Surgical robot arm isolation device, surgical robot and isolation device monitoring method

Abstract

The present application relates to a surgical robot arm isolation device, a surgical robot, and a monitoring method for the isolation device. It includes: a sterile bag, which is mounted on the surgical robot arm to be used; a flexible electronic skin, which is arranged on the sterile bag and is used to detect the stress to which the sterile bag is subjected when it is stretched; a processor, which is electrically connected to the flexible electronic skin and is used to send a prompt signal when the stress to which the sterile bag is subjected when it is stretched is greater than a first threshold. The device of the present application can monitor the stress condition of the sterile bag during the operation and promptly remind the operator to avoid the sterile bag from rupturing during the operation, thereby ensuring that the sterile environment of the operation is not destroyed and improving the safety of the operation.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a surgical robot arm isolation device, a surgical robot, and a monitoring method for the isolation device. Background Art

[0002] With the development of medical technology, minimally invasive surgery is becoming more and more popular. Minimally invasive surgery refers to a surgical method that uses modern medical devices such as laparoscopes and thoracoscopes and related equipment to perform surgery inside the human body. Compared with traditional surgery, minimally invasive surgery has the advantages of small incisions, fewer postoperative complications, and faster recovery. During the operation, a sterile environment must be maintained to prevent bacteria from infecting the patient.

[0003] In traditional technology, a sterile bag is tied to the robotic arm of minimally invasive surgery to prevent the robotic arm from coming into contact with bacteria in the air and ensure a sterile environment for the operation.

[0004] However, since sterile bags are usually made of polyethylene film, they have poor elastic properties and are easily broken or fallen off due to pulling, thereby destroying the sterile environment of the operation and causing safety accidents. Therefore, the safety of the operation cannot be guaranteed using traditional technology. Summary of the invention

[0005] Based on this, it is necessary to provide a monitoring method for a surgical robotic arm isolation device, a surgical robot and an isolation device that can monitor the pulling force received by the sterile bag and remind the doctor, thereby avoiding the sterile bag from rupturing and ensuring the safety of the operation.

[0006] A surgical robot arm isolation device, the device comprising: a sterile bag, which is mounted on a surgical robot arm to be used; a flexible electronic skin, which is arranged on the sterile bag and is used to detect the stress applied to the sterile bag when it is stretched; and a processor, which is electrically connected to the flexible electronic skin and is used to send a prompt signal when the stress applied to the sterile bag when it is stretched is greater than a first threshold.

[0007] In one embodiment, the processor is used to issue a first prompt signal when the stress is greater than the first threshold and less than or equal to the second threshold; and to issue a second prompt signal when the stress is greater than the second threshold. The device also includes: an alarm module, electrically connected to the processor, for issuing a first alarm signal when the first prompt signal is received, and issuing a second alarm signal when the second prompt signal is received.

[0008] In one embodiment, a user controls the movement of the surgical robotic arm through an operating component electrically connected to the surgical robotic arm, and the processor is electrically connected to the operating component, and is configured to control the operating component to apply a feedback force to the user when the stress is greater than the first threshold and less than or equal to the second threshold, wherein the magnitude of the feedback force is positively correlated with the magnitude of the stress.

[0009] In one embodiment, the sterile bag includes a bag body and a first magnet disposed on the bag body; and the surgical robot arm is provided with a second magnet for engaging with the first magnet.

[0010] In one embodiment, a photoelectric sensor and a mounting slot are provided on the surgical robotic arm, the photoelectric sensor includes a transmitting end and a receiving end, the transmitting end and the receiving end are relatively arranged on two sides of the mounting slot, the transmitting end is used to transmit a light signal, and the receiving end is used to receive the light signal; the sterile bag also includes a baffle arranged on the first magnet, when the first magnet and the second magnet are attracted, the baffle is located in the mounting slot to block the transmitting end from transmitting the light signal to the receiving end; the processor is connected to the photoelectric sensor, and is used to determine whether the sterile bag is mounted on the surgical robotic arm according to whether the receiving end receives the light signal.

[0011] In one embodiment, the processor is also used to send a pop-up signal when receiving a user instruction to end the operation; the device also includes: a spring and a spring self-locking mechanism, the spring is arranged in the installation groove, one end of the spring is against the baffle, and the other end of the spring is mechanically connected to the spring self-locking mechanism; the spring self-locking mechanism is used to release the spring when receiving the pop-up signal, so that the spring pushes the baffle to separate the first magnet and the second magnet.

[0012] In one embodiment, the device also includes: a wireless communication tag, which is arranged on the sterile bag, and the wireless communication tag stores the corresponding information of the sterile bag; a reading and writing module, which is arranged on the surgical robotic arm, and is used to communicate with the wireless communication tag when the sterile bag is put on the surgical robotic arm, so as to read the information of the sterile bag stored in the wireless communication tag; the processor is electrically connected to the reading and writing module, and is used to determine whether the sterile bag meets the surgical standards based on the information of the sterile bag obtained by the reading and writing module.

