Surgical robot, surgical instrument, counting device and control method thereof

Abstract

The present invention relates to a surgical robot, a surgical instrument, a counting device and a control method thereof. The counting device is installed in a power box at the end of an instrument body of the surgical instrument. The counting device includes: a mounting housing installed in the power box, the mounting housing having an observation window; a rotating mechanism disposed in the mounting housing and connected to a power source in the power box, the rotating mechanism being capable of rotating with the power source; and an indicating member disposed on the rotating mechanism, the indicating member being capable of corresponding to the observation window when moving with the rotating mechanism to indicate the number of times the surgical instrument has been used. To accurately record the number of times the surgical instrument has been used and ensure the safety of the surgery. Moreover, when the counting device is detached from the power box of the surgical instrument, the indicating member of the counting device will still indicate the number of times the surgical instrument has been used through the observation window of the mounting housing, which is convenient for medical staff to use.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical equipment, and particularly to a surgical robot, a surgical instrument, a counting device and a control method thereof. Background Art

[0002] Among the surgical instruments of abdominal cavity robots circulating in the market, there are disposable instruments and reusable instruments. The reusable surgical instruments all have the usage times clearly specified by the manufacturer. Generally, the reusable surgical instruments are not allowed to be used after exceeding the usage times.

[0003] The remaining usage times of surgical instruments are usually information that operating room nurses and inventory managers of surgical consumables (hereinafter collectively referred to as "users") pay attention to. However, for the surgical instruments currently circulating in the market, the usage times are usually recorded by a control chip embedded inside. When docking with a surgical robot, the remaining usage times of the surgical instrument are prompted to the user through a user interface on the surgical robot. This method has many inconveniences in the actual surgical site. For example, after the surgical instrument is removed from the robotic arm, the remaining usage times of the surgical instrument will not be known to others. When wanting to know the remaining times of the instrument, it is necessary to load the instrument on the surgical robot to read, which is very unintuitive. In order for the users at the surgical site to intuitively know the remaining usage times of the instrument, some users even draw horizontal bars on the plastic shell of the surgical instrument with a marker pen to count, which is very non-standardized. All of these will lead to inaccurate counting of the usage times of surgical instruments and are not conducive to the management of surgical instruments. Summary of the Invention

[0004] Based on this, in view of the problem that current surgical instruments are not easy to manage, it is necessary to provide a surgical robot, a surgical instrument, a counting device and a control method thereof that can accurately display the usage times and are easy to manage.

[0005] A counting device is installed in a power box at the end of the instrument body of a surgical instrument. The counting device includes:

[0006] An installation housing is installed in the power box, and the installation housing has an observation window;

[0007] A rotating mechanism is arranged in the installation housing and is connected to a power source in the power box. The rotating mechanism can rotate with the power source; and

[0008] An indicating component is arranged on the rotating mechanism. When the indicating component moves with the rotating mechanism, it can correspond to the observation window to indicate the usage times of the surgical instrument.

[0009] In one embodiment, the rotation mechanism includes a driving turntable and a transmission assembly disposed on the driving turntable. The driving turntable can be connected to and rotate with the power source. The transmission assembly is disposed on the driving turntable and mounts the indicating member, and the transmission assembly drives the indicating member to rotate.

[0010] In one embodiment, the transmission assembly includes a driving group and a driven group that is in transmission with the driving group. The driving group is disposed on the driving turntable, and the driven group is disposed in the mounting housing and mounts the indicating member. The indicating member has indicating numbers distributed in a circumferential manner.

[0011] The driving turntable drives the transmission group and the indicating member thereon to rotate through the driving group, so that the indicating member drives the corresponding indicating numbers to be exposed from the observation window.

[0012] In one embodiment, the driving group includes a driving shaft and a driving member disposed on the driving shaft. The driving shaft is disposed on the driving turntable. The driven group includes a driven shaft and a driven member disposed on the driven shaft. The driven shaft is disposed in the mounting housing.

