", "an" and "the" include plural objects, and the plural form "a plurality" includes two or more objects, unless the content clearly states otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise. The terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be mechanical connection or electrical connection; it can be direct Connected, can also be indirectly connected through an intermediary, can be the internal communication of two elements or the interaction relationship between two elements. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.
为使本申请的目的、优点和特征更加清楚，以下结合附图对本申请作进一步详细说明。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本申请实施例的目的。附图中相同或相似的附图标记代表相同或相似的部件。In order to make the purpose, advantages and features of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings. It should be noted that the drawings are all in very simplified form and use imprecise scales, and are only used to facilitate and clearly assist the purpose of illustrating the embodiments of the present application. The same or similar reference numerals in the drawings represent the same or similar components.
图1示出了本申请根据一实施例所提供的手术机器人***的应用场景示意图；图2示出了所述手术机器人***的医生控制台的示意图；图3示出了所述手术机器人***的手术机器人在执行手术时的示意图；图4示出了所述手术机器人***的图像显示装置的示意图。Fig. 1 shows a schematic diagram of an application scenario of a surgical robot system according to an embodiment of the present application; Fig. 2 shows a schematic diagram of a doctor's console of the surgical robot system; Fig. 3 shows a schematic diagram of the surgical robot system A schematic diagram of a surgical robot when performing surgery; FIG. 4 shows a schematic diagram of an image display device of the surgical robot system.
本文以主从控制机器人***为例进行说明，但其不应对本申请构成限制。请参考图1至图4，所述手术机器人***包括控制端和执行端。所述控制端包括医生控制台10。所述执行端包括手术机器人20及图像显示装置30。其中，所述医生控制台10包括主操作手11。所述手术机器人20包括多个机械臂100，至少一个所述机械臂100用于挂载图像获取装置，至少一个所述机械臂100用于挂载手术器械1(如图5所示)。所述图像获取装置用于***患者体内并提供手术视野信息。所述手术器械1用于***患者体内并主要在所述手术视野内执行手术操作。所述图像显示装置30与所述图像获取装置通信连接，以接收所述手术视野信息并进行显示。本实施例中，所述主操作手与所述机械臂100之间构成主从控制关系。即，在手术过程中，施术者在所述医生控制台10处根据图像获取装置所获取的手术视野信息，用双手控制所述主操作手11来控制所述机械臂100运动，进而控制所述手术器械1执行主操作手的相关运动指令，以完成各种操作。进一步地，所述医生控制台10处还设置有脚踏控制部12，施术者可通过脚踏的方式完成电切、电凝等相关操作的输入。此外，本申请对所述机械臂100的构型不作限制，其可为机械不动点机械臂，也可以是主动不动点机械臂。This article takes the master-slave control robot system as an example for illustration, but it should not limit the application. Please refer to FIG. 1 to FIG. 4 , the surgical robot system includes a control end and an execution end. The control terminal includes a doctor console 10 . The execution end includes a surgical robot 20 and an image display device 30 . Wherein, the doctor console 10 includes a main operator 11 . The surgical robot 20 includes a plurality of mechanical arms 100, at least one of which is used to mount an image acquisition device, and at least one of which is used to mount a surgical instrument 1 (as shown in FIG. 5 ). The image acquisition device is used for inserting into the patient's body and providing surgical field information. The surgical instrument 1 is intended to be inserted into the body of a patient and to perform surgical operations mainly within the surgical field of view. The image display device 30 is communicatively connected with the image acquisition device to receive and display the surgical field of view information. In this embodiment, a master-slave control relationship is formed between the master operator and the robotic arm 100 . That is, during the operation, the operator uses both hands to control the main operator 11 to control the movement of the mechanical arm 100 according to the surgical field of view information acquired by the image acquisition device at the doctor's console 10, and then controls the movement of the mechanical arm 100. The above-mentioned surgical instrument 1 executes relevant movement instructions of the master operator to complete various operations. Furthermore, the doctor's console 10 is also provided with a pedal control part 12, and the operator can complete the input of related operations such as electric cutting and electrocoagulation by pedaling. In addition, the present application does not limit the configuration of the robotic arm 100 , which may be a mechanical fixed-point robotic arm or an active fixed-point robotic arm.
如图5所示，所述手术机器人***还包括穿引器200，所述穿引器200连接于所述机械臂100的远端，并穿透患者体表，且提供一进出通道。所述手术器械1或所述图像获取装置通过所述穿引器200所提供的进出通道进入患者体内。在实际手术过程中，所述穿引器200与所述机械臂100的连接状态对手术的顺利进行有着十分重要的影响。具体来说，当所述穿引器200与所述机械臂100有效连接时，施术者可执行手术操作。而当所述穿引器200与所述机械臂100未有效连接时，施术者若仍执行手术操作可能会对患者造成伤害。此处所述的“有效连接”是指，所述穿引器200与所述机械臂100稳定地连接，两者之间不存在松动、晃动。相应地，所述穿引器200与所述机械臂100未有效地连接，是指所述穿引器200未连接于所述机械臂100上，或者所述穿引器200虽连接于所述机械臂100上，但两者之间存在松动、晃动的情形。As shown in FIG. 5 , the surgical robot system further includes a passer 200 , which is connected to the distal end of the robotic arm 100 , penetrates the patient's body surface, and provides an access channel. The surgical instrument 1 or the image acquisition device enters the patient's body through the access channel provided by the introducer 200 . In the actual operation process, the connection state of the introducer 200 and the mechanical arm 100 has a very important influence on the smooth progress of the operation. Specifically, when the introducer 200 is effectively connected with the robotic arm 100 , the operator can perform surgical operations. However, when the introducer 200 is not effectively connected with the mechanical arm 100 , the operator may cause injury to the patient if the operator still performs the operation. The "effective connection" mentioned here means that the introducer 200 is stably connected with the robotic arm 100, and there is no looseness or shaking between the two. Correspondingly, the threader 200 is not effectively connected to the robotic arm 100, which means that the threader 200 is not connected to the robotic arm 100, or although the threader 200 is connected to the on the mechanical arm 100, but there is looseness and shaking between the two.
有鉴于此，本申请实施例的目的在于提供一种能够自动监测所述穿引器200与所述机械臂100是否有效连接的手术机器人***，以提高手术的安全性。为了确保机械臂与穿引器之间的有效连接，所述机械臂和穿引器不仅实现机械装配结构上的装配稳固，还实现电气上的信号指示。其中，该电气上的信号指示用以表示机械臂和穿引器之间的机械装配为有效连接状态。In view of this, the purpose of the embodiments of the present application is to provide a surgical robot system that can automatically monitor whether the introducer 200 is effectively connected to the mechanical arm 100 , so as to improve the safety of surgery. In order to ensure the effective connection between the mechanical arm and the threader, the mechanical arm and the threader not only achieve a stable mechanical assembly structure, but also realize electrical signal indication. Wherein, the electrical signal indication is used to indicate that the mechanical assembly between the robotic arm and the passer is in an effective connection state.