[0013] In one embodiment, the read-write module includes: a read-write antenna, which is used to generate an alternating magnetic field; a read-write chip, which is electrically connected to the read-write antenna and is used to send a read command through the read-write antenna; the wireless communication tag includes: a tag antenna, which is inductively coupled in the alternating magnetic field to generate electrical energy; a tag chip, which is electrically connected to the tag antenna, and the tag chip stores corresponding information of the sterile bag, and the tag chip is used to feedback the information of the sterile bag stored in the wireless communication tag according to the read command under the drive of the tag antenna to provide electrical energy; the read-write chip is also used to receive the information of the sterile bag stored in the tag chip, and transmit the information of the sterile bag to the processor.

[0014] In one of the embodiments, the reading and writing module is further used to verify the information of the sterile bag stored in the wireless communication tag when communicating with the wireless communication tag.

[0015] In one of the embodiments, the processor is used to obtain in real time the stress applied to the sterile bag when it is stretched when the surgical robotic arm rotates and translates in various directions; if the stress is less than a set value during the movement of the surgical robotic arm, it is determined that the set position of the sterile bag on the surgical robotic arm is qualified; if the stress is greater than or equal to the set value during the movement of the surgical robotic arm, a position alarm signal is issued to prompt the user to adjust the set position of the sterile bag on the surgical robotic arm.

[0016] A surgical robot comprises a surgical robotic arm and a surgical robotic arm isolation device.

[0017] A monitoring method for a surgical robot arm isolation device, the method being applied to the surgical robot arm isolation device, the method comprising:

[0018] Obtaining the stress to which the sterile bag is subjected when being stretched;

[0019] When the stress on the sterile bag when being stretched is greater than a first threshold, a prompt signal is issued.

[0020] The above-mentioned surgical robot arm isolation device, surgical robot and isolation device monitoring method can isolate the surgical robot arm from the external environment by setting a sterile bag that can be put on the surgical robot arm to be used, thereby ensuring that the surgical robot arm is in a sterile environment and improving the safety of the operation. By setting a flexible electronic skin on the sterile bag, when the sterile bag is pulled and deformed due to the movement of the robot arm during the operation, the flexible electronic skin will also be pulled and deformed, and the stress on the flexible electronic skin itself is equivalent to the stress on the sterile bag, so that the flexible electronic skin can detect the stress on the sterile bag when it is stretched. By setting a processor electrically connected to the flexible electronic skin, the stress detected by the flexible electronic skin can be obtained, and when the stress is greater than the first threshold, a prompt signal is issued. Thereby, the operator of the surgical robot arm can be prompted that the stress on the sterile bag may be too large at this time, so that the operator can know the stress condition of the sterile bag in time, and avoid the operator continuing the operation and causing the sterile bag to rupture. The device of the present application can monitor the stress condition of the sterile bag during the operation and promptly remind the operator to avoid the sterile bag from rupturing during the operation, thereby ensuring that the sterile environment of the operation is not destroyed and improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A schematic diagram of the structure of a surgical robot arm isolation device in one embodiment;

[0023] Figure 2 is a schematic diagram of a surgical robot arm isolation device in one embodiment;

[0024] Figure 3 is a structural block diagram of a flexible electronic skin in one embodiment;

[0025] Figure 4 is a schematic diagram of a surgical robot system in one embodiment;

[0026] Figure 5 A schematic diagram of a sterile bag being arranged on a surgical robot arm in one embodiment;

[0027] Figure 6 A control flow diagram of a processor alarm in one embodiment;

[0028] Figure 7 It is a structural schematic diagram of a surgical robot arm isolation device in another embodiment;

[0029] Figure 8 It is a structural schematic diagram of a surgical robot arm isolation device in yet another embodiment;

[0030] Fig. 9 It is a structural schematic diagram of a surgical robot arm isolation device in yet another embodiment;

[0031] Fig.10 It is a schematic structural diagram of a surgical robot arm isolation device and a surgical robot arm in yet another embodiment;

[0032] Fig.11 is a schematic diagram of a baffle on a sterile bag in one embodiment;

[0033] Fig.12 is a schematic diagram of a photoelectric sensor on a surgical robot arm in one embodiment;

[0034] Fig.13 It is a schematic structural diagram of a surgical robot arm isolation device and a surgical robot arm in yet another embodiment;

[0035] Fig.14 It is a structural schematic diagram of a surgical robot arm isolation device in yet another embodiment;

[0036] Fig.15 is a schematic diagram of a communication tag on a sterile bag in one embodiment;

[0037] Fig.16 is a schematic diagram of a read-write module on a surgical robot arm in one embodiment;

[0038] Fig.17 A schematic diagram of the structure of a read / write module and a wireless communication tag in one embodiment;

[0039] Fig.18 A schematic diagram of a read / write module and a wireless communication tag in one embodiment;

[0040] Fig.19 It is a schematic structural diagram of a surgical robot arm isolation device and a surgical robot arm in yet another embodiment;

[0041] Fig. 20 A control flow chart of a processor checking a setting position of a sterile bag in one embodiment;

[0042] Fig.21 Flow chart of a monitoring method for a surgical robot arm isolation device in one embodiment. DETAILED DESCRIPTION

[0043] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0045] It can be understood that the terms "first", "second", etc. used in the present application can be used in this article to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element.

[0046] Spatially relative terms such as "under," "beneath," "below," "under," "above," "above," and the like may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It should be understood that, in addition to the orientations shown in the figures, spatially relative terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as being "above" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90 degrees or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0047] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. In addition, the "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is transmission of electrical signals or data between the connected objects.