[0013] The driving member is in transmission connection with the driven member to drive the driven member to rotate.

[0014] The driving member and the driven member are a gear transmission structure, a chain transmission structure or a belt transmission structure.

[0015] In one embodiment, the counting device further includes a limiting mechanism disposed in the mounting housing for limiting the rotation angle of the indicating member.

[0016] In one embodiment, the limiting mechanism includes a first limiting member and a second limiting member. The first limiting member is disposed on the indicating member, and the second limiting member is fixedly disposed. The first limiting member can abut against the second limiting member to limit the rotation of the indicating member.

[0017] In one embodiment, the second limiting member is disposed on the inner wall of the mounting housing, or the second limiting member is disposed in the mounting housing through a support rod, or the second limiting member is disposed on the fixed shaft of the transmission assembly.

[0018] In one embodiment, the transmission assembly includes a lead screw disposed on the driving turntable, and the indicating member is movably mounted on the lead screw.

[0019] The observation window is disposed parallel to the lead screw, and indicating numbers are disposed on the observation window.

[0020] When the lead screw rotates, it can drive the indication component to move up and down, so that the indication component indicates the indication number of the observation window.

[0021] In one embodiment, the transmission assembly further includes a guide member, which is arranged in the installation housing and is arranged parallel to the lead screw. The indication component is movably arranged on the guide member for guiding the up and down movement of the indication component.

[0022] In one embodiment, the installation housing includes an installation bottom plate and an installation upper shell arranged on the installation bottom plate. The installation upper shell and the installation bottom plate enclose an installation space for installing the rotating mechanism and the indication component, and the observation window is arranged on the installation upper shell.

[0023] A control method for a counting device is applied to the counting device described in any of the above technical features. The control method includes the following steps:

[0024] Install the counting device on the power source of the power box of the surgical instrument;

[0025] Control the power source to drive the rotating mechanism to rotate in one direction;

[0026] Judge whether the power source reaches a preset stall torque;

[0027] If so, read the number of uses recorded in the control chip of the surgical instrument, and control the power source to drive the rotating mechanism and the indication component to rotate in the reverse direction by a corresponding position according to the number of uses, so as to correct the number of uses of the counting device.

[0028] In one embodiment, the step of judging whether the power source reaches the preset stall torque includes:

[0029] The power source drives the indication component to rotate in one direction through the transmission assembly;

[0030] If the first limiting member on the indication component can abut against the second limiting member, the second limiting member restricts the rotation of the indication component;

[0031] Calculate the current value of the power source;

[0032] Calculate the limiting torque of the power source according to the current value and compare it with the preset stall torque.

[0033] In one embodiment, the control method further includes the following steps:

[0034] When the power source does not reach the preset stall torque, obtain the rotation time of the power source;

[0035] Compare the rotation time with a preset time;

[0036] If the rotation time exceeds the preset time, control the counting device to report an error;

[0037] If the rotation time is less than the preset time, determine whether the power source reaches the preset stall torque.

[0038] In one embodiment, the control method further includes the following steps:

[0039] When the usage times recorded in the control chip of the surgical instrument cannot be read, control the counting device to report an error.

[0040] A surgical instrument, comprising an instrument body, a power box, and a counting device according to any one of the above technical features;

[0041] The power box is installed at the proximal end of the instrument body and provides power for the surgical operation at the distal end of the instrument body. The counting device is installed at one end of the power box away from the instrument body. There are multiple power sources in the power box, and one of the power sources is connected to the counting device. The power source can receive a trigger signal and control the movement of the counting device to record the usage times of the surgical instrument.

[0042] A surgical robot, comprising a console, a robotic arm, and a surgical instrument according to the above technical features;

[0043] The robotic arm is arranged on the console. The console is electrically connected to the robotic arm and the surgical instrument, and the console controls the movement of the robotic arm and the surgical instrument.