请参考图6、图7及图8，所述机械臂100的远端设置有第一接合部110，所述穿引器200上设有第二接合部210，所述第二接合部210用于与所述第一接合部110连接。所述手术机器人***还包括监测装置300(如图10及图14所标注)和控制模块(控制模块可位于所述医生控制台10处，也可以位于所述手术机器人20处，还可以位于所述图像显示装置30处)。。其中，所述监测装置300用于获取目标信号，所述目标信号用于判断所述第二接合部210和所述第一接合部110是否有效连接(即判断所述穿引器200与所述机械臂100是否有效连接)。以及，所述控制模块与所述监测装置300通信连接，用于接收所述目标信号，并判断所述第二接合部210和所述第一接合部110是否有效连接。Please refer to FIG. 6, FIG. 7 and FIG. 8, the distal end of the mechanical arm 100 is provided with a first joint part 110, and the passer 200 is provided with a second joint part 210, and the second joint part 210 is used for In connection with the first joint portion 110 . The surgical robot system also includes a monitoring device 300 (marked in Figure 10 and Figure 14 ) and a control module (the control module can be located at the doctor's console 10, or at the surgical robot 20, or at the above image display device 30). . Wherein, the monitoring device 300 is used to obtain a target signal, and the target signal is used to judge whether the second joint part 210 is effectively connected to the first joint part 110 (that is, to judge whether the threader 200 is connected to the first joint part 110 or not). Whether the mechanical arm 100 is effectively connected). And, the control module is communicatively connected with the monitoring device 300 for receiving the target signal and judging whether the second joint part 210 and the first joint part 110 are effectively connected.
在一些实现方式中，所述监测装置300全部设置在所述机械臂100上，并且所述监测装置300包括探测部，所述探测部设置在所述第一接合部110上。当所述穿引器200连接于所述机械臂100上时，所述穿引器200可触发所述探测部，并使所述监测装置300工作以产生所述目标信号。在另一些实现方式中，所述监测装置300全部设置在所述穿引器200上，并且所述监测装置300至少部分地设置在所述第二接合部210处。也即，本申请对所述监测装置的具体设置方式不作限定，但为方便描述，后文中以所述监测装置至少部分结构(例如所述探测部设置在所述第一接合部110处)为例进行介绍。In some implementation manners, the monitoring device 300 is all disposed on the robotic arm 100 , and the monitoring device 300 includes a detection part, and the detection part is disposed on the first joint part 110 . When the threader 200 is connected to the mechanical arm 100, the threader 200 can trigger the detection part and make the monitoring device 300 work to generate the target signal. In some other implementation manners, the monitoring device 300 is all disposed on the passer 200 , and the monitoring device 300 is at least partially disposed at the second junction 210 . That is to say, the present application does not limit the specific arrangement of the monitoring device, but for the convenience of description, at least part of the structure of the monitoring device (for example, the detection part is arranged at the first joint part 110) will be described as Examples are introduced.
在此，所述探测部用于将所述第一接合部110和所述第二接合部210装配后的机械操作方式、和/或有效连接的机械装配状态等，转换成光/电等易于被电子设备捕获的信号。所述探测部设置在所述第一接合部110或所述第二接合部210上，其例如包括开关、或传感器等。例如，所述探测部设置在第一接合部110或第二接合部210上，且从所述第一接合部110和所述第二接合部210有效连接时相抵靠的面上探出。又如，所述探测部设置在所述第一接合部110或所述第二接合部210上，用于将所述第一接合部110和所述第二接合部210连接时所述探测部与所探测对象之间的间隙转换成光/电信号。其中，所述光/电信号可为模拟信号或数字信号。所述控制模块用于根据所述光/电信号的连续性和/或稳定性来判断所述第一接合部110和所述第二接合部210是否有效连接。Here, the detection part is used to convert the mechanical operation mode of the first joint part 110 and the second joint part 210 after assembly, and/or the mechanical assembly state of effective connection, etc., into optical/electrical, etc. Signals captured by electronic equipment. The detection part is disposed on the first joint part 110 or the second joint part 210 , and it includes, for example, a switch or a sensor. For example, the detection part is disposed on the first joint part 110 or the second joint part 210 , and protrudes from the surface on which the first joint part 110 and the second joint part 210 abut when they are effectively connected. As another example, the detection part is arranged on the first joint part 110 or the second joint part 210, and is used for connecting the first joint part 110 and the second joint part 210 when the detection part The gap to the detected object is converted into an optical/electrical signal. Wherein, the optical/electrical signal may be an analog signal or a digital signal. The control module is used for judging whether the first joint part 110 and the second joint part 210 are effectively connected according to the continuity and/or stability of the optical/electrical signal.
例如，所述探测部可以为开关，所述监测装置300还包括与所述开关连接的监测电路。当所述开关被触发时，所述监测电路与所述开关共同形成闭合回路并产生电信号以作为所述目标信号。并且，当所述第二接合部210和所述第一接合部110有效连接时，所述开关 被持续触发，从而所述监测装置300产生连续且稳定的电信号。一旦所述第二接合部210和所述第一接合部110之间出现松动，所述开关便不能被触发，使得所述电路结构不能产生电信号，或者所述开关间歇性地被触发导致所述电路结构产生间断的电信号。For example, the detection unit may be a switch, and the monitoring device 300 further includes a monitoring circuit connected to the switch. When the switch is triggered, the monitoring circuit together with the switch forms a closed loop and generates an electrical signal as the target signal. Moreover, when the second joint part 210 and the first joint part 110 are effectively connected, the switch is continuously triggered, so that the monitoring device 300 generates a continuous and stable electrical signal. Once there is looseness between the second joint part 210 and the first joint part 110, the switch cannot be triggered, so that the circuit structure cannot generate electrical signals, or the switch is triggered intermittently resulting in the The circuit structure described above produces intermittent electrical signals.
也就是说，当所述监测装置300产生连续的电信号时，所述控制模块可判定所述第二接合部210与所述第一接合部110处于有效连接的状态。而当所述监测装置300未产生电信号，或间歇性地产生电信号(即产生不连续的电信号)时，所述控制模块可判定所述第二接合部210和所述第一接合部110未有效连接。在此，所述开关可以是接触式的开关装置，也可以是非接触式的开关装置例如接近开关(即接近传感器)。That is to say, when the monitoring device 300 generates continuous electric signals, the control module can determine that the second joint part 210 is effectively connected to the first joint part 110 . And when the monitoring device 300 does not generate an electrical signal, or generates an electrical signal intermittently (that is, generates a discontinuous electrical signal), the control module can determine that the second joint 210 and the first joint are 110 Not validly connected. Here, the switch can be a contact switch device, or a non-contact switch device such as a proximity switch (ie, a proximity sensor).
