Instrument docking system and surgical robot

Abstract

The invention provides an instrument docking system and surgical robotic.The instrument docking system comprises an instrument box and a power box, the instrument box stores an electronic tag for identifying information, the power box is provided with an RFID module, the RFID module comprises an RFID circuit and an antenna board, the RFID circuit sends and receives radio frequency signals through the antenna board, and the radio frequency signals are sent to the power box through the RFID circuit. The RFID module is adopted for instrument butt joint, the cost is low, maintenance is easy, meanwhile, the antenna plate is a metal plate, the antenna and the magnetic isolation sheet are arranged on the antenna plate at intervals, the magnetic isolation sheet has the characteristic of high magnetic conductance, a transmission path is provided for a magnetic field, and the mechanical performance of the power box is improved. The eddy current effect of the metal plate is effectively avoided, communication of the antenna is not affected, the power amplification circuit is arranged in the RFID circuit, power amplification of radio frequency signals is achieved, and the reliability of communication and instrument butt joint is improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and in particular relates to a device docking system and a surgical robot. Background Technology

[0002] Surgical robots are robots that can be remotely operated to perform surgery. Surgeons control surgical instruments on the surgical instrument driver at the console. To meet the needs of using different surgical instruments during surgery, surgical instruments and instrument drivers are usually designed to be detachably connected, which facilitates the replacement of different surgical instruments during surgery and the independent sterilization of surgical instruments.

[0003] To enable the docking of instruments with instrument actuators, most automated docking systems determine the relative position information of the mating structures by acquiring real-time images or various complex sensors, and then achieve docking through machine vision and algorithms. This automated docking system has advantages such as accurate docking and increased instrument docking efficiency.

[0004] However, imaging equipment and sensors are often expensive and difficult to maintain and replace, which greatly reduces the lifespan of the automatic docking system and increases maintenance costs. Summary of the Invention

[0005] The purpose of this invention is to provide a medical device docking system that aims to solve the problems of difficult maintenance and high cost of traditional medical device docking.

[0006] The first aspect of this invention provides a device docking system, comprising:

[0007] Instrument box (20) stores electronic tags for identification information;

[0008] The power box (10) is connected to the instrument box via a transmission. The power box is equipped with an RFID module. The RFID module includes an RFID circuit and an antenna board. The RFID circuit sends and receives radio frequency signals through the antenna board to read the identification information of the electronic tag corresponding to the instrument box and triggers the docking operation between the power box and the instrument box based on the identification information.

[0009] The antenna plate is a metal plate, and antennas and magnetic shielding sheets are spaced apart on the antenna plate. The magnetic shielding sheets are used to provide a transmission path for the radio frequency signal.

[0010] Optionally, the RFID circuit includes:

[0011] The processor is configured to output a trigger signal based on the identification information to trigger the docking operation between the power box and the instrument box;

[0012] A power amplifier circuit, connected to the antenna, is used to amplify the power of the received radio frequency signal and output it to the antenna;

[0013] The RFID chip is connected to the processor, the antenna, and the power amplifier circuit, respectively. The RFID chip is used to send and receive radio frequency signals through the power amplifier circuit and the antenna, and output identification information to the processor.

[0014] Optionally, the RFID circuit further includes:

[0015] An output filtering circuit is connected to both the power amplifier circuit and the antenna. The output filtering circuit is used to perform phase shift processing on the radio frequency signals transmitted and received by the antenna.

[0016] A feedback circuit is connected to both the output filter circuit and the RFID chip. The feedback circuit is used to process the radio frequency signal output by the output filter circuit and output it to the RFID chip.

[0017] Optionally, the power box further includes a circuit board, on which the RFID circuit is disposed;

[0018] The circuit board and the antenna board are arranged side by side at intervals along the intersection direction of the movement direction of the power box;

[0019] The circuit board is located on the side of the antenna board that faces away from the instrument box.

[0020] Optionally, the power box is further provided with a power output component, and the instrument box is provided with a power input component, the power input component and the power output component being connected in a transmission manner;

[0021] The circuit board is located on the side of the antenna plate opposite to the power output component.

[0022] Optionally, the power box also includes a main controller and a drive unit;

[0023] The main controller is connected to the RFID circuit and the drive unit respectively. The drive unit is connected to the power output unit. The main controller is used to control the drive unit to work according to the trigger signal output by the RFID circuit, and to drive the power output unit and the power input unit to trigger the docking of the power box and the instrument box.

[0024] Optionally, the first side of the antenna plate is close to the power output component, and the antenna and the magnetic shielding sheet are spaced apart on the second side of the antenna plate opposite to the power output component.

[0025] Optionally, a resonant plate is further provided on the second side of the antenna plate. The resonant plate is disposed between the antenna and the magnetic shielding plate, and the resonant plate is used to increase the resonant frequency of the antenna.

