Registering a probe and a surgical robot

Abstract

The application relates to a registration probe and a surgical robot. The registration probe comprises a probe body and a probe end. The probe end is arranged at one end of the probe body; the material of at least part of the probe end is a magnetic material, and the magnetic material in at least part of the probe end can be mutually attracted with the magnetic material in a nail cap. The registration probe and the surgical robot, the bone nail and the registration probe are close to each other, the magnetic materials between the two generate a mutual attraction force, and then the sufficient adhesion between the bone nail and the registration probe is guaranteed, and the precision of the surgery is guaranteed to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to registration probes and surgical robots. Background Technology

[0002] Surgical robots assist surgeons in performing more precise operations during surgical procedures. Before using a surgical robot, it is generally necessary to register the surgical instruments used in the procedure. For example, in neurosurgery (bone screw contact registration), image acquisition and robotic arm acquisition are performed. During robotic arm acquisition, the registration probe needs to make proper contact with the bone screw; otherwise, the registration accuracy will be greatly affected. However, since the contact between the registration probe and the bone screw is directly performed by the surgeon, and whether the contact is proper is entirely based on the surgeon's subjective judgment, lacking objective evidence, it is easy to cause large registration errors, thus affecting the precision of the surgery. Summary of the Invention

[0003] Therefore, it is necessary to provide a registration probe and surgical robot that can easily achieve proper alignment, addressing the problem of inadequate alignment between the registration probe and bone screw during general surgical procedures.

[0004] A bone nail, comprising:

[0005] The nail body can be driven into the cranial entry point under the action of external force;

[0006] A nail head is disposed at one end of the nail body; at least a portion of the nail head is made of a magnetic material, and the magnetic material in the nail head is able to attract the magnetic material at the end of the probe in the registration probe.

[0007] In one embodiment, the entire nail head is made of a magnetic material, and any part of the nail head can attract the magnetic material at the tip of the probe in the registration probe.

[0008] In one embodiment, the nail head and the nail body are made of magnetic materials, and either the nail head or the nail body can attract each other with the magnetic material at the end of the probe in the registration probe.

[0009] In one embodiment, the magnetic material comprises iron, cobalt, and / or nickel; or the magnetic material comprises an alloy of iron, cobalt, and / or nickel; or the magnetic material comprises a strongly magnetic material.

[0010] A registration probe, comprising:

[0011] Probe body;

[0012] The probe tip is located at one end of the probe body; at least a portion of the probe tip is made of magnetic material, and the magnetic material in at least a portion of the probe tip is able to attract the magnetic material in the nail head.

[0013] In one embodiment, the entire tip of the probe is made of a magnetic material, and the tip of the probe is able to attract the magnetic material in the nail head; or the entire registration probe is made of a magnetic material.

[0014] In one embodiment, the magnetic material comprises iron, cobalt, and / or nickel; or the magnetic material comprises an alloy of iron, cobalt, and / or nickel; or the magnetic material comprises a strongly magnetic material.

[0015] In one embodiment, the probe tip includes a soft magnetic portion and a non-magnetic portion, the soft magnetic portion and the non-magnetic portion surrounding a hollow receiving cavity; the registration probe also includes a magnetic switch, the magnetic switch including a magnet, the magnet being movably disposed in the receiving cavity; when the magnet is active, its two magnetic poles are respectively directed toward the soft magnetic portion or the non-magnetic portion.

[0016] In one embodiment, the magnet is a permanent magnet, and the magnetic switch further includes a knob, which is fixedly connected to the permanent magnet. The knob drives the permanent magnet to rotate so that the two magnetic poles face the soft magnetic part or the non-magnetic part, respectively.

[0017] In one embodiment, the soft magnetic portion and the non-magnetic portion are each two pieces, and the two soft magnetic portions and the two non-magnetic portions are spaced apart, forming a hollow receiving cavity.

[0018] In one embodiment, the non-magnetic portion is made of copper or its alloy.

[0019] In one embodiment, the probe tip includes a tip body and a tip coil, the tip coil being spirally wound around the tip body, and in an energized state, the tip coil and / or the tip body forming a polarized electromagnet; the tip body is made of a metal, plastic, or ceramic material.

[0020] A surgical robot includes a robotic arm, a registration probe, and a bone screw. The bone screw includes a screw body and a screw head. The screw body can be driven into the cranial incision point under external force. The screw head is disposed at one end of the screw body, and at least a portion of the screw head is made of a magnetic material. The registration probe includes a probe body and a probe tip. The probe tip is disposed at one end of the probe body. At least a portion of the probe tip is made of a magnetic material. The magnetic material in at least a portion of the probe tip can attract the magnetic material in the screw head. The probe body is disposed at the end of the robotic arm, and the registration probe moves with the robotic arm.