又如，所述探测部包括压力传感器，所述监测装置300所输出的目标信号即为所述第二接合部210与所述第一接合部110之间的压力信息。当所述第二接合部210与所述第一接合部110有效连接时，所述第二接合部210和所述第一接合部110之间的压力可以稳定地保持在预定范围内。当所述第二接合部210与所述第一接合部110之间出现晃动而导致两者之间未有效连接时，所述压力信息亦随着两者之间的晃动出现波动(即压力信息未稳定地保持在预定范围内)。换言之，当所述第二接合部210和所述第一接合部110之间的压力持续地保持在所述预定范围内时，所述控制模块可判定两者之间为有效连接。而当所述压力信息未持续稳定地保持在所述预定范围内时，所述控制模块可判定两者之间为未有效连接。As another example, the detection part includes a pressure sensor, and the target signal output by the monitoring device 300 is the pressure information between the second joint part 210 and the first joint part 110 . When the second joint part 210 is effectively connected with the first joint part 110, the pressure between the second joint part 210 and the first joint part 110 can be stably maintained within a predetermined range. When there is shaking between the second joint part 210 and the first joint part 110 and the two are not effectively connected, the pressure information also fluctuates with the shaking between the two (that is, the pressure information not stably within the predetermined range). In other words, when the pressure between the second joint part 210 and the first joint part 110 is continuously maintained within the predetermined range, the control module may determine that the two are effectively connected. And when the pressure information is not continuously and stably maintained within the predetermined range, the control module may determine that there is no effective connection between the two.
再如，所述探测部包括距离传感器，所述监测装置300所输出的目标信号表示所述第二接合部210与所述第一接合部110之间的距离信息。所述距离传感器的监测原理与所述压力传感器的监测原理相同，也即当所述第二接合部210与所述第一接合部110有效连接时，所述第二接合部210和所述第一接合部110之间的距离可以持续稳定地保持在预定范围内。当所述第二接合部210与所述第一接合部110之间出现晃动而导致两者之间未有效连接时，所述距离信息亦随着两者之间的晃动出现波动。所述距离传感器的具体种类可以是红外传感器、霍尔传感器等。本领域技术人员可以理解的是，所述距离的预定范围是基于所述第一接合部110和所述第二接合部210装配后，所述距离传感器与所述第二接合部210或所述第一接合部110之间的距离关系而确定的。所述第一接合部110和所述第二接合部210的结构使得两者之间的距离始终大于该预定范围。For another example, the detection part includes a distance sensor, and the target signal output by the monitoring device 300 represents distance information between the second joint part 210 and the first joint part 110 . The monitoring principle of the distance sensor is the same as that of the pressure sensor, that is, when the second joint part 210 is effectively connected with the first joint part 110, the second joint part 210 and the first joint part 110 will The distance between a joint portion 110 can be continuously and stably maintained within a predetermined range. When there is shaking between the second joint part 210 and the first joint part 110 and the two are not effectively connected, the distance information also fluctuates with the shaking between the two. Specific types of the distance sensor may be an infrared sensor, a Hall sensor, and the like. Those skilled in the art can understand that the predetermined range of the distance is based on the fact that the distance sensor is connected to the second joint part 210 or the second joint part 210 after the first joint part 110 and the second joint part 210 are assembled. The distance relationship between the first joint parts 110 is determined. The structure of the first joint part 110 and the second joint part 210 makes the distance between them always greater than the predetermined range.
在一些示例中，所述监测装置300还包括用于将探测部所探测的光/电信号传输至控制模块的导线。In some examples, the monitoring device 300 further includes wires for transmitting the light/electrical signals detected by the detection part to the control module.
在另一些示例中，所述监测电路与所述探测部耦合，用于将探测部所探测的光/电信号转换成控制模块所能识别的目标信号。其中，所述目标信号举例为在控制模块所接收的幅值范围内的模拟信号或信息。In some other examples, the monitoring circuit is coupled to the detection part, and is used to convert the optical/electrical signal detected by the detection part into a target signal that can be recognized by the control module. Wherein, the target signal is, for example, an analog signal or information within an amplitude range received by the control module.
为了避免误识别，在一些示例中，所述控制模块可通过监测所接收的目标信号在预设时长内的稳定性来确认所述第一接合部110和所述第二接合部210的连接为有效连接。其中，在预设时长内的稳定性举例由所接收的目标信号在预设时长内连续、且幅值稳定在预设幅值范围内而表征；或者由所接收的目标信号在预设时长内维持在预定范围内而表征。In order to avoid misidentification, in some examples, the control module can confirm that the connection between the first joint part 110 and the second joint part 210 is active connection. Among them, the stability within the preset duration is characterized by the received target signal being continuous within the preset duration and the amplitude is stable within the preset amplitude range; or the received target signal is within the preset duration Characterized by maintaining within a predetermined range.
在另一些示例中，所述监测电路通过监测所述探测部所提供的光/电信号在预设时长内的稳定性，延迟输出所述目标信号。所延迟的时长根据所监测到的光/电信号的持续时长来设置。In some other examples, the monitoring circuit delays outputting the target signal by monitoring the stability of the optical/electrical signal provided by the detection unit within a preset time period. The delayed duration is set according to the duration of the monitored optical/electrical signal.
当然，所述监测装置300也可即时输出所述电信号。所述监测装置300根据所述第一接合部110和所述第二接合部210的装配结构及监测装置300基于两个所述接合部装配后的结构关系而输出的目标信号来确定。Of course, the monitoring device 300 can also output the electrical signal immediately. The monitoring device 300 is determined according to the assembly structure of the first joint part 110 and the second joint part 210 and the target signal output by the monitoring device 300 based on the assembled structural relationship of the two joint parts.
另外，所述控制模块接收到所述目标信号之后，也可以延时启动对所述机械臂的控制，延时的时长也可基于所述目标信号的持续时长来设置。In addition, after the control module receives the target signal, it may also start to control the mechanical arm with a delay, and the delay time may also be set based on the duration of the target signal.
此外，本申请对所述控制模块的设置方式也不作限定。实践中，所述控制模块可位于所述医生控制台10处，也可以位于所述手术机器人20处，还可以位于所述图像显示装置30处。In addition, the present application does not limit the configuration of the control module. In practice, the control module may be located at the doctor console 10 , or at the surgical robot 20 , or at the image display device 30 .