[0026] Optionally, the material of the magnetic shielding sheet is ferrite.

[0027] A second aspect of the present invention provides a surgical robot, including the instrument docking system described above.

[0028] The beneficial effects of the present invention compared with the prior art are as follows: The above-mentioned instrument docking system includes an instrument box and a power box. The instrument box stores electronic tags with identification information, and the power box is equipped with an RFID module. The RFID module includes an RFID circuit and an antenna board. The RFID circuit sends and receives radio frequency signals through the antenna board to read the identification information of the electronic tags of the corresponding instrument box and trigger the power box to perform instrument docking. Using an RFID module for instrument docking is low-cost and simple to maintain. At the same time, the antenna board is a metal plate with antennas and magnetic shielding sheets spaced apart. The magnetic shielding sheets have high magnetic permeability, providing a transmission path for the magnetic field and effectively avoiding the eddy current effect of the metal plate. The communication of the antenna is not affected. Furthermore, the RFID circuit is equipped with a power amplifier circuit to amplify the power of the radio frequency signal and improve the reliability of communication and instrument docking. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of the structure of the surgical robot provided in an embodiment of the present invention;

[0031] Figure 2 A schematic diagram of an RFID module provided in an embodiment of the present invention;

[0032] Figure 3 This is a schematic diagram of the power box provided in an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the sleeve and end effector provided in an embodiment of the present invention;

[0034] Figure 5 A schematic diagram of a power box module provided in an embodiment of the present invention;

[0035] Figure 6This is a schematic diagram of a first type of RFID module provided in an embodiment of the present invention;

[0036] Figure 7 This is a schematic diagram of a second type of RFID module provided in an embodiment of the present invention;

[0037] Figure 8 A circuit diagram of an RFID module provided in an embodiment of the present invention.

[0038] The figures in the diagram are labeled as follows:

[0039] 10. Power box; 20. Instrument box; 31. End effector; 32. Connecting shaft; 40. Sleeve; 50. Robotic arm; 60. Sterile adapter; 11. Drive unit; 12. Power output unit; 14. Antenna board; 15. Circuit board; 16. RFID module; 17. Main controller; 141. Magnetic shielding sheet; 142. Resonant sheet; 160. RFID circuit; 161. Communication circuit; 162. Processor; 163. RFID chip; 164. Power amplifier circuit; 165. Antenna; 166. Output filter circuit; 167. Feedback circuit; 1641. Amplifier circuit; 1642. Impedance matching circuit; 1643. High-pass filter circuit; 1644. Low-pass filter circuit;

[0040] L1, first inductor; L2, second inductor; L3, third inductor; L4, fourth inductor; L5, fifth inductor; L6, sixth inductor; L7, seventh inductor; L8, eighth inductor;

[0041] C1, First capacitor; C2, Second capacitor; C3, Third capacitor; C4, Fourth capacitor; C5, Fifth capacitor; C6, Sixth capacitor; C7, Seventh capacitor; C8, Eighth capacitor; C9, Ninth capacitor; C10, Tenth capacitor; C11, Eleventh capacitor; C12, Twelfth capacitor; C13, Thirteenth capacitor; C14, Fourteenth capacitor; C15, Fifteenth capacitor; C16, Sixteenth capacitor; C17, Seventeenth capacitor; C18, Eighteenth capacitor; C19, Nineteenth capacitor; C20, Twentieth capacitor; C21, Twenty-first capacitor; C22, Twenty-second capacitor; C23, Twenty-third capacitor;

[0042] R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; D1, first diode; D2, second diode. Detailed Implementation

[0043] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0044] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0045] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0046] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0047] The first aspect of this invention proposes an instrument docking system applicable to surgical robots. Surgical robots are robots that can be remotely operated to complete surgeries and are widely used in surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. The instrument docking system typically includes instruments and instrument drivers that drive the instruments. The instruments and instrument drivers are detachably connected, which facilitates the replacement of different surgical instruments during surgery and the independent disinfection and sterilization of surgical instruments. Before surgery, the instruments and instrument drivers are docked to complete the surgical operation.

[0048] In order to solve the problems of difficult and costly instrument docking, storage, and maintenance in traditional methods, this embodiment, such as... Figures 1 to 3 As shown, the instrument docking system includes:

[0049] Instrument box 20, instrument box 20 stores electronic tags for identification information;

[0050] The power box 10 is connected to the instrument box 20 via a transmission. The power box 10 is equipped with an RFID module 16, which includes an RFID circuit 160 and an antenna board 14. The RFID circuit 160 sends and receives radio frequency signals through the antenna board 14 to read the identification information of the electronic tag of the corresponding instrument box 20, and triggers the docking operation between the power box 10 and the instrument box 20 based on the identification information.