[0048] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0049] In one embodiment, Figure 1As shown, a surgical robot arm isolation device is provided, the device comprising: a sterile bag 10, a flexible electronic skin 20, and a processor 30, wherein:

[0050] The sterile bag 10 is mounted on a surgical robot arm 100 to be used.

[0051] Specifically, the sterile bag 10 is a polyethylene film, which is put on the surgical robot arm 100 to isolate the surgical robot arm 100 from the outside air and ensure that the surgical robot arm 100 is in a sterile environment.

[0052] For example, Figure 2 As shown, the sterile bag 10 is mounted on the surgical robot arm 100. The specific part of the surgical robot arm 100 on which the sterile bag 10 is mounted and the range of the surgical robot arm 100 covered by the sterile bag 10 can be adaptively adjusted by the doctor according to actual surgical needs.

[0053] The flexible electronic skin 20 is disposed on the sterile bag 10 to detect the stress to which the sterile bag 10 is subjected when being stretched.

[0054] Specifically, the flexible electronic skin 20 is set on the sterile bag 10. When the sterile bag 10 is pulled and deformed due to the movement of the robotic arm during the operation, the flexible electronic skin 20 will also be pulled and deformed. Therefore, the flexible electronic skin 20 can detect the stress exerted on the sterile bag 10.

[0055] For example, the flexible electronic skin 20 can be set in the area where the stress is the greatest when the sterile bag 10 is stretched. Thus, the flexible electronic skin 20 can detect the maximum stress of the sterile bag 10 in real time, and as long as the stress in the area where the flexible electronic skin 20 is located is within a reasonable range, the entire sterile bag 10 will not break.

[0056] For example, the flexible electronic skin 20 is a conductive film made of an elastic polymer polydimethylsiloxane (PDMS) as a substrate, which can detect small changes in pressure and the magnitude of the tensile force. The film made of polydimethylsiloxane has good elasticity and flexibility, and can be well combined with electronic materials, so it can return to its original shape under harsh conditions of stretching, folding, and bending, and the flexible circuit itself is not affected.

[0057] For example, please see Figure 2 The flexible electronic skin 20 is attached to the sterile bag 10 .

[0058] For example, Figure 3As shown, the flexible electronic skin 20 includes an impedance film 21, and the processor 30 may also include a sampling circuit 22, an operational amplifier 23, and an analog-to-digital converter 24. When the impedance film 21 is deformed, the impedance value inside it will change with the deformation. The sampling circuit 22 is electrically connected to the impedance film 21, and can collect an electrical signal of the resistance value of the impedance film 21. The operational amplifier 23 is electrically connected to the sampling circuit 22, and can amplify the electrical signal output by the sampling circuit 22. The analog-to-digital converter 24 is electrically connected to the operational amplifier 23, and can perform analog-to-digital conversion on the electrical signal output by the operational amplifier 23, thereby outputting an electrical signal including information about the stress received by the flexible electronic skin 20.

[0059] The processor 30 is electrically connected to the flexible electronic skin 20 and is used to send a prompt signal when the stress on the sterile bag 10 when being stretched is greater than a first threshold.

[0060] Specifically, when the processor 30 receives an electrical signal including stress from the flexible electronic skin 20, it compares the stress exerted on the sterile bag 10 when it is stretched with a first threshold, thereby issuing a prompt signal. The first threshold can be set to the force value when the sterile bag 10 is stretched and is about to break.

[0061] In this embodiment, by providing a sterile bag 10 that can be mounted on the surgical robot arm 100 to be used, the surgical robot arm 100 can be isolated from the external environment, thereby ensuring that the surgical robot arm 100 is in a sterile environment and improving the safety of the operation. By providing a flexible electronic skin 20 on the sterile bag 10, when the sterile bag 10 is pulled and deformed due to the movement of the robot arm during the operation, the flexible electronic skin 20 will also be pulled and deformed, and the stress on the flexible electronic skin 20 itself is equivalent to the stress on the sterile bag 10, so that the flexible electronic skin 20 can detect the stress on the sterile bag 10 when it is stretched. By providing a processor 30 electrically connected to the flexible electronic skin 20, the stress detected by the flexible electronic skin 20 can be obtained, and when the stress is greater than the first threshold, a prompt signal is issued. Thus, the operator of the surgical robot arm 100 can be prompted that the stress on the sterile bag 10 may be too large at this time, so that the operator can know the stress of the sterile bag 10 in time, and avoid the operator continuing the operation and causing the sterile bag 10 to rupture. The device of the present application can monitor the stress condition of the sterile bag 10 during the operation and promptly remind the operator to avoid the sterile bag 10 from rupturing during the operation, thereby ensuring that the sterile environment of the operation is not destroyed and improving the safety of the operation.

[0062] For example, a surgical robot system including the surgical robot arm 100 of the present application is as follows: Figure 4 As shown, the schematic diagram of the sterile bag 10 being arranged on the surgical robot arm 100 is shown in FIG. Figure 5As shown. The surgical robot system includes a doctor's console 40, on which an operating component 41 is provided. The surgical robot system also includes a surgical robot 50, which includes a column 51, a surgical robot arm 100 (including an adjustment arm 52 and a tool arm 53) and a surgical instrument 54. The doctor controls the operation of the surgical robot through the operating component 41. The surgical robot system also includes an image trolley 55, a tool trolley 56, etc. The patient lies on the operating table, which can be raised, lowered and rotated.