[0021] In one embodiment, the outer surface of the robotic arm is coated with a non-magnetic coating.

[0022] In one embodiment, the surgical robot further includes an isolation flange disposed between the end of the robotic arm and the registration probe, the isolation flange being made of a non-magnetic material.

[0023] In one embodiment, the surgical robot further includes a force sensor and a controller. The force sensor is disposed between the end of the robotic arm and the isolation flange. The controller is connected to both the force sensor and the robotic arm. The controller receives the force signal from the force sensor and controls the robotic arm to move the registration probe according to the received force signal.

[0024] The aforementioned bone screws, registration probes, and surgical robot utilize a magnetic material that attracts each other when the bone screws and registration probes are brought close to each other within a certain distance. This ensures a proper fit between the bone screws and registration probes, effectively preventing errors and misjudgments by the operator regarding the fit and thus guaranteeing surgical precision to a certain extent. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a bone nail structure provided in an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of a registration probe structure provided in an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the probe tip structure provided in an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram showing a magnet rotating toward the non-magnetic portion according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram showing the magnet rotating toward the soft magnetic portion according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of a magnetic switch structure provided in an embodiment of the present invention;

[0031] Figure 7 This is a schematic diagram of a robotic arm structure provided in an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of an isolation flange structure provided in an embodiment of the present invention.

[0033] Among them: 100, bone nail; 110, nail body; 120, nail head; 200, registration probe; 210, probe body; 220, probe tip; 221, soft magnetic part; 222, non-magnetic part; 300, magnetic switch; 310, magnet; 320, knob; 400, robotic arm; 500, isolation flange; 600, force sensor. Detailed Implementation

[0034] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0035] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this 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 this invention.

[0036] 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 at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0037] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0038] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0039] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0040] In neurosurgical and other surgical procedures, bone screws are sometimes required to be inserted into the bone according to the treatment plan. To ensure the smooth and high-precision completion of the surgical procedure, it is necessary to register the bone screws using a surgical robot before surgery. Sufficient fit or contact between the bone screw and the registration probe is key to improving registration accuracy and shortening registration time. This invention provides a set of adaptable bone screws and registration probes that facilitate sufficient contact between the two. This invention also provides a surgical robot including the aforementioned bone screws and registration probes. The following description uses examples.

[0041] like Figure 1-3As shown, one embodiment of the present invention provides a bone screw 100, used in neurosurgical procedures or other surgical procedures on the skull, where the bone screw 100 is driven into the bone (entry point) at a predetermined direction and depth. Specifically, the bone screw 100 includes a screw body 110 and a screw head 120. One end of the screw body 110 is pointed, and the pointed end of the screw body 110 can be driven into the entry point under external force. The screw head 120 is disposed at one end of the screw body 110 (the other end away from the pointed end). At least a portion of the screw head 120 is made of a magnetic material, and the magnetic material in at least a portion of the screw head 120 can be attracted to the magnetic material of the probe tip 220 of the registration probe 200. When the bone screw 100 and the registration probe 200 are brought close to each other within a certain distance, the magnetic materials between them generate a mutual attraction force, thereby ensuring that the bone screw 100 and the registration probe 200 are fully fitted together. This effectively avoids errors and misjudgments by the operator regarding whether the bone screw 100 and the registration probe 200 are fully fitted together, and thus ensures the precision of the surgery to a certain extent.

[0042] In the above embodiments, the magnetic materials in the nail head 120 and the registration probe 200 generate a mutual attractive force within a certain distance range, thereby ensuring a full fit between the bone nail 100 and the registration probe 200. It is understood that the main body of the nail head 120 can be a non-magnetic material, with only a piece of magnetic material embedded within it; or the main body of the nail head 120 can be a magnetic material, with some non-magnetic material also allowed within it; or the entire nail head 120 can be made of magnetic material; all of these methods can achieve mutual attraction between the nail head 120 and the registration probe 200. As one possible approach, such as... Figure 1-3 As shown, the entire nail head 120 is made of magnetic material, and any part of the nail head 120 can be attracted to the magnetic material of the probe end 220 in the registration probe 200; during the registration process, it is not necessary to align a specific area of ​​the bone nail 100 with the registration probe 200, which further shortens the registration time of the bone nail 100.