[0044] After adopting the above technical solution, the present invention has at least the following technical effects:

[0045] For the surgical robot, surgical instrument, counting device and its control method of the present invention, when in use, the counting device is installed on the power box of the surgical instrument. The power source in the power box controls the rotation mechanism to rotate, and then the rotation mechanism drives the indicating component to move. When the indicating component moves, the indicating component will correspond to the observation window of the mounting housing to indicate the usage times of the surgical instrument, achieving the purpose of recording the usage times of the surgical instrument. The counting of the surgical instrument is realized by the rotation mechanism driving the indicating component, effectively solving the problem of inconvenient management caused by inaccurate counting of the current surgical instrument, accurately recording the usage times of the surgical instrument, and ensuring the safety of the operation. Moreover, when the counting device is detached from the power box of the surgical instrument, the indicating component of the counting device will still indicate the usage times of the surgical instrument through the observation window of the mounting housing, which is convenient for medical staff to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 The front view of the counting device according to an embodiment of the present invention;

[0047] Figure 2 is Figure 1 The schematic diagram of the counting device shown installed in the power box of the surgical instrument;

[0048] Figure 3 is Figure 1 The top view of the counting device shown;

[0049] Figure 4 is Figure 1 The bottom view of the counting device shown;

[0050] Figure 5 is Figure 1 The three-dimensional view of the counting device shown with the mounting upper shell removed;

[0051] Figure 6 is Figure 5 The front view of the counting device shown;

[0052] Figure 7 is Figure 5 The three-dimensional view of the counting device shown with a limiting mechanism added;

[0053] Figure 8 is Figure 7 The top view of the counting device shown;

[0054] Figure 9 The schematic diagram of the counting device in another embodiment of the present invention;

[0055] Figure 10 is Figure 5 The working flow chart of the counting device shown.

[0056] Wherein: 100, counting device; 110, mounting housing; 111, observation window; 112, mounting base plate; 113, mounting upper shell; 120, rotating mechanism; 121, driving turntable; 122, transmission assembly; 1221, active group; 12211, active shaft; 12212, active member; 1222, driven group; 12221, driven shaft; 12222, driven member; 1223, lead screw; 1224, guiding member; 130, indicating member; 140, limiting mechanism; 141, first limiting member; 142, second limiting member; 200, power box; 210, power source; 300, instrument body. Detailed implementation manners

[0057] In order to make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the specific embodiments of the present invention in detail with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0058] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0059] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0060] In the present invention, unless otherwise explicitly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise explicitly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over", and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath", and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0062] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intermediate 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 intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0063] See Figures 1 to 4 , the present invention provides a counting device 100. The counting device 100 is applied to the surgical instrument of the surgical robot and is used to record the usage times of the surgical instrument. Specifically, the counting device 100 is installed on the power box 200 at the end of the instrument body 300 of the surgical instrument. Of course, in other embodiments of the present invention, the counting device 100 can also be applied to other components that need to be counted.

[0064] It can be understood that currently, the usage times of surgical instruments are usually recorded by the surgical robot. After the surgical instrument is removed, the usage times of the surgical instrument cannot be known, or the medical staff manually marks and counts, which is prone to errors. Therefore, there are certain problems in the current recording of the usage times of surgical instruments, which is not conducive to the management of surgical instruments.

[0065] For this reason, the present invention provides a new type of counting device 100. After the counting device 100 is applied to the surgical instrument, it can accurately record the usage times of the surgical instrument. And when the surgical instrument is disassembled from the surgical robot, the surgical instrument can still display the usage times through the counting device 100, which is convenient for the management of surgical instruments. The following details the specific structure of the surgical instrument.