[0063] The column 51 is used to support a plurality of adjustment arms 52. The end of each adjustment arm 52 is connected to a tool arm 53. The tool arm 53 is used to mount a surgical instrument 54 (i.e., the surgical instrument 54 is disposed at the end of the tool arm 53). The movement of the adjustment arm 52 and the tool arm 53 can drive the movement of the surgical instrument 54, thereby performing surgery.

[0064] exist Figure 5 In the embodiment, a sterile bag 10 is installed on the surgical robot 50, the proximal end of the sterile bag 10 is used to connect with a designated position on the surgical robot arm 100, and the distal end of the sterile bag 10 is used to cover the distal end of the surgical robot arm 100. Here, the "designated position" generally refers to the position of the robot arm that the operator can touch. By isolating the part of the robot arm that the operator can touch through a sterile isolation device, the sterilization of the operating environment is achieved.

[0065] In one embodiment, Figure 6 As shown, the processor 30 is used to perform the following steps:

[0066] S600, obtaining the stress applied to the sterile bag when it is stretched.

[0067] S610, determining whether the stress is greater than a first threshold value. If the stress is greater than the first threshold value, executing step S620; if the stress is less than or equal to the first threshold value, repeating step S610.

[0068] S620, determining whether the stress is greater than a first threshold and less than or equal to a second threshold. If the stress is greater than the first threshold and less than or equal to the second threshold, executing step S630; if the stress is greater than the second threshold, executing step S640.

[0069] S630: When the stress is greater than the first threshold and less than or equal to the second threshold, a first prompt signal is issued.

[0070] S640: When the stress is greater than a second threshold, a second prompt signal is issued.

[0071] like Figure 7As shown, the surgical robot arm isolation device further includes an alarm module 60. The alarm module 60 is electrically connected to the processor 30, and is used to send a first alarm signal when receiving the first prompt signal, and send a second alarm signal when receiving the second prompt signal.

[0072] Exemplarily, the alarm module 60 may be an acousto-optic alarm including a plurality of indicator lights and a speaker. The first alarm signal may be an indicator light of a first color, the second alarm signal may be an indicator light of a second color, and when the stress is greater than the first threshold, the speaker may also emit a sound, and the sound emitted by the speaker may become louder as the stress increases.

[0073] Exemplarily, the doctor's operating console may also receive an alarm signal, and then display the alarm signal on a display screen to alert the doctor.

[0074] In this embodiment, by setting up the alarm module 60, the processor 30 can control the alarm module 60 to issue different alarms according to the received stress, thereby prompting the doctor, facilitating the doctor's operational judgment and avoiding the rupture of the sterile bag 10.

[0075] In one embodiment, the user controls the movement of the surgical robot arm through an operating component electrically connected to the surgical robot arm, such as Figure 8 As shown, the processor 30 is electrically connected to the operating component 41, and is used to control the operating component 41 to apply feedback force to the user when the stress is greater than a first threshold and less than or equal to a second threshold, wherein the magnitude of the feedback force is positively correlated with the magnitude of the stress.

[0076] For example, see Figure 4 The operating component 41 is the operating end on the doctor's console, which can be an operating handle, etc. The processor 30 can control the motor of the operating handle in the operating component according to the stress, such as hindering the operation of the motor of the operating handle, thereby preventing the doctor from continuing to move the operating component 41, so that the doctor feels the feedback force.

[0077] In this embodiment, the processor 30 can control the operating component to apply feedback force to the user according to the magnitude of the stress, so that the user can intuitively feel the force feedback, reminding the user to adjust the operation method to avoid rupture of the sterile bag 10.

[0078] In one embodiment, Fig. 9 As shown, the sterile bag 10 includes a bag body 11 and a first magnet 12 disposed on the bag body 11 .

[0079] The surgical robot arm 100 is provided with a second magnet 102 for being attracted to the first magnet 12 .

[0080] Specifically, when the first magnet 12 and the second magnet 102 are attracted to each other, the sterile bag 10 is just fixed to the set position on the surgical robot arm 100 .

[0081] Specifically, the locations of the first magnet 12 and the second magnet 102 can be adjusted according to actual surgical needs.

[0082] In this embodiment, by setting a first magnet 12 on the bag body 11 of the sterile bag 10 and setting a second magnet 102 on the surgical robot arm 100, the sterile bag 10 can be simply and conveniently mounted on the surgical robot arm 100 by magnetic attraction, and the position is not easy to be wrong, thereby improving the accuracy of the setting of the sterile bag 10.

[0083] In one embodiment, Fig.10 As shown, a photoelectric sensor and a mounting slot 200 are provided on the surgical robot arm 100. The photoelectric sensor includes a transmitting end 81 and a receiving end 82. The transmitting end 81 and the receiving end 82 are relatively arranged on both sides of the mounting slot 200. The transmitting end 81 is used to transmit light signals, and the receiving end 82 is used to receive light signals.