[0051] The antenna plate 14 is a metal plate, and antennas 165 and magnetic shielding sheets 141 are spaced apart on the antenna plate 14. The magnetic shielding sheets 141 are used to provide a transmission path for radio frequency signals.

[0052] In this embodiment, "instrument" refers to a medical device configured to be inserted into a patient's body and used to perform surgery or diagnosis. The instrument box 20 includes an end effector 31, which may be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cautery, tissue stabilizers or retractors, clamp applicators, anastomosis devices, imaging devices (e.g., endoscopes or ultrasound probes), etc.

[0053] The surgical robot also includes a robotic arm 50 and a cannula 40. A power box 10 is movably mounted on the robotic arm 50, and the cannula 40 is located at the end of the robotic arm 50. The power box 10 moves under the drive of the robotic arm 50, thereby completing the positional movement so as to position the position to the surgical site that needs to be operated on. The cannula 40 can be installed on the robotic arm 50 before the end effector 31 is installed, serving as the entry structure for the end effector 31.

[0054] The surgical robot also includes a sterile adapter 60, which is mounted on the power box 10. The instrument box 20 is mounted on the sterile adapter 60 during installation. The instrument box 20 is connected to the end effector 31 via the connecting shaft 32. The end of the end effector 31 can move with multiple degrees of freedom relative to the connecting shaft 32. The end effector 31 is inserted into the sleeve 40.

[0055] When docking the instruments, first install the sterile adapter 60 into the power box 10. The sterile adapter 60 can be snapped in place by means of a buckle or a slot, or it can be installed into the power box 10 by means of quick-release bolts or screws.

[0056] An end effector 31 is installed in the instrument box 20. The end effector 31 can be an instrument such as surgical scissors, scalpel, ultrasonic scalpel, or endoscope. The end effector 31 is connected to the instrument box 20 for transmission via a connecting shaft 32. It can be understood that the end effector 31 can perform multi-degree-of-freedom movements relative to the connecting shaft 32. For example, the end effector 31 can be connected to the connecting shaft 32 via a rotating shaft, that is, the end effector 31 can rotate relative to the connecting shaft 32.

[0057] The power box 10 first determines whether the sterile adapter 60 is installed. After confirming that the sterile adapter 60 is installed, it checks the position of the cannula 40. When both the sterile adapter 60 and the cannula 40 are confirmed to be installed, the instrument box 20 is installed. The connecting shaft 32 passes through the power box 10. Simultaneously, the instrument box 20 gradually approaches the power box. When the end effector 31 passes through the cannula 40 and both the end effector 31 and the cannula 40 are in position, the instrument box 20 and the power box 10 are moved to a preset position. At this time, the RFID module 16 identifies the identification information stored in the electronic tag in the instrument box 20, and the reader... The parameters and service life of the end effector 31 in the instrument box 20 are transmitted to the power box 10 for judgment. When the instrument box 20 is the target instrument box 20, the power box 10 automatically docks with the instrument box 20 according to the trigger signal. The power box 10 engages with the instrument box 20 and drives the end effector 31 through the drive shaft until the distal joint of the end effector 31 moves to the mechanical limit or the end effector 31 collides and interferes with the sleeve 40, triggering the stall speed limit, which indicates successful docking. When the instrument box 20 is identified as a non-target instrument box or the identification fails, the power box 10 issues an alarm message.

[0058] like Figure 4 As shown, the cannula 40 can protect tissue, provide a relatively fixed surgical access, and improve operational efficiency. The cannula 40 can be made of stainless steel or titanium alloy, or it can be made of disposable plastic.

[0059] After the sleeve 40 is fitted around the outer periphery of the end effector 31 and part of the connecting shaft 32, there is a certain gap between the inner wall of the sleeve 40 and the peripheral wall of the end effector 31 and the connecting shaft 32, so that the connecting shaft 32 and the end effector 31 can move along the axial direction of the sleeve 40 under the drive, so as to realize various surgical actions.

[0060] In order to identify the electronic tag in the instrument box, the RFID module 16 includes an RFID circuit 160 and an antenna board 14. The RFID circuit 160 transmits and receives radio frequency signals through the antenna 165 on the antenna board 14, thereby identifying the electronic tag in the instrument box 20.

[0061] When a metal plate with good conductivity is attached to the antenna 165 of the RFID module 16, the direction of its magnetic field lines changes significantly. Due to the energy consumption of the turbine, the induced magnetic field is opposite to the original magnetic field. The magnetic fields in front of and behind the metal plate change, resulting in shielding. This weakens the magnetic field of the antenna 165 of the RFID module 16, or even completely cancels the original magnetic field, ultimately affecting the communication distance.