[0066] See Figures 1 to 6 , in an embodiment, the counting device 100 is installed on the power box 200 at the end of the instrument body 300 of the surgical instrument. The counting device 100 includes an installation housing 110, a rotating mechanism 120 and a display component 130. The installation housing 110 is installed on the power box 200, and the installation housing 110 has an observation window 111. The rotating mechanism 120 is disposed in the installation housing 110 and is connected to the power source 210 in the power box 200. The rotating mechanism 120 can rotate with the power source 210. The display component 130 is disposed on the rotating mechanism 120. When the display component 130 moves with the rotating mechanism 120, it can correspond to the observation window 111 to indicate the usage times of the surgical instrument.

[0067] When the counting device 100 is in use, the counting device 100 is mounted on the power box 200 at the end of the instrument body 300 of the surgical instrument. In other words, the counting device 100 is located at the end of the surgical instrument. It is understandable that the proximal end here refers to the end of the surgical instrument close to the operator and away from the patient. The power box 200 has a power source 210, which provides power for the movement of the counting device 100, so that the counting device 100 can realize the counting function. Specifically, the power source 210 can receive a trigger signal, which is sent by the surgical robot, indicating that the surgical instrument is in use. After the power source 210 receives the trigger signal, the power source 210 can control the counting device 100 to perform a counting operation to record the number of times the surgical instrument is used in real time according to the usage of the surgical instrument.

[0068] Specifically, the counting device 100 includes a mounting housing 110, a rotating mechanism 120, and a counting component 130. The mounting housing 110 is a protective shell of the counting device 100, and each component of the counting device 100 is located in the mounting housing 110 to prevent external interference with the use of the counting device 100. In addition, an observation window 111 is provided on the mounting housing 110, and the observation window 111 is arranged corresponding to the counting component 130, and the number of times the surgical instrument is used is displayed through the counting component 130. It can be understood that the observation window 111 can pass through the through hole of the mounting housing 110. Of course, in other embodiments of the present invention, the observation window 111 can also be a transparent window installed in the mounting housing 110.

[0069] The rotating mechanism 120 is used to realize the transmission of the power output by the power source 210 to control the movement of the indicating component 130. The indicating component 130 is used to cooperate with the observation window 111 to indicate the number of times the surgical instrument is used. The rotating mechanism 120 is transmission-connected to the indicating component 130, one end of the rotating mechanism 120 is located at the bottom of the mounting housing 110, and the rotating mechanism 120 can be connected to the output end of the power source 210 in the power box 200. When the power source 210 is working, the power source 210 can control the rotating mechanism 120 to rotate, so that the rotating mechanism 120 drives the indicating component 130 to move, and then the indicating component 130 can correspond to the observation window 111 to display the number of times the surgical instrument is used.

[0070] It can be understood that each time the power source 210 receives a trigger signal, the power source 210 outputs a rotation angle, and then the power source 210 drives the rotating component to rotate a corresponding angle, so that the indicating component 130 moves a specified distance. In this way, each time the surgical instrument is used, the indicating component 130 will move the same specified distance, ensuring that the counting device 100 accurately records the number of times the surgical instrument is used.

[0071] The counting device 100 of the above embodiment realizes the counting of surgical instruments by driving the movement of the indicating component 130 through the rotating mechanism 120, effectively solving the problem of inconvenient management caused by inaccurate counting of current surgical instruments, accurately recording the usage times of surgical instruments, and ensuring the safety of surgeries. Moreover, when the counting device 100 is detached from the power box 200 of the surgical instrument, the indicating component 130 of the counting device 100 still indicates the usage times of the surgical instrument through the observation window 111 of the installation housing 110, facilitating the use by medical staff.

[0072] See Figures 1 to 4 , in one embodiment, the installation housing 110 includes an installation bottom plate 112 and an installation upper shell 113 disposed on the installation bottom plate 112. The installation upper shell 113 and the installation bottom plate 112 enclose an installation space for the rotating mechanism 120 and the indicating component 130, and the observation window 111 is disposed on the installation upper shell 113. The installation bottom plate 112 is in a flat plate shape, the installation upper shell 113 covers above the installation bottom plate 112, the interior of the installation upper shell 113 has a cavity, and the installation upper shell 113 and the installation bottom plate 112 enclose the installation space, and each component of the counting device 100 is disposed in this installation space.