[0084] Specifically, the transmitting end 81 of the photoelectric sensor will continuously transmit the light signal, and when the space between the transmitting end 81 and the receiving end 82 is not blocked, the receiving end 82 will continuously receive the light signal.

[0085] The sterile bag 10 further includes a baffle 13 disposed on the first magnet 12 . When the first magnet 12 and the second magnet are attracted, the baffle 13 is located in the mounting groove 200 to block the transmitting end 81 from transmitting the optical signal to the receiving end 82 .

[0086] Specifically, the baffle 13 is positioned so that when the first magnet 12 and the second magnet 102 are attracted to each other, the baffle 13 is embedded in the mounting groove 200, thereby blocking the optical path of the optical signal transmitted from the transmitting end 81 to the receiving end 82, so that the receiving end 82 cannot receive the optical signal.

[0087] The processor 30 is connected to the photoelectric sensor (the connection line is not shown in the figure, and it can also be a wireless connection) to determine whether the sterile bag 10 is mounted on the surgical robot arm 100 based on whether the receiving end 82 receives an optical signal.

[0088] Specifically, the processor 30 is connected to the photoelectric sensor. When the first magnet 12 and the second magnet 102 are not attracted, it means that the sterile bag 10 has not been put on the surgical robot arm 100. At this time, the processor 30 can detect that the receiving end 82 receives the light signal. When the first magnet 12 and the second magnet 102 are attracted, the sterile bag 10 is put on the surgical robot arm 100, and the baffle 13 blocks the transmitting end 81 of the photoelectric sensor. At this time, the processor 30 detects that the receiving end 82 does not receive the light signal. Therefore, the processor 30 can determine whether the sterile bag 10 has been put on the surgical robot arm 100 according to whether the receiving end 82 receives the light signal.

[0089] Exemplarily, the photoelectric sensor can be configured to send a high level signal to the processor 30 when the receiving end 82 receives the light signal emitted by the transmitting end 81, and send a low level signal to the processor 30 when the receiving end 82 does not receive the light signal emitted by the transmitting end 81. Thus, the processor 30 can determine whether the sterile bag 10 is mounted on the surgical robot arm 100 according to the level of the signal received from the photoelectric sensor.

[0090] Exemplarily, the installation process of the sterile bag 10 is as follows: the first magnet and the second magnet 102 are attracted to each other. The baffle 13 is blocked between the transmitting end 81 and the receiving end 82. The processor 30 determines whether the receiving end 82 receives the optical signal.

[0091] For example, Fig.11 , Fig.12 As shown, a baffle 13 is provided on the bag body 11, and a transmitting end 81 and a receiving end 82 are provided on both sides of the mounting slot 200 on the surgical robot arm 100. In addition, the bag body 11 also includes a plug 14, and the corresponding position on the surgical robot arm 100 includes a socket 85. When the sterile bag 10 is mounted on the surgical robot arm 100, the plug and the socket are electrically connected to realize the electrical connection between the sterile bag 10 and the surgical robot arm 100. The plug may include a power line, a ground line, a communication line, a clock line, and a chip select signal line to realize data interaction between the sterile bag 10 and the surgical robot arm 100.

[0092] In this embodiment, by setting a photoelectric sensor and a mounting groove 200 on the surgical robot arm 100 and setting a baffle 13 on the sterile bag 10, it is possible to detect and identify whether the sterile bag 10 has been put on the surgical robot arm 100, thereby facilitating the doctor to judge whether the sterile bag 10 is installed in place.

[0093] In one embodiment, the processor is further configured to send a pop-up signal upon receiving a user instruction indicating the end of the operation.

[0094] Specifically, after the operation is completed and there is no need to use the sterile bag, the doctor can send a user instruction to the processor that the operation is over, and the processor will send a pop-up signal.

[0095] like Fig.13 As shown, the surgical robot arm isolation device also includes: a spring 83 and a spring self-locking mechanism 84. Wherein:

[0096] The spring 83 is disposed in the mounting groove 200 , one end of the spring 83 abuts against the baffle 13 , and the other end of the spring 83 is mechanically connected to the spring self-locking mechanism 84 .

[0097] The spring self-locking mechanism 84 is used to release the spring 83 when receiving an ejection signal, so that the spring 83 pushes the baffle 13 to separate the first magnet from the second magnet.

[0098] Specifically, the spring 83 is compressed by the baffle 13 and thus self-locked by the spring self-locking mechanism 84. The spring self-locking mechanism 84 locks the spring when no pop-up signal is received. At this time, the spring 83 does not apply a thrust to the baffle 13. When the spring self-locking mechanism 84 receives a pop-up signal, it releases the self-locking of the spring 83 and releases the spring 83, so that the deformation elastic force of the spring 83 is applied to the baffle 13, pushing the baffle 13 to separate the first magnet and the second magnet.

[0099] Exemplarily, the spring self-locking mechanism 84 is electrically connected or communicatively connected to the processor 30 .

[0100] In this embodiment, by providing the spring 83 and the spring self-locking mechanism 84, when the operation is finished, the user only needs to issue a user instruction including an ejection signal to quickly disengage the sterile bag 10 from the surgical robot arm 100, which is more convenient and quick.