[0062] To address this issue, in this embodiment, as follows: Figure 3As shown, a magnetic shielding sheet 141 is also provided on the antenna plate 14. The magnetic shielding sheet 141 is spaced apart from the antenna 165. The magnetic shielding sheet 141 is used to provide a transmission path for the magnetic field. The magnetic shielding sheet 141 has the characteristic of high magnetic permeability. By attaching the high magnetic permeability magnetic shielding sheet 141 to the surface of the metal plate facing the direction of the incident electromagnetic field, an effective path can be provided for the transmission of the magnetic field. Due to the presence of the magnetic shielding sheet 141, the eddy current effect of the metal plate is effectively avoided.

[0063] By inserting a high-permeability magnetic shielding sheet 141 at a distance from the antenna 165 on the surface of the metal plate, the generation of eddy currents can be largely avoided. The communication of the antenna 165 of the RFID module 16 is not affected and can communicate normally, thus improving the reliability of communication and instrument docking.

[0064] The magnetic shielding sheet 141 can be made of a material with high magnetic permeability. In an optional embodiment, the material of the magnetic shielding sheet 141 is ferrite.

[0065] Among them, the RFID circuit 160 can be selected from corresponding RFID chip 163, communication module, etc., such as Figure 7 As shown, in an optional embodiment, the RFID circuit 160 includes:

[0066] Processor 162 is used to output a trigger signal based on the identification information to trigger the docking operation between the power box 10 and the instrument box 20;

[0067] The power amplifier circuit 164 is connected to the antenna 165. The power amplifier circuit 164 is used to amplify the power of the received radio frequency signal and output it to the antenna 165.

[0068] The RFID chip 163 is connected to the processor 162, the antenna 165 and the power amplifier circuit 164 respectively. The RFID chip 163 is used to send and receive radio frequency signals through the power amplifier circuit 164 and the antenna 165, and output identification information to the processor 162.

[0069] In this embodiment, the RFID chip 163 is used to transmit radio frequency signals to the electronic tag in the instrument box 20 through the power amplifier circuit 164 and the antenna 165. After receiving the radio frequency signal, the electronic tag feeds back the identification information to the RFID chip 163. The RFID chip 163 receives the radio frequency signal with identification information through the antenna 165, reads the identification information from it and outputs it to the processor 162. The processor 162 triggers the output of the trigger signal to the corresponding driving component inside the power box 10 according to the identification information, thereby triggering the docking operation between the power box 10 and the instrument box.

[0070] The processor 162 can be a microprocessor, FPGA chip, etc. The processor 162 can also integrate a programmable system clock and a reset circuit, which can reduce the design of peripheral devices.

[0071] The RFID chip 163 can be selected with a corresponding frequency read / write IC. In an optional embodiment, the RFID chip 163 is selected with a high frequency read / write IC of 13.56MHz. The RFID chip 163 can be connected and communicated with the processor 162 via a parallel or SPI interface.

[0072] Because the amplitude of the radio frequency signal output by the RFID chip 163 is relatively small, a power amplifier circuit 164 is also provided between the RFID chip 163 and the antenna 165 to amplify the power of the radio frequency signal when transmitting the radio frequency signal, in order to meet communication requirements. Figure 7 As shown, in an optional embodiment, the power amplifier circuit 164 includes:

[0073] Amplifier circuit 1641 is connected to RFID chip 163 and is used to amplify the radio frequency signal output by RFID chip 163.

[0074] Impedance matching circuit 1642 is connected to amplifier circuit 1641. Impedance matching circuit 1642 is used to perform impedance matching on the output terminal of amplifier circuit 1641.

[0075] The high-pass filter circuit 1643 is connected to the impedance matching circuit 1642. The high-pass filter circuit 1643 is used to perform high-pass filtering on the radio frequency signal output by the impedance matching circuit 1642.

[0076] The low-pass filter circuit 1644 is connected to the high-pass filter circuit 1643. The low-pass filter circuit 1644 is used to perform low-pass filtering on the radio frequency signal output by the high-pass filter circuit 1643.

[0077] RFID circuit 160 also includes:

[0078] The output filter circuit 166 is connected to the low-pass filter circuit 1644 and the antenna 165 respectively. The output filter circuit 166 is used to perform phase shift processing on the radio frequency signals transmitted and received by the antenna 165.

[0079] The feedback circuit 167 is connected to the output filter circuit 166 and the RFID chip 163 respectively. The feedback circuit 167 is used to process the radio frequency signal output by the output filter circuit 166 and output it to the RFID chip 163.