本实施例中，当所述控制模块判断所述第二接合部210与所述第一接合部110未有效连接时，可直接控制所述机械臂100停止运动，以暂停手术操作。或者，所述手术机器人***还包括一显示模块，所述显示模块与所述控制模块通信连接，用于显示所述第二接合部210和所述第一接合部110之间是否有效连接。所述显示模块可包括锋鸣报警器和/或指示灯，用于进行声、光报警，以提示施术者。当然，也可以直接利用所述图像显示装置作为所述显示模块。In this embodiment, when the control module determines that the second joint part 210 is not effectively connected with the first joint part 110, it may directly control the mechanical arm 100 to stop moving, so as to suspend the surgical operation. Alternatively, the surgical robot system further includes a display module, which is communicatively connected with the control module and used to display whether the second joint part 210 is effectively connected to the first joint part 110 . The display module may include a beeping alarm and/or an indicator light for sound and light alarms to prompt the operator. Of course, the image display device may also be directly used as the display module.
如此，请参考图9，利用本申请实施例所提供的手术机器人***执行手术操作的流程如下：In this way, please refer to FIG. 9, the process of performing surgical operations using the surgical robot system provided by the embodiment of the present application is as follows:
步骤S110：获取表示所述机械臂和所述穿引器之间的连接状态的目标信号。Step S110: Obtain a target signal representing a connection state between the robotic arm and the passer.
步骤S120：根据所述目标信号判断穿引器是否有效连接于所述机械臂，若是，则执行步骤S130，若否，则所述显示模块报警，或者不允许所述机械臂运动。Step S120: judging whether the threader is effectively connected to the robotic arm according to the target signal, if yes, execute step S130, if not, the display module gives an alarm, or does not allow the robotic arm to move.
步骤S130：启动主从控制模式并控制机械臂运动，以使手术器械执行手术操作；所述手术器械例如包括但不限于夹钳、剪刀、抓紧器、测针夹持器、切割刀片、缝合器等。Step S130: Start the master-slave control mode and control the movement of the robotic arm so that surgical instruments can perform surgical operations; the surgical instruments include but are not limited to clamps, scissors, graspers, stylus holders, cutting blades, staplers, for example Wait.
进一步地，在手术执行过程中，还包括步骤S140：所述监测装置还实时地监测所述穿引器与所述机械臂之间的连接状态，且所述控制模块实时地判断所述穿引器与所述机械臂之间是否有效连接。若是，则继续执行手术操作；若否，则所述显示模块报警，和/或主从控制模式暂时中断使得手术操作中止。Furthermore, in the process of performing the operation, step S140 is also included: the monitoring device also monitors the connection status between the threader and the robotic arm in real time, and the control module judges the threading Whether there is an effective connection between the device and the robotic arm. If yes, the surgical operation is continued; if not, the display module gives an alarm, and/or the master-slave control mode is temporarily interrupted to suspend the surgical operation.
可选地，所述监测装置300通过如监听进程的方式，实时地监测所述穿引器200与所述机械臂100的连接状态。一旦两者未有效连接，所述控制单元立即产生中断事件，以暂停手术操作；通过提示施术者重新连接所述机械臂100和所述穿引器200，以确保手术安全。Optionally, the monitoring device 300 monitors the connection status between the threader 200 and the robotic arm 100 in real time by means of, for example, monitoring progress. Once the two are not effectively connected, the control unit immediately generates an interrupt event to suspend the surgical operation; by prompting the operator to reconnect the mechanical arm 100 and the introducer 200 to ensure surgical safety.
接下去，本文将结合具体的实施例对所述手术机器人***进行介绍。Next, this article will introduce the surgical robot system in combination with specific embodiments.
请返回参考图6至图8，在一实施例中，所述第一接合部110和所述第二接合部210中的一者，例如所述第一接合部110包括基座111和接合机构。所述基座111设置在所述机械臂100的远端，用来提供与所述第二接合部210连接的装配空间结构，该装配空间结构具有至少部分空间限制，即在至少一部分方向上具有空间限制，以使得有效连接后的所述第二接合部210和所述第一接合部在至少部分方向上具有不可相互运动的连接关系。例如，所述基座111上设有接合槽112其提供有限空间，使得所述第二接合部210在连接后在穿刺操作方向，甚至在与穿刺操作方向正交的方向上均无可移动空间。所述接合机构至少部分地设置在所述接合槽112内，用于固定和松解所述第二接合部210。所述接合机构通过调整位置、姿态、或发生形变中的至少一种来固定和松解所述第二接合部210。Please refer back to FIG. 6 to FIG. 8, in one embodiment, one of the first engaging portion 110 and the second engaging portion 210, for example, the first engaging portion 110 includes a base 111 and an engaging mechanism . The base 111 is arranged at the distal end of the mechanical arm 100, and is used to provide an assembly space structure connected with the second joint part 210. The assembly space structure has at least part of the space limitation, that is, it has The space is restricted so that the effectively connected second joint part 210 and the first joint part have a connection relationship that cannot move relative to each other in at least some directions. For example, the base 111 is provided with an engaging groove 112, which provides a limited space, so that the second engaging part 210 has no movable space in the direction of the piercing operation, even in the direction perpendicular to the direction of the piercing operation. . The engaging mechanism is at least partially disposed in the engaging groove 112 for fixing and releasing the second engaging portion 210 . The engaging mechanism fixes and releases the second engaging portion 210 by adjusting at least one of position, posture, or deformation.
用于与所述第一接合部110或所述第二接合部210匹配的所述第一接合部110和所述第二接合部210中的另一者，例如所述第二接合部210，包括用于***所述接合槽112内并与所述接合机构配合连接的凸块211。The other of the first engaging portion 110 and the second engaging portion 210 for mating with the first engaging portion 110 or the second engaging portion 210 , such as the second engaging portion 210 , It includes a protrusion 211 for inserting into the engaging groove 112 and matingly connecting with the engaging mechanism.
所述接合机构包括操作部(后文中述及的第一操作部113或第二操作部123)和装配部。所述操作部供装配者施加外力以使所述凸块211进出所述接合槽112。换言之，当所述操作部受到外力的作用时，所述操作部驱使所述装配部与所述凸块211分离，当所述外 力被取消时，所述装配部使所述凸块211装配在所述接合槽112中。在一些实施例中，所述装配部包括第一弹性件115，所述操作部直接作用于所述第一弹性件115，以调整接合槽内的空间并使所述凸块211进出所述接合槽112。The joint mechanism includes an operation part (the first operation part 113 or the second operation part 123 described later) and an assembly part. The operating portion is used by an assembler to apply an external force to make the protrusion 211 move in and out of the engagement groove 112 . In other words, when the operating part is subjected to an external force, the operating part drives the fitting part to separate from the protrusion 211, and when the external force is canceled, the fitting part makes the protrusion 211 fit on the In the engagement groove 112 . In some embodiments, the fitting part includes a first elastic part 115, and the operation part directly acts on the first elastic part 115 to adjust the space in the joint groove and make the protrusion 211 enter and exit the joint. Groove 112.