[0101] In one embodiment, Fig.14 As shown, the device also includes: a wireless communication tag 86, a read-write module 87, wherein:

[0102] The wireless communication tag 86 is disposed on the sterile bag 10 , and the wireless communication tag 86 stores the information of the corresponding sterile bag.

[0103] Exemplarily, the wireless communication tag 86 may be a near field communication tag (NFC).

[0104] Exemplarily, the information of the sterile bag includes specification parameters of the sterile bag 10 , the serial number of the sterile bag, and the like.

[0105] The read / write module 87 is disposed on the surgical robot arm 100 , and is used to communicate with the wireless communication tag 86 when the sterile bag 10 is mounted on the surgical robot arm 100 , so as to read the information of the sterile bag stored in the wireless communication tag 86 .

[0106] Specifically, the reading and writing module 87 can read the information of the sterile bag in the wireless communication tag 86 .

[0107] Exemplarily, the steps performed by the read-write module 87 are as follows: First, call the NfcAdaptar.onDiscovered function to monitor NFC tags. Then call the NfcAdaptar.startDiscovered function to scan NFC tags in the surrounding environment. At the same time, bring the wireless communication tag 86 of the sterile bag close to the reader of the read-write module 87; then call the Nfc.connect function to prepare to connect the NFC tag, perform a password check after the connection, and after the password check passes, trigger the callback function. The techs field in the callback parameter can be used to obtain the protocol supported by NFC, and then call the NfcAdaptar.getNfcA function to read the tag information according to the protocol. After the reading is completed, turn off the NFC scan NfcAdaptar.offDiscovered, turn off the event monitor NfcAdaptar.offDiscovered, upload the information of the sterile bag to the host computer, and the host computer verifies whether the information of the sterile bag is correct.

[0108] The processor 30 is electrically connected to the read-write module 87 , and is used to determine whether the sterile bag 10 meets the surgical standard according to the information of the sterile bag 10 acquired by the read-write module 87 .

[0109] Specifically, after acquiring the information of the sterile bag, the processor 30 determines whether the specification parameters of the sterile bag meet the current surgical requirements, and determines whether the sterile bag 10 has been used according to the serial number of the sterile bag. If the specification parameters of the sterile bag meet the current surgical requirements and the sterile bag 10 has not been used, it is determined that the sterile bag 10 meets the surgical standards. The processor 30 will also save the information of the sterile bag for later tracing.

[0110] Exemplarily, if the sterile bag 10 does not meet the surgical standards, the processor 30 may send a prompt signal or directly send an eject signal.

[0111] Exemplarily, after receiving the user's instruction to end the operation, the processor 30 can also self-check whether the information of the sterile bag 10 has been saved. If the information of the sterile bag has been saved, it will send out a pop-up signal.

[0112] For example, Fig.15 , Fig.16 As shown, a wireless communication tag 86 is provided on the sterile bag 10 , and a read-write module 87 is provided on the surgical robot arm 100 , thereby realizing data interaction between the sterile bag 10 and the surgical robot arm 100 .

[0113] In this embodiment, by setting up a wireless communication tag 86 and a read-write module 87, data communication between the sterile bag 10 and the surgical robot arm 100 is achieved, so that it is convenient to judge whether the sterile bag 10 meets the surgical standards based on the information of the sterile bag, avoid the abuse or reuse of the sterile bag 10, and trace the sterile bag 10, thereby realizing the supervision of the sterile bag 10 and improving the safety of the operation.

[0114] In one embodiment, Fig.17 As shown, the read / write module 87 includes: a read / write antenna 88 and a read / write chip 89, and the wireless communication tag 86 includes: a tag antenna 90 and a tag chip 91, wherein:

[0115] The read / write antenna 88 is used to generate an alternating magnetic field.

[0116] Specifically, the read / write antenna 88 can generate an alternating magnetic field, thereby being able to transfer energy to the tag antenna 90 .

[0117] The read / write chip 89 is electrically connected to the read / write antenna 88 and is used to send a read command through the read / write antenna 88 .

[0118] Specifically, the read / write chip 89 can send various read commands through the read / write antenna 88 , thereby reading the information stored in the tag chip 91 .

[0119] The tag antenna 90 generates inductive coupling in the alternating magnetic field to generate electrical energy.

[0120] Specifically, the tag antenna 90 generates inductive coupling in the alternating magnetic field, converting the energy sent by the read / write antenna 88 into electrical energy, thereby powering the tag chip 91 .

[0121] The tag chip 91 is electrically connected to the tag antenna 90. The tag chip 91 stores the corresponding information of the sterile bag 10. The tag chip 91 is used to feedback the information of the sterile bag 10 stored in the wireless communication tag 86 according to the read command under the driving of the power provided by the tag antenna 90.

[0122] The read / write chip 89 is also used to receive the information of the sterile bag 10 stored in the tag chip 91 , and transmit the information of the sterile bag 10 to the processor 30 .

[0123] For example, Fig.18 As shown, the read / write chip 89 is connected to the impedance matching circuit 92 , the impedance matching circuit 92 is connected to the read / write antenna 88 , the read / write antenna 88 generates a magnetic field to transfer energy to the tag antenna 90 , and the tag antenna 90 supplies power to the tag chip 91 .