[0080] When the end effector 31 and the sleeve 40 are in place, the RFID chip 163 in the power box 10 sends a radio frequency signal. The radio frequency signal is amplified by the amplifier circuit 1641 and then passes through the impedance matching circuit 1642, the high-pass filter circuit 1643 and the low-pass filter circuit 1644 in sequence for impedance matching, high-pass filtering and low-pass filtering, thereby outputting a radio frequency signal in a preset frequency range to the output filter circuit 166. The output filter circuit 166 performs phase shift processing on the radio frequency signal to provide output impedance and phase shift.

[0081] Meanwhile, when the electronic tag sends a radio frequency signal with identification information to the antenna 165, the antenna 165 sends the radio frequency signal to the output filter circuit 166, and outputs it to the RFID chip 163 through the output filter circuit 166 and the feedback circuit 167. The RFID chip 163 reads the identification information and feeds it back to the processor 162.

[0082] The amplifier circuit 1641 can be selected from transistor amplifier circuits, signal amplifier chips, etc. In an optional embodiment, such as... Figure 8 As shown, the amplifier circuit 1641 includes a MOSFET Q1;

[0083] The gate of MOSFET Q1 is the input terminal of amplifier circuit 1641, the drain of MOSFET Q1 is the output terminal of amplifier circuit 1641, and the source of MOSFET Q1 is grounded.

[0084] In this embodiment, the radio frequency signal is input through the gate of MOSFET Q1 and output through the drain of MOSFET Q1. MOSFET Q1 operates in the AB class power amplifier state. The gate bias voltage is adjusted by another MOSFET Q1. The first inductor L1 is a high-frequency choke coil used to realize DC power supply and AC isolation.

[0085] The impedance matching circuit 1642 includes a second inductor L2, a second capacitor C2, a third capacitor C3, a fourth capacitor C4, and a fifth capacitor C5. The first end of the second inductor L2 is connected to the drain of the MOSFET Q1. The second end of the second inductor L2, the first end of the second capacitor C2, and the first end of the third capacitor C3 are connected together. The second end of the second capacitor C2, the second end of the third capacitor C3, the first end of the fourth capacitor C4, and the first end of the fifth capacitor C5 are connected together to form the output terminal of the impedance matching circuit 1642. The second ends of the fourth capacitor C4 and the second ends of the fifth capacitor C5 are grounded.

[0086] The impedance matching circuit 1642 matches the gate impedance of MOSFET Q1 to 50 ohms.

[0087] The high-pass filter circuit 1643 includes a third inductor L3, a fourth inductor L4, a sixth capacitor C6, and a seventh capacitor C7. The first terminals of the third inductor L3, the sixth capacitor C6, and the seventh capacitor C7 are connected to form the input terminal of the high-pass filter circuit 1643. The second terminals of the sixth capacitor C6, the seventh capacitor C7, and the fourth inductor L4 are connected to form the output terminal of the high-pass filter circuit 1643. The second terminals of the third inductor L3 and the fourth inductor L4 are grounded.

[0088] The high-pass filter circuit 1643 is an LLC high-pass filter unit that provides a corresponding characteristic impedance and a preset cutoff frequency. In an optional embodiment, it provides a characteristic impedance of 50 ohms and a cutoff frequency of 12MHz.

[0089] The low-pass filter circuit 1644 includes an eighth capacitor C8, a ninth capacitor C9, and a fifth inductor L5. The first end of the eighth capacitor C8 and the first end of the fifth inductor L5 are connected to form the input terminal of the low-pass filter circuit 1644. The second end of the fifth inductor L5 and the first end of the ninth capacitor C9 are connected to form the output terminal of the low-pass filter circuit 1644. The second ends of the eighth capacitor C8 and the second ends of the ninth capacitor C9 are grounded.

[0090] The low-pass filter circuit 1644 is an LLC low-pass filter unit that provides a corresponding dielectric frequency, and in an optional embodiment, provides a cutoff frequency of 15MHz.

[0091] The output filter circuit 166 includes a tenth capacitor C10, an eleventh capacitor C11, a twelfth capacitor C12, a thirteenth capacitor C13, a fourteenth capacitor C14, and a sixth inductor L6. The first terminals of the tenth capacitor C10, the eleventh capacitor C11, and the sixth inductor L6 are connected to form the first terminal of the output filter circuit 166. The second terminal of the sixth inductor L6, the first terminal of the twelfth capacitor C12, the thirteenth capacitor C13, and the first terminal of the fourteenth capacitor C14 are connected. The second terminal of the fourteenth capacitor C14 is connected to the antenna 165. The second terminals of the tenth capacitor C10, the eleventh capacitor C11, the twelfth capacitor C12, and the thirteenth capacitor C13 are grounded.

[0092] The output filter circuit 166 provides a corresponding output impedance and a preset phase shift. In an optional embodiment, the output filter circuit 166 provides an output impedance of 50 ohms and a phase shift of 45 degrees.