请参考图10，于这些实施例中，所述操作部为第一操作部113，所述装配部还包括卡扣114，所述卡扣114用于与所述凸块211卡接。所述接合机构被配置为当所述第一操作部113受到外力作用时，所述第一操作部113驱使所述卡扣114运动，并使所述卡扣114与所述凸块211相互分离，同时所述第一弹性件115变形并存储弹性势能。当所述外力被取消时，所述第一弹性件115释放所述弹性势能，并驱使所述卡扣114运动至与所述凸块211连接。那么，将所述穿引器200安装至所述机械臂100上时，施术者只需要向所述第一操作部113施加外力，并将所述凸块211***所述接合槽112，然后取消外力，便可实现两者的连接。拆卸所述穿引器200时，施术者向所述第一操作部113施加外力，并将所述凸块211从所述接合槽112拔出即可。Please refer to FIG. 10 , in these embodiments, the operating part is the first operating part 113 , and the assembling part further includes a buckle 114 , and the buckle 114 is used to engage with the protrusion 211 . The engaging mechanism is configured such that when the first operating portion 113 is subjected to an external force, the first operating portion 113 drives the buckle 114 to move, and separates the buckle 114 from the protrusion 211 , and at the same time, the first elastic member 115 deforms and stores elastic potential energy. When the external force is canceled, the first elastic member 115 releases the elastic potential energy, and drives the buckle 114 to move to connect with the protrusion 211 . Then, when installing the threader 200 on the mechanical arm 100, the operator only needs to apply an external force to the first operating part 113, and insert the protrusion 211 into the engaging groove 112, and then The connection between the two can be realized by canceling the external force. When disassembling the passer 200 , the operator applies an external force to the first operation part 113 and pulls the protrusion 211 out of the engagement groove 112 .
在此，所述探测部可以设置在所述接合槽112内任意合适的位置，也可以设置在所述第一接合部110的处的其他位置，只要其能够满足在第二接合部210和所述第一接合部110有效连接时能够被持续触发，而在所述第二接合部210和所述第一接合部110未有效连接时不能被持续触发即可。Here, the detection part can be set at any suitable position in the joint groove 112, and can also be set at other positions at the first joint part 110, as long as it can meet the requirements of the second joint part 210 and the It only needs to be continuously triggered when the first joint part 110 is effectively connected, but cannot be continuously triggered when the second joint part 210 and the first joint part 110 are not effectively connected.
在另一些示例中，所述操作部包含操作区和楔形传力面。所述操作区接受装配者施加的力，楔形传力面根据装配部中所述第一弹性件115的储能方向改变外力方向，由此，利用弹性件的形变调整接合槽内的多余空间。In some other examples, the operation part includes an operation area and a wedge-shaped force transmission surface. The operating area accepts the force exerted by the assembler, and the wedge-shaped force transmission surface changes the direction of the external force according to the energy storage direction of the first elastic member 115 in the assembly portion, thereby utilizing the deformation of the elastic member to adjust the excess space in the joint groove.
请参考图11至图16，本申请还提供了另一实施例，本实施例与前一实施例的区别之处在于，所述操作部为第二操作部123，所述装配部包括第二弹性件121和磁性体122；以及，所述凸块211还具有铁磁性，以使所述凸块211能够被所述磁性体122吸引。本实施例中，所述接合机构被配置为当所述第二操作部123受到外力作用时，所述第二操作部123驱使所述磁性体122沿远离所述凸块211的方向移动，以使所述凸块211受到的磁力减小，同时所述第二弹性件121变形并存储弹性势能。当所述外力被取消时，所述第二弹性件121释放弹性势能，并驱使所述磁性体122沿靠近所述凸块211的方向移动，以使所述凸块211受到的磁力增大。通过对所述磁性体122进行合理的设计，使得当其与所述凸块211的间距最小时，所述凸块211在磁力的作用下保持固定而使所述第二接合部210和所述第一接合部110保持在有效连接的状态。如此，在安装所述穿引器200时，施术者直接将所述凸块211***所述接合槽112即可，而在拆卸所述穿引器200时，施术者向所述第二操作部123施加外力，使所述磁性体122沿远离所述凸块211的方向运动，以使所述磁性体122对所述凸块211的吸引力下降，便可方便地拔出所述凸块211。可选地，所述凸块211朝向所述磁性体122的至少部分表面具有铁磁性。Please refer to Fig. 11 to Fig. 16, the present application also provides another embodiment, the difference between this embodiment and the previous embodiment is that the operation part is the second operation part 123, and the assembly part includes a second The elastic member 121 and the magnetic body 122 ; and, the protrusion 211 also has ferromagnetism, so that the protrusion 211 can be attracted by the magnetic body 122 . In this embodiment, the engaging mechanism is configured such that when the second operating portion 123 is subjected to an external force, the second operating portion 123 drives the magnetic body 122 to move away from the protrusion 211 , so as to The magnetic force received by the protrusion 211 is reduced, and at the same time, the second elastic member 121 deforms and stores elastic potential energy. When the external force is canceled, the second elastic member 121 releases the elastic potential energy, and drives the magnetic body 122 to move toward the protruding block 211 , so that the magnetic force on the protruding block 211 increases. By rationally designing the magnetic body 122 so that when the distance between it and the bump 211 is the smallest, the bump 211 remains fixed under the action of the magnetic force so that the second joint portion 210 and the The first engaging portion 110 remains in an effectively connected state. In this way, when installing the passer 200, the operator can directly insert the protrusion 211 into the engaging groove 112; The operation part 123 applies an external force to make the magnetic body 122 move away from the protrusion 211, so that the attraction force of the magnetic body 122 to the protrusion 211 decreases, and the protrusion can be pulled out conveniently. Block 211. Optionally, at least part of the surface of the protrusion 211 facing the magnetic body 122 has ferromagnetism.
更为具体地，所述接合机构还包括一隔板124。所述接合槽112包括相互连通的主槽体和操作通道，所述隔板124设置在所述主槽体内并将所述主槽体(沿轴向)分割为第一槽段112a和第二槽段112b，所述操作通道与所述第二槽段112b连通。所述凸块211用于***所述第一槽段112a，且用于压抵在所述隔板124上。所述磁性体122可活动地设置在所述第二槽段112b内，所述第二弹性件121设置在所述磁性体122远离所述隔板124的一侧，且所述第二弹性件121的(轴向的)相对两端分别与所述磁性体122和所述第二槽段112b的底壁抵接。所述第二操作部123部分地设置在所述操作通道内，并能够沿所述操作通道移动。所述第二操作部123包括操作区123a和楔形传力面123b，所述操作区123a用于接受外力，所述楔形传力面123b沿所述操作通道延伸并部分地伸入所述第二槽段112b 内，所述楔形传力面123与所述磁性体122接触，并将所述外力传递至所述磁性体122，以驱使所述磁性体122沿远离所述凸块211的方向移动。More specifically, the joint mechanism further includes a partition 124 . The engaging groove 112 includes a main groove body and an operating channel communicating with each other, and the partition plate 124 is arranged in the main groove body and divides the main groove body (in the axial direction) into a first groove section 112a and a second groove section 112a. The slot section 112b, the operation channel communicates with the second slot section 112b. The protrusion 211 is used for inserting into the first slot segment 112 a and for pressing against the partition plate 124 . The magnetic body 122 is movably disposed in the second groove segment 112b, the second elastic member 121 is disposed on the side of the magnetic body 122 away from the partition 124, and the second elastic member The (axial) opposite ends of 121 abut against the magnetic body 122 and the bottom wall of the second slot section 112b respectively. The second operation part 123 is partially disposed in the operation channel, and can move along the operation channel. The second operation part 123 includes an operation area 123a and a wedge-shaped force transmission surface 123b, the operation area 123a is used to receive external force, the wedge-shaped force transmission surface 123b extends along the operation channel and partially extends into the second In the slot section 112b, the wedge-shaped force transmission surface 123 is in contact with the magnetic body 122, and transmits the external force to the magnetic body 122, so as to drive the magnetic body 122 to move away from the protrusion 211. .