[0124] Exemplarily, wireless data communication is performed between the read / write antenna 88 and the tag antenna 90 via a 13.56 MHz radio frequency communication band.

[0125] In this embodiment, by setting a read-write antenna 88, a read-write chip 89, a tag antenna 90 and a tag chip 91, the wireless communication tag 86 can communicate data with the read-write module 87 without setting a battery, and realizes data communication between the sterile bag 10 and the surgical robot arm 100.

[0126] For example, Fig.19 As shown, the first magnet 12 and the second magnet 102 are attracted, the bag body 11 and the shell 103 of the surgical robot arm 100 are fitted together, the baffle 13 is blocked between the transmitting end 81 and the receiving end 82 of the photoelectric sensor, the spring 83 is compressed, and the spring self-locking mechanism 84 locks the spring 83. The tag chip 91 communicates data with the read-write chip 89 through the tag antenna 90 and the read-write antenna 88, and the processor 30 transmits the information of the sterile bag 10 to the communication module 93, which is then transmitted to the main station 94 by the communication module 93.

[0127] In one embodiment, the reading and writing module is also used to verify the information of the sterile bag stored in the wireless communication tag when communicating with the wireless communication tag.

[0128] Specifically, encrypted communication can be used between the read / write module and the wireless communication tag. Password verification is required during communication, and the data is encrypted by the processor.

[0129] In this embodiment, when the reading and writing module is in communication connection with the wireless communication tag, the information of the sterile bag stored in the wireless communication tag is verified, thereby improving the security of communication.

[0130] In one embodiment, a surgical robot is provided, which includes a surgical robot arm and the surgical robot arm isolation device in any of the above embodiments.

[0131] In one embodiment, the processor is used to obtain in real time the stress applied to the sterile bag when it is stretched when the surgical robotic arm rotates and translates in various directions. If the stress is less than a set value during the movement of the surgical robotic arm, it is determined that the set position of the sterile bag on the surgical robotic arm is qualified; if the stress is greater than or equal to the set value during the movement of the surgical robotic arm, a position alarm signal is issued to prompt the user to adjust the set position of the sterile bag on the surgical robotic arm.

[0132] For example, before the operation officially begins, the position of the sterile bag mounted on the surgical robot arm can be checked.

[0133] like Fig. 20 As shown, the inspection process is as follows:

[0134] Step S2000, placing the sterile bag set at a set position on the surgical robot arm.

[0135] Step S2010, controlling the rotation and translation of the surgical robot arm, during which the processor obtains the stress on the sterile bag in real time.

[0136] Step S2020: If the stress is greater than the set value, the processor sends a position alarm signal.

[0137] Exemplarily, the sterile bag will not rupture when subjected to a set value of stress.

[0138] In this embodiment, before the operation officially begins, the position of the sterile bag mounted on the surgical robot arm can be self-checked to determine whether the current installation position of the sterile bag can prevent the sterile bag from breaking during the movement of the surgical robot arm. This ensures that the installation position of the sterile bag is appropriate, and reduces the probability of the sterile bag breaking during the operation.

[0139] In one embodiment, Fig.21 As shown, a monitoring method for a surgical robot arm isolation device is provided, and the method is applied to the surgical robot arm isolation device in any of the above embodiments. The method comprises:

[0140] Step S2100, obtaining the stress to which the sterile bag is subjected when being stretched.

[0141] Step S2110: When the stress on the sterile bag when being stretched is greater than a first threshold, a prompt signal is issued.

[0142] In this embodiment, the stress detected by the flexible electronic skin is obtained, and a prompt signal is issued when the stress is greater than a first threshold. This can remind the operator of the surgical robot arm that the stress on the sterile bag may be too great, so that the operator can know the stress condition of the sterile bag in time, and avoid the operator continuing the operation and causing the sterile bag to rupture. The device of the present application can monitor the stress condition of the sterile bag during the operation, and remind the operator in time to avoid the sterile bag from rupturing during the operation, thereby ensuring that the sterile environment of the operation is not destroyed and improving the safety of the operation.

[0143] It should be understood that although Figure 6 , Fig. 20 , Fig.21 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, Figure 6 , Fig. 20 , Fig.21At least part of the steps may include multiple steps or multiple stages. These steps or stages are not necessarily performed at the same time, but can be performed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed in turn or alternately with other steps or at least part of the steps or stages in other steps.

[0144] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0145] In the description of this specification, the description with reference to the terms "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0146] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0147] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A surgical robot arm isolation device, characterized in that: The device comprises: A sterile bag, which is mounted on the surgical robot arm to be used; A flexible electronic skin, arranged on the sterile bag, for detecting the stress applied to the sterile bag when the sterile bag is stretched; A processor, electrically connected to the flexible electronic skin and to an operating component; The user controls the movement of the surgical robotic arm through an operating component electrically connected to the surgical robotic arm; The processor is used to perform the following steps: S600, obtaining the stress applied to the sterile bag when it is stretched; S610, determining whether the stress is greater than a first threshold value, if the stress is greater than the first threshold value, executing step S620; if the stress is less than or equal to the first threshold value, repeating step S610; S620, determining whether the stress is greater than a first threshold and less than or equal to a second threshold, if the stress is greater than the first threshold and less than or equal to the second threshold, executing step S630; if the stress is greater than the second threshold, executing step S640; S630, when the stress is greater than a first threshold value and less than or equal to a second threshold value, issuing a first prompt signal to control the operating component to apply a feedback force to the user, wherein the magnitude of the feedback force is positively correlated with the magnitude of the stress; S640: When the stress is greater than a second threshold, a second prompt signal is issued.