[0093] Feedback circuit 167 is used to transmit radio frequency signals to RFID chip 163. Feedback circuit 167 can be equipped with corresponding limiting resistors, diodes and low-pass filter units, such as a low-pass filter unit composed of seventeenth capacitor C17, eighteenth capacitor C18 and eighth inductor L8, or a low-pass filter unit composed of nineteenth capacitor C19, twentieth capacitor C20 and seventh inductor L7.

[0094] In one optional embodiment, to simplify the power box structure, such as Figure 3 As shown, the power box 10 also includes a circuit board 15, on which the RFID circuit 160 is disposed;

[0095] The circuit board 15 and the antenna board 14 are arranged side by side at intervals along the intersection of the movement direction of the power box 10;

[0096] The circuit board 15 is located on the side of the antenna board 14 that faces away from the instrument box 20.

[0097] In this embodiment, the circuit board 15 and the antenna board 14 are connected. During instrument docking, the RFID circuit 160 on the circuit board 15 sends a radio frequency signal to the antenna 165 on the antenna board 14. The antenna 165 transmits the radio frequency signal to the electronic tag in the instrument box 20, identifies the identification information stored in the electronic tag in the instrument box 20, and reads the parameters, lifespan, etc. of the end effector 31 in the instrument box 20. The electronic tag in the instrument box 20 feeds back a radio frequency signal with identification information to the antenna board 14, and transmits the signal through the antenna 165 on the antenna board 14 and the antenna 165. The circuit board 15 feeds back to the RFID circuit 160, which reads the identification information and triggers the power box 10 to perform automatic docking. The power box 10 engages with the instrument box 20 and drives the end effector 31 through the drive shaft until the distal joint of the end effector 31 moves to the mechanical limit or the end effector 31 collides with the sleeve 40 and triggers the stall speed limit, thus indicating successful docking. When the instrument box 20 is identified as a non-target instrument box or the identification fails, the power box 10 issues an alarm message.

[0098] In order to achieve transmission between the power box 10 and the instrument box 20, in an optional embodiment, such as... Figure 3 As shown, the power box 10 is also provided with a power output component 12, and the instrument box 20 is provided with a power input component. The power input component and the power output component 12 are connected in a transmission manner.

[0099] The circuit board 15 is located on the side of the antenna plate 14 that is opposite to the power output component 12.

[0100] In this embodiment, during instrument docking, to facilitate the identification of the electronic tag in the instrument box 20, the antenna plate 14 is positioned close to the power output component 12, and the circuit board 15 is positioned away from the power output component 12. As the power input component in the instrument box 20 gradually approaches the power output component 12, and the end effector 31 passes through the sleeve 40, when the end effector 31 and the sleeve 40 simultaneously reach their positions, the instrument box 20 and the power box 10 are correspondingly moved to a preset position. At this time, the instrument box 20 and the antenna plate 14 are positioned adjacent to each other, and the RFID circuit on the circuit board 15 transmits and receives signals through the antenna 165 on the antenna plate 14. When the instrument box 20 is identified as the target instrument box 20, the power box 10 automatically performs docking according to the trigger signal. The drive component 11 in the power box 10 drives the power output component 12, which is connected to the power input component in the instrument box 20. The power output component 12 drives the end effector 31 through the drive shaft until the distal joint of the end effector 31 moves to the mechanical limit or the end effector 31 collides and interferes with the sleeve 40, triggering the stall speed limit, which indicates successful docking. When the instrument box 20 is identified as a non-target instrument box or the identification fails, the power box 10 issues an alarm message.

[0101] The antenna 165 on the antenna plate 14 can be positioned at a corresponding location on the antenna plate 14. To reduce the gap between the antenna plate 14 and the instrument box 20 and simplify the size of the surgical robot, in an optional embodiment, such as... Figure 3 As shown, the first side of the antenna plate 14 is close to the power output component 12, and the antenna 165 and the magnetic shielding sheet 141 are spaced apart on the second side of the antenna plate 14 facing away from the power output component 12.

[0102] In this embodiment, the first side of the antenna plate 14 is a smooth plane, and the relative distance between the instrument box 20 and the power box 10 can be set to be smaller, simplifying the size of the surgical robot.

[0103] Furthermore, since the magnetic shielding sheet 141 is installed spaced apart from the antenna 165, the inductance of the antenna 165 will increase significantly due to the high permeability of the magnetic shielding sheet 141, thus lowering the resonant frequency of the antenna 165. In an optional embodiment, to increase the resonant frequency, such as... Figure 3 As shown, a resonant plate 142 is also provided between the magnetic shielding plate 141 and the antenna 165. The resonant plate 142 is used to increase the resonant frequency of the antenna 165 so that the resonant frequency is close to the target frequency.