图17及图18示出了本申请再一实施例所提供手术机器人***的机械臂100与穿引器200的连接关系示意图。本实施例中与前两个实施例的区别之处在于，所述第一接合部110包括抱箍本体131和紧固件132，所述紧固件132用于设置在所述抱箍本体131上，并用于使第一接合部110形成为闭合环。所述穿引器200的第二接合部210例如为圆柱结构，所述圆柱结构的外径略大于所述闭合环的内径。当所述第一接合部210***所述闭合环内，且所述抱箍本体131在径向上挤压所述圆柱结构时，所述第二接合部210与所述第一接合部110有效连接。FIG. 17 and FIG. 18 are schematic diagrams showing the connection relationship between the robotic arm 100 and the passer 200 of the surgical robot system provided by still another embodiment of the present application. The difference between this embodiment and the previous two embodiments is that the first joint part 110 includes a hoop body 131 and a fastener 132, and the fastener 132 is used to be arranged on the hoop body 131 and for forming the first engaging portion 110 into a closed loop. The second joint part 210 of the passer 200 is, for example, a cylindrical structure, and the outer diameter of the cylindrical structure is slightly larger than the inner diameter of the closed ring. When the first joint part 210 is inserted into the closed ring and the hoop body 131 presses the cylindrical structure in the radial direction, the second joint part 210 is effectively connected with the first joint part 110 .
可选地，所述抱箍本体131为开口环结构，所述紧固件132例如为卡接结构，其包括第一卡接部和第二卡接部，所述第一卡接部和所述第二卡接部分别设置在所述抱箍本体131的开口131a的相对两端上。将所述穿引器200的所述第一接合部210(即所述圆柱结构)***所述抱箍本体131内侧，然后连接所述第一卡接部和所述第二卡接部，此时所述抱箍本体131产生形变，使得所述第一接合部110形成所述闭合环，且所述抱箍本体131向所述第一接合部210施加径向挤压力，以抱紧所述第一接合部210。Optionally, the hoop body 131 is a split ring structure, and the fastener 132 is, for example, a clamping structure, which includes a first clamping part and a second clamping part, and the first clamping part and the clamping part are The second clamping portions are respectively disposed on opposite ends of the opening 131 a of the hoop body 131 . Insert the first joint part 210 (that is, the cylindrical structure) of the introducer 200 into the inner side of the hoop body 131, and then connect the first clamping part and the second clamping part. At this time, the hoop body 131 is deformed, so that the first joint part 110 forms the closed loop, and the hoop body 131 exerts a radial extrusion force on the first joint part 210, so as to hold the first joint part 210 tightly. The first joint part 210 is described above.
本实施例中，所述监测装置至少部分地设置在所述抱箍131本体上，例如所述抱箍本体131的内壁上，也可以设置在所述抱箍131的端面。In this embodiment, the monitoring device is at least partially disposed on the body of the hoop 131 , for example, on the inner wall of the hoop body 131 , and may also be disposed on the end surface of the hoop 131 .
进一步地，本申请实施例还提供了一种手术机器人，其包括机械臂、监测装置和控制模块。其中，所述机械臂远端设有第一接合部，所述第一接合部用于与穿引器上的第二接合部连接。所述监测装置的所述探测部设置在所述第一接合部处，并用于获取目标信号。所述控制模块与所述监测装置通信连接，并接收所述目标信号，且根据所述目标信号判断所述第二接合部和所述第一接合部是否有效连接。Further, the embodiment of the present application also provides a surgical robot, which includes a robotic arm, a monitoring device, and a control module. Wherein, the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer. The detection part of the monitoring device is arranged at the first joint part and is used for acquiring a target signal. The control module communicates with the monitoring device, receives the target signal, and judges whether the second joint is effectively connected to the first joint according to the target signal.
进一步地，本申请实施例还提供了一种机械臂组件，包括机械臂和监测装置。其中，所述机械臂上设有第一接合部，所述第一接合部用于与穿引器上的第二接合部连接。所述监测装置的所述探测部设置在所述第一接合部处，并用于获取目标信号，所述目标信号用于判断所述第二接合部与所述第一接合部是否有效连接。Further, the embodiment of the present application also provides a mechanical arm assembly, including a mechanical arm and a monitoring device. Wherein, the first joint part is provided on the mechanical arm, and the first joint part is used to connect with the second joint part on the passer. The detection part of the monitoring device is arranged at the first joint part, and is used for acquiring a target signal, and the target signal is used for judging whether the second joint part is effectively connected to the first joint part.
进一步地，本申请实施例还提供了一种穿引器组件，包括穿引器和监测装置。其中，所述穿引器上设有第二接合部，所述第二接合部用于与机械臂上的第一接合部连接。所述监测装置的所述探测部设置在所述第二接合部处，并用于获取目标信号。所述目标信号用于判断所述第二接合部与所述第一接合部是否有效连接。Further, the embodiment of the present application also provides a passer assembly, including a passer and a monitoring device. Wherein, the threader is provided with a second joint part, and the second joint part is used to connect with the first joint part on the mechanical arm. The detecting part of the monitoring device is arranged at the second joint part and is used for acquiring a target signal. The target signal is used to determine whether the second joint is effectively connected to the first joint.
本申请所提供的技术方案中，通过设置监测装置以监测所述机械臂与所述穿引器是否有效连接，可有效提高手术安全性。另外，通过实施上述任一实例，在所述第一接合部和所述第二接合部有效连接期间，受所述第一接合部和所述第二接合部装配后的机械结构的限制作用，穿引器在穿刺操作方向，甚至在与穿刺操作方向正交的方向，上无可移动空间。再者，通过对目标信号的监测，控制模块能够提供电气上的通断控制，由此减少因穿引器装配不稳定而造成的手术风险。In the technical solution provided by the present application, by setting a monitoring device to monitor whether the mechanical arm is effectively connected to the introducer, the operation safety can be effectively improved. In addition, by implementing any of the above examples, during the effective connection between the first joint part and the second joint part, limited by the assembled mechanical structure of the first joint part and the second joint part, There is no room for the introducer to move in the puncturing operation direction, even in the direction orthogonal to the puncturing operation direction. Furthermore, by monitoring the target signal, the control module can provide electrical on-off control, thereby reducing the risk of surgery caused by unstable assembly of the threader.
虽然本申请披露如上，但并不局限于此。本领域的技术人员可以对本申请进行各种改动和变型而不脱离本申请的精神和范围。这样，倘若本申请的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。Although the present application discloses as above, it is not limited thereto. Those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (15)