2. The device according to claim 1, characterized in that The device also includes: The alarm module is electrically connected to the processor, and is used to send out a first alarm signal when the first prompt signal is received, and send out a second alarm signal when the second prompt signal is received.

3. The device according to claim 2, characterized in that The alarm module includes multiple indicator lights and a speaker. The first alarm signal is that an indicator light of a first color lights up, and the second alarm signal is that an indicator light of a second color lights up. At the same time, when the stress is greater than a first threshold, the speaker emits a sound, and the sound emitted by the speaker becomes louder as the stress increases.

4. The device according to any one of claims 1 to 3, characterized in that: The sterile bag comprises a bag body and a first magnet arranged on the bag body; The surgical robot arm is provided with a second magnet for engaging with the first magnet.

5. The device according to claim 4, characterized in that The surgical robot arm is provided with a photoelectric sensor and a mounting slot, the photoelectric sensor comprises a transmitting end and a receiving end, the transmitting end and the receiving end are arranged on two sides of the mounting slot opposite to each other, the transmitting end is used to transmit a light signal, and the receiving end is used to receive the light signal; The sterile bag further comprises a baffle plate disposed on the first magnet, and when the first magnet and the second magnet are attracted, the baffle plate is located in the mounting groove to block the transmitting end from transmitting the optical signal to the receiving end; The processor is connected to the photoelectric sensor and is used to determine whether the sterile bag is mounted on the surgical robot arm according to whether the receiving end receives the optical signal.

6. The device according to claim 5, characterized in that The processor is also used to send a pop-up signal when receiving a user instruction to end the operation; The device also includes: a spring and a spring self-locking mechanism, The spring is arranged in the installation groove, one end of the spring abuts against the baffle, and the other end of the spring is mechanically connected to the spring self-locking mechanism; The spring self-locking mechanism is used to release the spring when receiving the ejection signal, so that the spring pushes the baffle to separate the first magnet and the second magnet.

7. The device according to any one of claims 1 to 3, characterized in that: The device also includes: A wireless communication tag, which is arranged on the sterile bag, and in which the information of the corresponding sterile bag is stored; A read / write module, arranged on the surgical robot arm, and used for communicating with the wireless communication tag when the sterile bag is put on the surgical robot arm, so as to read the information of the sterile bag stored in the wireless communication tag; The processor is electrically connected to the read-write module and is used to determine whether the sterile bag meets the surgical standard according to the information of the sterile bag acquired by the read-write module.

8. The device according to claim 7, characterized in that The read-write module comprises: Read-write antenna, used to generate alternating magnetic field; A read / write chip, electrically connected to the read / write antenna, and used to send a read command through the read / write antenna; The wireless communication tag comprises: The tag antenna is inductively coupled in the alternating magnetic field to generate electric energy; A tag chip, electrically connected to the tag antenna, wherein the tag chip stores information of the corresponding sterile bag, and wherein the tag chip is used to feed back the information of the sterile bag stored in the wireless communication tag according to the read command under the driving of the tag antenna with electric energy; The read-write chip is also used to receive the information of the sterile bag stored in the tag chip, and transmit the information of the sterile bag to the processor.

9. The device according to claim 7, characterized in that The reading and writing module is also used to verify the information of the sterile bag stored in the wireless communication tag when communicating with the wireless communication tag.

10. The device according to any one of claims 1 to 3, characterized in that: The processor is used to obtain in real time the stress on the sterile bag when it is stretched when the surgical robot arm rotates and translates in various directions. If the stress is less than a set value during the movement of the surgical robot arm, it is determined that the set position of the sterile bag on the surgical robot arm is qualified; If the stress is greater than or equal to the set value during the movement of the surgical robot arm, a position alarm signal is issued to prompt the user to adjust the set position of the sterile bag on the surgical robot arm.

11. A surgical robot, characterized in that: It comprises a surgical robot arm and a surgical robot arm isolation device as described in any one of claims 1-10.

12. A monitoring method for a surgical robot arm isolation device, characterized in that: The method is applied to the surgical robot arm isolation device according to any one of claims 1 to 10, and the method comprises: S600, obtaining the stress applied to the sterile bag when it is stretched; S610, determining whether the stress is greater than a first threshold value, if the stress is greater than the first threshold value, executing step S620; if the stress is less than or equal to the first threshold value, repeating step S610; S620, determining whether the stress is greater than a first threshold and less than or equal to a second threshold, if the stress is greater than the first threshold and less than or equal to the second threshold, executing step S630; if the stress is greater than the second threshold, executing step S640; S630, when the stress is greater than a first threshold value and less than or equal to a second threshold value, issuing a first prompt signal to control the operating component to apply a feedback force to the user, wherein the magnitude of the feedback force is positively correlated with the magnitude of the stress; S640: When the stress is greater than a second threshold, a second prompt signal is issued.

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