[0104] In an optional embodiment, the resonant plate 142 is made of Teflon gasket, which can make the resonant frequency closer to the target frequency and increase the read / write distance.

[0105] In order to achieve power output from the power output component 12, in one optional embodiment, such as... Figure 5As shown, the power box 10 also contains a main controller 17 and a drive unit 11;

[0106] The main controller 17 is connected to the RFID circuit 160 and the drive unit 11 respectively. The drive unit 11 is connected to the power output unit 12 for transmission. The main controller 17 is used to control the drive unit 11 to work according to the trigger signal output by the RFID circuit 160, and to drive the power output unit 12 to dock the instruments.

[0107] like Figure 6 As shown, the RFID circuit 160 also includes a communication circuit 161, which is connected to the processor 162 and the main controller 17 respectively. The processor 162 outputs a trigger signal to the main controller through the communication circuit 161.

[0108] The drive unit 11 is connected to the power output unit 12. After receiving the trigger signal output by the RFID circuit 160, the main controller 17 identifies the parameters of the instrument box 20 and outputs a corresponding drive signal to the drive unit 11. The drive unit 11 rotates under the drive of the main controller 17, and drives the power output unit 12 to rotate. After the power output unit 12 and the power input unit in the instrument box 20 are engaged, the power of the drive unit 11 is transmitted to the end effector 31 through the power output unit 12, the power input unit, and the connecting shaft 32, and drives the end effector 31 to rotate. The rotation of the end effector 31 causes the end effector 31 to contact the inner wall of the sleeve 40, so that the rotation of the end effector 31 is resisted by the inner wall of the sleeve 40, resulting in a stall collision to complete the instrument docking.

[0109] The main controller 17 can be one of the following types of controllers: central processing unit, microprocessor, FPGA, etc. The main controller 17 and the driving unit 11 can also be equipped with corresponding drivers, driving circuits, etc.

[0110] The drive unit 11 can be a motor, such as a servo motor or other types of motor, or it can be a hydraulic drive or a pneumatic drive. The output shaft of the drive unit 11 is connected to the power output unit 12 and provides torque to the power output unit 12, thereby outputting power.

[0111] A reducer 13 can also be provided between the power output component 12 and the drive component 11 to match and adjust the speed ratio between the power output component 12 and the drive component 11.

[0112] The communication circuit 161 can be equipped with wired communication modules such as RS232 and RS2485, or with corresponding wireless communication modules such as Bluetooth and WiFi.

[0113] The beneficial effects of this invention embodiment compared with the prior art are as follows: The above-mentioned instrument docking system includes an instrument box 20 and a power box 10. The instrument box 20 stores electronic tags with identification information. The power box 10 is equipped with an RFID module 16. The RFID module 16 includes an RFID circuit 160 and an antenna board 14. The RFID circuit 160 sends and receives radio frequency signals through the antenna board 14 to read the identification information of the electronic tags of the corresponding instrument box 20 and trigger the power box 10 to perform instrument docking. Using the RFID module 16 for instrument docking is low-cost and simple to maintain. At the same time, the antenna board 14 is a metal plate, and antennas 165 and magnetic shielding sheets 141 are spaced apart on the antenna board 14. The magnetic shielding sheet 141 has high magnetic permeability, providing a transmission path for the magnetic field and effectively avoiding the eddy current effect of the metal plate. The communication of the antenna 165 is not affected. In addition, the RFID circuit 160 is equipped with a power amplifier circuit 164 to realize the power amplification of the radio frequency signal and improve the reliability of communication and instrument docking.

[0114] The present invention also proposes a surgical robot, which includes an instrument docking system. The specific structure of the surgical robot is as described in the above embodiments. Since the surgical robot adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0115] In this embodiment, the surgical robot is a robot that can be remotely operated to complete surgery. It is widely used in surgical areas such as the abdominal cavity, pelvic cavity, and thoracic cavity. The instrument docking system includes a detachably connected instrument box 20 and a power box 10, which facilitates the replacement of different surgical instruments during surgery and the independent disinfection and sterilization of surgical instruments. Before the surgery, the instrument box 20 and the power box 10 are docked to complete the surgical operation.

[0116] The surgical robot also includes a robotic arm 50 and a cannula 40. A power box 10 is movably mounted on the robotic arm 50, and the cannula 40 is located at the end of the robotic arm 50. The power box 10 moves under the drive of the robotic arm 50, thereby completing the positional movement so as to position the position to the surgical site that needs to be operated on. The cannula 40 can be installed on the robotic arm 50 before the end effector 31 is installed, serving as the entry structure for the end effector 31.