[0043] Optionally, in the above embodiments, the nail head 120 and the nail body 110 can be made of the same or different materials. When the nail head 120 and the nail body 110 are made of the same material, the entire bone screw 100 is made of magnetic material, and the nail body 110 and the nail head 120 are integrated as a whole, without the need for additional processes to join the nail head 120 and the nail body 110, and either the nail head 120 or the nail body 110 can attract each other with the magnetic material of the probe tip 220 in the registration probe 200. When the nail head 120 and the nail body 110 are made of different materials, the nail head 120 and the nail body 110 can be fixed together by casting or mechanical fixing, such as using additional fasteners or connecting the nail head 120 and the nail body 110 by threads. Specifically, whether the nail head 120 and the nail body 110 are made of the same magnetic material or different materials can be determined according to the strength requirements of the bone screw 100. When the strength requirement of the nail body 110 is relatively low, both the nail head 120 and the nail body 110 can be designed to be made of magnetic materials, such as iron, cobalt, nickel and their alloys. When the strength requirement of the nail body 110 is relatively high, only the nail head 120 can be designed to be made of magnetic materials, such as iron, cobalt, nickel and their alloys, while the nail body 110 can be designed to be made of stainless steel, titanium alloy and other materials.

[0044] Understandably, the magnetic material in the bone screw 100 can be either a magnet or a material that is easily magnetized. For example... Figure 1-3 As shown, in one embodiment of the present invention, the magnetic material includes iron, cobalt, and / or nickel, or an alloy of iron, cobalt, and / or nickel, or a strong magnetic material (such as a neodymium magnet). At least one of the magnetic materials in the bone screw 100 and the registration probe 200 is a magnet. Taking the registration probe 200 including a strong magnetic material and the bone screw 100 including a soft magnetic material as an example: when the bone screw 100 and the registration probe 200 approach each other, the soft magnetic material in the bone screw 100 acquires a magnetism opposite to that of the strong magnet in the registration probe 200 under magnetization, thereby achieving mutual attraction between the bone screw 100 and the registration probe 200. In other embodiments, both the bone screw 100 and the registration probe 200 may contain strong magnetic materials; it should be noted that the magnetic poles of the strong magnetic materials on the bone screw 100 and the registration probe 200 are opposite.

[0045] Adapted to the bone nail 100 in the above embodiments, such as Figure 1-3As shown, one embodiment of the present invention also provides a registration probe 200. The registration probe 200 includes a probe body 210 and a probe tip 220. The probe body 210 can be fixedly connected to the robotic arm 400 on the surgical robot. The probe tip 220 is disposed at one end of the probe body 210. At least a portion of the probe tip 220 is made of a magnetic material, and the magnetic material in at least a portion of the probe tip 220 can attract each other with the magnetic material in the nail head 120. When the registration probe 200, the bone nail 100, and the registration probe 200 are brought close to each other within a certain distance, the magnetic materials between them generate a mutual attraction force, thereby ensuring sufficient fit between the bone nail 100 and the registration probe 200, effectively avoiding errors and misjudgments by the operator regarding whether the bone nail 100 and the registration probe 200 are sufficiently fitted, and thus ensuring the precision of the surgery to a certain extent.

[0046] In the above embodiments, the magnetic materials in the registration probe 200 and the nail head 120 generate a mutual attractive force within a certain distance range, thereby ensuring a full fit between the registration probe 200 and the bone nail 100. It is understood that the main body of the probe tip 220 can be made of non-magnetic material, with only a piece of magnetic material embedded within it; or the main body of the probe tip 220 can be made of magnetic material, with a portion of non-magnetic material also permitted within it; or the entire probe tip 220 can be made of magnetic material, allowing it to attract the magnetic material in the nail head 120. Alternatively, the entire registration probe 200 can be made of magnetic material. All of these methods can achieve mutual attraction between the probe tip 220 and the nail head 120. As one possible approach, such as... Figure 1-3 As shown, the entire probe tip 220 is made of magnetic material, which is easy to process; the probe body 210 can be made of materials according to its own strength requirements.