  1. 一种手术机器人，其特征在于，包括：A surgical robot, characterized in that it comprises:
    机械臂，所述机械臂的远端设置有第一接合部，所述第一接合部用于与穿引器上的第二接合部连接；A mechanical arm, the distal end of the mechanical arm is provided with a first joint part, and the first joint part is used to connect with the second joint part on the passer;
    监测装置，至少部分地设置在所述第一接合部或者所述第二接合部处并用于获取目标信号；以及，a monitoring device at least partially disposed at the first junction or the second junction and configured to acquire a signal of interest; and,
    控制模块，与所述监测装置通信连接，用于根据所述目标信号的连续性和/或稳定性判断所述第二接合部与所述第一接合部是否有效连接。A control module, communicatively connected with the monitoring device, configured to judge whether the second joint is effectively connected to the first joint according to the continuity and/or stability of the target signal.
  2. 根据权利要求1所述的手术机器人，其特征在于，所述目标信号包括电信号，或者所述目标信号包括所述第二接合部与所述第一接合部连接后两者之间的距离信息或压力信息。The surgical robot according to claim 1, wherein the target signal includes an electrical signal, or the target signal includes distance information between the second joint and the first joint after they are connected or stress information.
  3. 根据权利要求1所述的手术机器人，其特征在于，还包括显示模块，与所述控制模块通信连接，并用于显示所述第二接合部与所述第一接合部是否有效连接。The surgical robot according to claim 1, further comprising a display module, connected in communication with the control module, and used to display whether the second joint part is effectively connected to the first joint part.
  4. 根据权利要求1-3中的任一项所述的手术机器人，其特征在于，所述第一接合部包括基座和接合机构，所述基座上设有接合槽，所述接合机构至少部分地设置在所述接合槽内，且所述监测装置包括探测部，所述探测部设置于所述接合槽内；所述第二接合部包括用于***所述接合槽并与所述接合机构配合连接的凸块。The surgical robot according to any one of claims 1-3, wherein the first engaging part comprises a base and an engaging mechanism, the base is provided with an engaging groove, and the engaging mechanism is at least partially is arranged in the engaging groove, and the monitoring device includes a detecting part, and the detecting part is arranged in the engaging groove; Lugs for mating connections.
  5. 根据权利要求4所述的手术机器人，其特征在于，所述接合机构包括操作部及装配部，所述接合机构被配置为当所述操作部受到外力的作用时，驱使所述装配部与所述凸块分离，当所述外力被取消时，所述装配部使所述凸块装配在所述接合槽中。The surgical robot according to claim 4, wherein the engaging mechanism includes an operating part and an assembling part, and the engaging mechanism is configured to drive the assembling part and the assembling part when the operating part is subjected to an external force. The protrusion is separated, and when the external force is canceled, the fitting part fits the protrusion into the engagement groove.
  6. 根据权利要求5所述的手术机器人，其特征在于，所述装配部包括卡扣和第一弹性件，所述卡扣用于与所述凸块卡接；The surgical robot according to claim 5, wherein the assembly part includes a buckle and a first elastic member, and the buckle is used to engage with the protrusion;
    所述接合机构被配置为当所述操作部受到外力作用时，所述操作部驱使所述卡扣运动，并使所述卡扣与所述凸块相分离，同时所述弹性件存储弹性势能；当所述外力被取消时，所述弹性件释放所述弹性势能，并驱使所述卡扣运动至与所述凸块连接。The engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the buckle to move, and separates the buckle from the protrusion, and at the same time, the elastic member stores elastic potential energy ; when the external force is canceled, the elastic member releases the elastic potential energy and drives the buckle to move to connect with the protrusion.
  7. 根据权利要求5所述的手术机器人，其特征在于，所述装配部包括第二弹性件和磁性体；所述凸块具有磁性，并用于被所述磁性体吸引而实现与所述接合机构的连接；The surgical robot according to claim 5, wherein the assembly part includes a second elastic member and a magnetic body; the protrusion has magnetism and is used to be attracted by the magnetic body to achieve engagement with the engaging mechanism connect;
    所述接合机构被配置为当所述操作部受到外力作用时，所述操作部驱使所述磁性体沿远离所述凸块的方向移动，以使所述凸块受到的磁力减小，同时所述第二弹性件存储弹性势能；当所述外力被取消时，所述第二弹性件释放所述弹性势能，并驱使所述磁性体沿靠近所述凸块的方向移动，以使所述凸块受到的磁力增大。The engaging mechanism is configured such that when the operating portion is subjected to an external force, the operating portion drives the magnetic body to move away from the protrusion, so that the magnetic force received by the protrusion decreases, and at the same time The second elastic member stores elastic potential energy; when the external force is canceled, the second elastic member releases the elastic potential energy and drives the magnetic body to move in a direction close to the bump, so that the bump The magnetic force experienced by the block increases.
  8. 根据权利要求5所述的手术机器人，其特征在于，所述操作部包括操作区和楔形传力面；所述操作区用于接受外力，所述楔形传力面与所述装配部接触，并用于将外力传递至所述装配部以驱使所述装配部与所述凸块分离。The surgical robot according to claim 5, wherein the operation part comprises an operation area and a wedge-shaped force transmission surface; the operation area is used to receive external force, and the wedge-shaped force transmission surface is in contact with the assembly part and used The external force is transmitted to the assembling part to drive the assembling part to separate from the protrusion.
  9. 根据权利要求8所述的手术机器人，其特征在于，所述接合槽包括相互连通的主槽体和操作通道；The surgical robot according to claim 8, wherein the engaging groove comprises a main groove body and an operating channel communicated with each other;
    所述装配部设置在所述主槽体内；所述操作部部分地设置在所述操作通道内，并能够沿所述操作通道移动，所述楔形传力面延伸至所述主槽体内并与所述装配部接触。The assembly part is arranged in the main groove; the operating part is partially arranged in the operation channel and can move along the operation channel; the wedge-shaped force transmission surface extends into the main groove and is in contact with The fittings are in contact.
  10. 根据权利要求9所述的手术机器人，其特征在于，所述接合机构还包括隔板，所 述隔板设置在所述主槽体内并将所述主槽体分割为第一槽段和第二槽段；所述第一槽段用于容纳所述凸块；所述第二槽段内容纳有所述装配部；所述操作通道与所述第二槽段连通。The surgical robot according to claim 9, wherein the engaging mechanism further comprises a partition, the partition is arranged in the main tank body and divides the main tank body into a first slot section and a second slot section. a slot section; the first slot section is used for accommodating the protrusion; the second slot section contains the assembly part; the operation channel communicates with the second slot section.
  11. 根据权利要求1-3中的任一项所述的手术机器人，其特征在于，所述第一接合部包括抱箍本体和紧固件，所述紧固件设置在所述抱箍本体上并用于使所述第一接合部形成为闭合环；当所述第二接合部***所述闭合环，且所述第二接合部与所述第一接合部有效连接时，所述抱箍本体在径向上挤压所述第二接合部；The surgical robot according to any one of claims 1-3, wherein the first joint part comprises a hoop body and a fastener, and the fastener is arranged on the hoop body and used When the first joint part is formed into a closed ring; when the second joint part is inserted into the closed ring, and the second joint part is effectively connected with the first joint part, the hoop body is compressing the second engagement portion radially;
    所述监测装置包括探测部，所述探测部设置在所述抱箍本体上。The monitoring device includes a detection part, and the detection part is arranged on the hoop body.
  12. 一种手术机器人***，其特征在于，包括穿引器和如权利要求1-11中的任一项所述手术机器人；所述穿引器上设有第二接合部，用于与所述机械臂连接。A surgical robot system, characterized in that it includes a passer and the surgical robot according to any one of claims 1-11; the passer is provided with a second joint for connecting with the mechanical arm connection.
  13. 一种机械臂组件，其特征在于，包括：如权利要求1-11中的任一项所述的手术机器人中的机械臂；以及，A mechanical arm assembly, characterized by comprising: the mechanical arm in the surgical robot according to any one of claims 1-11; and,
    如权利要求1-11中的任一项所述的手术机器人中的监测装置。The monitoring device in the surgical robot according to any one of claims 1-11.
  14. 一种穿引器组件，其特征在于，包括穿引器和如权利要求1-11中的任一项所述的手术机器人中的监测装置。A passer assembly, characterized by comprising the passer and the monitoring device in the surgical robot according to any one of claims 1-11.
  15. 一种手术机器人***的控制方法，其特征在于，所述控制方法包括：A control method for a surgical robot system, characterized in that the control method comprises:
    步骤S110：获取表示机械臂和穿引器的连接状态的目标信号；Step S110: Obtain a target signal representing the connection status of the robotic arm and the threader;
    步骤S120：通过所述目标信号判断所述穿引器是否有效连接于所述机械臂上，若是，则执行步骤S130，若否，则报警或不允许所述机械臂运动；Step S120: judging by the target signal whether the threader is effectively connected to the mechanical arm, if yes, execute step S130, if not, alarm or not allow the mechanical arm to move;
    步骤S130：控制所述机械臂运动，以使手术器械执行手术操作。Step S130: Control the movement of the robotic arm to make the surgical instruments perform surgical operations.
PCT/CN2022/099066 2021-06-16 2022-06-16 Robotic arm and introducer assembly, and surgical robot system and control method WO2022262791A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110666364.3A CN113397711B (en) 2021-06-16 2021-06-16 Mechanical arm, penetrating device assembly, surgical robot system and control method
CN202110666364.3 2021-06-16