[0117] The surgical robot also includes a sterile adapter 60, which is mounted on the power box 10. The instrument box 20 is mounted on the sterile adapter 60 during installation. The instrument box 20 is connected to the end effector 31 via the connecting shaft 32. The end of the end effector 31 can move with multiple degrees of freedom relative to the connecting shaft 32. The end effector 31 is inserted into the sleeve 40.

[0118] An end effector 31 is installed in the instrument box 20. The end effector 31 can be an instrument such as surgical scissors, scalpel, ultrasonic scalpel, or endoscope. The end effector 31 is connected to the instrument box 20 for transmission via a connecting shaft 32. It can be understood that the end effector 31 can perform multi-degree-of-freedom movements relative to the connecting shaft 32. For example, the end effector 31 can be connected to the connecting shaft 32 via a rotating shaft, that is, the end effector 31 can rotate relative to the connecting shaft 32.

[0119] The cannula 40 can protect tissues, provide a relatively fixed surgical access, and improve operational efficiency. The cannula 40 can be made of stainless steel or titanium alloy, or it can be made of disposable plastic.

[0120] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A device docking system, characterized in that, include: Instrument box (20), wherein the instrument box (20) stores an electronic tag for identification information; A power box (10) is connected to the instrument box (20) via a transmission. The power box (10) is equipped with an RFID module (16). The RFID module (16) includes an RFID circuit (160) and an antenna board (14). The RFID circuit (160) sends and receives radio frequency signals through the antenna board (14) to read the identification information of the electronic tag corresponding to the instrument box (20) and trigger the docking operation between the power box (10) and the instrument box (20) based on the identification information. The antenna plate (14) is a metal plate, and antennas (165) and magnetic shielding sheets (141) are spaced apart on the antenna plate (14). The magnetic shielding sheets (141) are used to provide a transmission path for the radio frequency signal.

2. The instrument docking system as described in claim 1, characterized in that, The RFID circuit (160) includes: The processor (162) is used to output a trigger signal according to the identification information to trigger the docking operation between the power box (10) and the instrument box (20); A power amplifier circuit (164) is connected to the antenna (165). The power amplifier circuit (164) is used to amplify the power of the received radio frequency signal and output it to the antenna (165). The RFID chip (163) is connected to the processor (162), the antenna (165) and the power amplifier circuit (164) respectively. The RFID chip (163) is used to send and receive radio frequency signals through the power amplifier circuit (164) and the antenna (165), and output identification information to the processor (162).

3. The instrument docking system as described in claim 2, characterized in that, The RFID circuit (160) also includes: The output filter circuit (166) is connected to the power amplifier circuit (164) and the antenna (165) respectively. The output filter circuit (166) is used to perform phase shift processing on the radio frequency signals transmitted and received by the antenna (165). The feedback circuit (167) is connected to the output filter circuit (166) and the RFID chip (163) respectively. The feedback circuit (167) is used to process the radio frequency signal output by the output filter circuit (166) and output it to the RFID chip (163).

4. The instrument docking system as described in claim 1, characterized in that, The power box (10) also includes a circuit board (15), and the RFID circuit (160) is disposed on the circuit board (15); The circuit board (15) and the antenna board (14) are arranged side by side at intervals along the cross direction of the movement direction of the power box (10); The circuit board (15) is disposed on the side of the antenna plate (14) facing away from the instrument box (20).

5. The instrument docking system as described in claim 4, characterized in that, The power box (10) is also provided with a power output component (12), and the instrument box (20) is provided with a power input component. The power input component is connected to the power output component (12) in a transmission manner. The circuit board (15) is disposed on the side of the antenna plate (14) opposite to the power output component (12).

6. The instrument docking system as described in claim 5, characterized in that, The power box (10) is also equipped with a main controller (17) and a drive unit (11); The main controller (17) is connected to the RFID circuit (160) and the drive unit (11) respectively. The drive unit (11) is connected to the power output unit (12) for transmission. The main controller (17) is used to control the drive unit (11) to work according to the trigger signal output by the RFID circuit (160), and to transmit the power output unit (12) and the power input unit to trigger the docking operation of the power box (10) and the instrument box (20).

7. The instrument docking system as described in claim 5, characterized in that, The first side of the antenna plate (14) is close to the power output member (12), and the antenna (165) and the magnetic shielding sheet (141) are spaced apart on the second side of the antenna plate (14) opposite to the power output member (12).

8. The instrument docking system as described in claim 7, characterized in that, The second side of the antenna plate (14) is also provided with a resonant plate (142), which is disposed between the antenna (165) and the magnetic shielding plate (141). The resonant plate (142) is used to increase the resonant frequency of the antenna (165).

9. The instrument docking system as described in claim 1, characterized in that, The material of the magnetic shielding sheet (141) is ferrite.

10. A surgical robot, characterized in that, Includes the instrument docking system as described in any one of claims 1 to 9.

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