[0047] Optionally, in the above embodiments, the probe body 210 and the probe tip 220 can be made of the same or different materials. When the probe body 210 and the probe tip 220 are made of the same material, the entire registration probe 200 is made of magnetic material, and the probe body 210 and the probe tip 220 are integrated as a whole, without the need for additional processes to join the probe body 210 and the probe tip 220. When the probe body 210 and the probe tip 220 are made of different materials, they can be fixed together by casting or mechanical fixing, such as using additional fasteners or connecting the probe body 210 and the probe tip 220 by threads. Specifically, whether the probe body 210 and the probe tip 220 are made of the same or different magnetic materials can be determined according to the actual working conditions. Specifically, the magnetic material in the probe body 210 can be iron, cobalt, nickel and their alloys, etc.; or the magnetic material in the probe body 210 can also be a strong magnet, such as a neodymium magnet. At least one of the magnetic materials in the registration probe 200 and the magnetic materials in the bone nail 100 is a magnet.

[0048] In one embodiment of the present invention, the magnetic material of the probe tip 220 is itself magnetic and can attract the magnetic material on the nail head 120. As one possible implementation, the probe tip 220 is entirely a magnet. As another possible implementation, such as... Figure 4-6 As shown, the probe tip 220 includes a soft magnetic portion 221 and a non-magnetic portion 222, which together form a hollow receiving cavity. The registration probe 200 also includes a magnetic switch 300, which includes a magnet 310 movably disposed within the receiving cavity. When the magnet 310 is in motion, its two magnetic poles face either the soft magnetic portion 221 or the non-magnetic portion 222. When the two magnetic poles of the magnet 310 face the soft magnetic portion 221, the soft magnetic portion on the probe tip 220 is magnetized, and the probe tip 220 as a whole becomes magnetic, capable of attracting the magnetic material on the nail head 120. When it is necessary to separate the registration probe 200 from the current bone nail 100, the magnet 310 is rotated towards the non-magnetic portion 222, weakening the magnetism of the soft magnetic portion 221 of the probe tip 220, thus separating the registration probe 200 from the bone nail 100.

[0049] Optionally, in the above embodiments, magnet 310 is a permanent magnet, such as... Figure 4-6As shown, the magnetic switch 300 also includes a knob 320, which is disposed on the outer surface of the probe end 220 or other installable location. The knob 320 is fixedly connected to the permanent magnet, and the knob 320 drives the permanent magnet to rotate so that the two magnetic poles face the soft magnetic part 221 or the non-magnetic part 222 respectively. In one specific embodiment, when the knob 320 drives the permanent magnet to rotate 90°, the two magnetic poles face the soft magnetic part 221 or the non-magnetic part 222 respectively. Further, the soft magnetic part 221 and the non-magnetic part 222 are each two pieces, spaced apart, forming a hollow receiving cavity. The non-magnetic part 222 is made of copper or its alloy. Because the magnetization and demagnetization process of the soft magnetic material is very fast, the magnet 310 has weak magnetism in the middle but strong magnetism at both ends. When magnet 310 is rotated to the middle position, the N and S poles face the non-magnetic copper, and the overall magnetism of registration probe 200 is weak. After the permanent magnet rotates 90°, the N and S poles face the soft magnetic material, and the soft magnetic material is quickly magnetized, resulting in a stronger overall magnetism of registration probe 200. This allows for convenient contact or separation between registration probe 200 and bone nail 100.

[0050] In one embodiment of the present invention, the probe tip 220 includes a tip body and a tip coil, with the tip coil spirally wound around the tip body. When the tip body is made of plastic or ceramic, the tip coil forms a polarized electromagnet 310 when energized. When the tip body is made of metal, the tip coil and the tip body form a polarized electromagnet 310 when energized. Using a metal tip body facilitates achieving higher processing precision. Correspondingly, the bone screw 100 uses materials such as iron, cobalt, or nickel. The tip coil is connected to a power supply with a switch. When the registration probe 200 approaches the bone screw 100, the switch is closed, and the probe tip 220 becomes magnetic, allowing it to smoothly adhere to the bone screw 100. When the switch is opened, the magnetism of the probe tip 220 disappears, allowing the registration probe 200 to be easily removed from the bone screw 100. Alternatively, a coil groove can be formed on the tip body, and the tip coil can be wound in the coil groove.

[0051] The present invention also provides a surgical robot, such as Figure 1-3 and Figure 7-8As shown, the surgical robot includes a robotic arm 400, a registration probe 200, and a bone screw 100. The bone screw 100 includes a screw body 110 and a screw head 120. The screw body 110 can be driven into the cranial incision point under the action of external force. The screw head 120 is disposed at one end of the screw body 110, and at least part of the screw head 120 is made of magnetic material. The registration probe 200 includes a probe body 210 and a probe tip 220. The probe tip 220 is disposed at one end of the probe body 210. At least part of the probe tip 220 is made of magnetic material. The magnetic material in at least part of the probe tip 220 can attract each other with the magnetic material in the screw head 120. The probe body 210 is disposed at the end of the robotic arm 400, and the registration probe 200 moves with the robotic arm 400. In the aforementioned surgical robot, when the bone screw 100 and the registration probe 200 approach each other to a certain distance, the magnetic material between them generates a mutual attraction force, thereby ensuring a full fit between the bone screw 100 and the registration probe 200. This effectively avoids errors and misjudgments by the operator regarding whether the bone screw 100 and the registration probe 200 are fully fitted, thus ensuring the precision of the surgery to a certain extent.