Publications (1)

Publication Number Publication Date
WO2022262791A1 true WO2022262791A1 (en) 2022-12-22

Family

ID=77684275

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/099066 WO2022262791A1 (en) 2021-06-16 2022-06-16 Robotic arm and introducer assembly, and surgical robot system and control method

Country Status (2)

Country Link
CN (1) CN113397711B (en)
WO (1) WO2022262791A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116593953A (en) * 2023-07-18 2023-08-15 四川华鲲振宇智能科技有限责任公司 AI chip test management system and method
CN117464083A (en) * 2023-12-27 2024-01-30 酷佧切削技术(四川)有限公司 Intelligent measurement and control system, method and storage medium for automatic cutting of dry-cutting cold saw

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113397711B (en) * 2021-06-16 2023-03-31 上海微创医疗机器人（集团）股份有限公司 Mechanical arm, penetrating device assembly, surgical robot system and control method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108210078A (en) * 2017-09-22 2018-06-29 微创（上海）医疗机器人有限公司 Surgical robot system
CN109171966A (en) * 2018-09-29 2019-01-11 微创（上海）医疗机器人有限公司 Fast replacing device for surgical instrument
CN110623743A (en) * 2018-06-22 2019-12-31 深圳市精锋医疗科技有限公司 Surgical robot with detection part
CN110859670A (en) * 2018-08-28 2020-03-06 美好罗伯特有限公司 Drive unit interface, robotic surgical device, and method for detecting attachment of surgical instrument to drive unit interface
CN111904597A (en) * 2020-08-07 2020-11-10 山东威瑞外科医用制品有限公司 Lightweight surgical robot
CN113397711A (en) * 2021-06-16 2021-09-17 上海微创医疗机器人（集团）股份有限公司 Mechanical arm, penetrating device assembly, surgical robot system and control method

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2554846A (en) * 2016-05-23 2018-04-18 Imperial Innovations Ltd Safety Device
CN107510505B (en) * 2017-07-17 2019-10-18 北京理工大学 Flexible installing mechanism for operation of opening cranium robot arm end
CN107623218B (en) * 2017-09-11 2019-04-16 沈阳泰德自动化设备有限公司 A kind of quick replacement manually connector
CN109480967B (en) * 2017-09-12 2021-02-19 赛诺微医疗科技(北京)有限公司 Operation puncture actuating mechanism and operation mechanical arm adopting same
CN107654463B (en) * 2017-11-13 2023-09-01 中国科学院合肥物质科学研究院 Quick locking structure of container seal
CN107970060A (en) * 2018-01-11 2018-05-01 上海联影医疗科技有限公司 Surgical robot system and its control method
CN109227594B (en) * 2018-09-19 2023-10-03 广东工业大学 Clasp formula robot coupling assembling
CN110695987A (en) * 2019-10-16 2020-01-17 重庆智能机器人研究院 Passive compliant device for tail end of robot
CN111658166B (en) * 2020-07-01 2023-03-14 武汉联影智融医疗科技有限公司 Surgical robot tail end tool detection system

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108210078A (en) * 2017-09-22 2018-06-29 微创（上海）医疗机器人有限公司 Surgical robot system
CN110623743A (en) * 2018-06-22 2019-12-31 深圳市精锋医疗科技有限公司 Surgical robot with detection part
CN110859670A (en) * 2018-08-28 2020-03-06 美好罗伯特有限公司 Drive unit interface, robotic surgical device, and method for detecting attachment of surgical instrument to drive unit interface
CN109171966A (en) * 2018-09-29 2019-01-11 微创（上海）医疗机器人有限公司 Fast replacing device for surgical instrument
CN111904597A (en) * 2020-08-07 2020-11-10 山东威瑞外科医用制品有限公司 Lightweight surgical robot
CN113397711A (en) * 2021-06-16 2021-09-17 上海微创医疗机器人（集团）股份有限公司 Mechanical arm, penetrating device assembly, surgical robot system and control method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116593953A (en) * 2023-07-18 2023-08-15 四川华鲲振宇智能科技有限责任公司 AI chip test management system and method
CN116593953B (en) * 2023-07-18 2023-11-10 四川华鲲振宇智能科技有限责任公司 AI chip test management system and method
CN117464083A (en) * 2023-12-27 2024-01-30 酷佧切削技术(四川)有限公司 Intelligent measurement and control system, method and storage medium for automatic cutting of dry-cutting cold saw

Also Published As

Publication number Publication date
CN113397711B (en) 2023-03-31
CN113397711A (en) 2021-09-17

Similar Documents

Publication Publication Date Title
WO2022262791A1 (en) Robotic arm and introducer assembly, and surgical robot system and control method
US10420625B2 (en) Vibration detection module, vibration detection method, and surgical system
CN110859584B (en) Endoscope adapter, robotic surgery system, and method of mounting endoscope to robot arm
Mitsuishi et al. Remote ultrasound diagnostic system
US7314473B2 (en) Medical manipulator
US20220151463A1 (en) Endoscope handle
JP5855146B2 (en) Imaging device
CN103607968A (en) Positive control of robotic surgical instrument end effector
KR20080085143A (en) Sterile surgical adaptor
KR20080085138A (en) Sterile surgical adaptor
CA2273939A1 (en) Multi-component telepresence system and method
US20120239011A1 (en) Medical treatment tool and manipulator
AU2020257902A1 (en) Medical device for tissue hemostasis or closure
KR102262917B1 (en) A cannula securing assembly for a minimally invasive surgical system
EP2856924A1 (en) Endoscope
CN107072735A (en) Medical manipulator system and its control method
US9585724B2 (en) Surgical system
US10653492B2 (en) Medical instrument and surgical system
CN117442352A (en) Medical instrument box, robot ultrasonic knife and surgical robot
JP2013013529A (en) Device for inserting puncture needle
EP3888524B1 (en) Endoscope adaptor
WO2018163538A1 (en) Auxiliary tool set and in-vivo imaging device
EP4104795B1 (en) Surgical instrument holding device and surgery assisting device
CN118285922A (en) Surgical system convenient for instrument removal
GB2621588A (en) Surgical instrument disengagement

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22824266

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22824266

Country of ref document: EP

Kind code of ref document: A1