[0052] In one embodiment of the present invention, such as Figure 1-3 and Figure 7-8 As shown, the outer surface of the robotic arm 400 is coated with a non-magnetic coating, which effectively prevents direct contact between the registration probe 200 and the robotic arm 400 during movement. Furthermore, the surgical robot also includes an isolation flange 500, which is positioned between the end of the robotic arm 400 and the registration probe 200. The isolation flange 500 is made of a non-magnetic material to prevent direct contact between the strongly magnetic registration probe 200 and the end of the robotic arm 400. Even further, the surgical robot also includes a force sensor 600 and a controller. The force sensor 600 is positioned between the end of the robotic arm 400 and the isolation flange 500. The controller is connected to both the force sensor 600 and the robotic arm 400. The controller receives the force signal from the force sensor 600 and controls the robotic arm 400 to move the registration probe 200 based on the received force signal. When the registration probe 200 approaches the bone screw 100, it is attracted by the magnetic force. This attraction is transmitted to the force sensor 600. The force sensor 600, the isolation flange 500, and the registration probe 200 are sequentially installed at the end of the robotic arm 400. By dragging the registration probe 200, the dragging force is transmitted to the force sensor 600. The force sensor 600 converts the force signal into an electrical signal and sends a motion command to the robotic arm 400 through the controller. The controller controls the robotic arm 400 to move according to the force received by the force sensor 600, making it easier for the registration probe 200 to fit the bone screw 100.

[0053] The technical features of the above embodiments can be combined in any way. For the sake of brevity, 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.

[0054] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A registration probe, characterized in that, include: Probe body; The probe tip is located at one end of the probe body; The probe tip can attract the magnetic material in the nail head, so that the nail head and the probe tip fit together; The probe tip includes a soft magnetic portion and a non-magnetic portion, which together form a hollow receiving cavity. The registration probe also includes a magnetic switch, which includes a magnet. The magnet is movably disposed in the receiving cavity, and when the magnet is in motion, its two magnetic poles face either the soft magnetic portion or the non-magnetic portion. Alternatively, the probe tip includes a tip body and a tip coil, with the tip coil spirally wound around the tip body. When energized, the tip coil and / or the tip body form a polarized electromagnet.

2. The registration probe according to claim 1, characterized in that, The magnetic material includes iron, cobalt and / or nickel; or the magnetic material includes an alloy of iron, cobalt and / or nickel; or the magnetic material includes a strongly magnetic material.

3. The registration probe according to claim 1, characterized in that, The magnet is a permanent magnet, and the magnetic switch also includes a knob. The knob is fixedly connected to the permanent magnet, and the knob drives the permanent magnet to rotate so that the two magnetic poles face the soft magnetic part or the non-magnetic part respectively.

4. The registration probe according to claim 3, characterized in that, The soft magnetic part and the non-magnetic part are each two pieces, and the two soft magnetic parts and the two non-magnetic parts are arranged at intervals, forming a hollow receiving cavity.

5. The registration probe according to claim 1, characterized in that, The end body can be made of metal, plastic, or ceramic materials.

6. A surgical robot, characterized in that, The surgical robot includes a robotic arm and a registration probe according to any one of claims 1-5, wherein the probe body is disposed at the end of the robotic arm and the registration probe moves with the robotic arm.

7. The surgical robot according to claim 6, characterized in that, The outer surface of the robotic arm is coated with a non-magnetic coating.

8. The surgical robot according to claim 7, characterized in that, The surgical robot also includes an isolation flange disposed between the end of the robotic arm and the registration probe, and the isolation flange is made of a non-magnetic material.

9. The surgical robot according to claim 8, characterized in that, The surgical robot also includes a force sensor and a controller. The force sensor is disposed between the end of the robotic arm and the isolation flange. The controller is connected to the force sensor and the robotic arm respectively. The controller receives the force signal from the force sensor and controls the robotic arm to move the registration probe according to the received force signal.

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