[0073] During actual use, the installation housing 110 is installed on the power box 200 through the installation bottom plate 112. The observation window 111 can be opened on the side wall of the installation upper shell 113, or can be opened on the top surface of the installation upper shell 113, as long as it is ensured that the observation window 111 can correspond to the indicating component 130. The specific position of the observation window 111 will be mentioned later. Optionally, the structural forms of the installation upper shell 113 and the installation bottom plate 112 are not limited in principle, as long as the indicating component 130 and the rotating mechanism 120 can be installed. Exemplarily, the installation bottom plate 112 is in a flat plate shape, and the installation upper shell 113 is in a cylindrical shape.

[0074] It should be noted that in addition to the counting device 100 of the present invention, the installation housing 110 also includes components for controlling the distal movement of the surgical instrument, which can adopt existing structures and are omitted from description herein.

[0075] See Figure 3 , Figure 5 , Figure 6 and Figure 9 , in one embodiment, the rotating mechanism 120 includes a driving turntable 121 and a transmission assembly 122 disposed on the driving turntable 121. The driving turntable 121 can be connected to and rotate with the power source 210. The transmission assembly 122 is disposed on the driving turntable 121 and installs the indicating component 130, and the transmission assembly 122 drives the indicating component 130 to rotate.

[0076] The bottom of the installation housing 110 has a through hole. The driving turntable 121 is rotatably arranged in the installation housing 110 so that the driving turntable 121 can be exposed from the installation housing 110. Specifically, the driving turntable 121 is rotatably arranged on the installation bottom plate 112 of the installation housing 110. One surface of the driving turntable 121 can be connected to the power source 210 in the power box 200, and a transmission assembly 122 is also installed on the other surface of the driving turntable 121. The transmission assembly 122 realizes the transmission of motion, and the transmission assembly 122 is in transmission connection with the indication component 130. In this way, when the power source 210 moves, the power source 210 can control the driving turntable 121 to rotate, and then the driving turntable 121 can drive the transmission assembly 122 to rotate, so that the transmission assembly 122 drives the indication component 130 to move to the observation window 111 to indicate the number of times the surgical instrument has been used.

[0077] Optionally, the rotating mechanism 120 further includes a rotating bearing, and the rotating bearing is arranged between the driving turntable 121 and the installation housing 110. In this way, the driving turntable 121 can rotate relative to the installation housing 110 through the rotating bearing, reducing the friction between the driving turntable 121 and the installation housing 110, facilitating the rotation of the driving turntable 121, and ensuring smooth rotation.

[0078] See Figure 3 、 Figure 5 and Figure 6 In an embodiment of the present invention, the transmission assembly 122 includes a driving group 1221 and a driven group 1222 driven by the driving group 1221. The driving group 1221 is arranged on the driving turntable 121, the driven group 1222 is arranged in the installation housing 110, and the indication component 130 is installed. The indication component 130 has indication numbers distributed in a circular pattern. The driving turntable 121 drives the transmission group and the indication component 130 thereon to rotate through the driving group 1221, so that the indication component 130 drives the corresponding indication numbers to be exposed from the observation window 111.

[0079] That is to say, the indication component 130 in this embodiment is in a disc shape, the indication numbers are evenly and spacedly arranged on the disc-shaped indication component 130, and the observation window 111 is opened at the top of the installation housing 110. When the indication component 130 rotates, the indication numbers on the indication component 130 can be exposed through the observation window 111, and medical staff can know the number of times the surgical instrument has been used by seeing the indication numbers through the observation window 111.

[0080] The rotational movement of the indication component 130 is realized by the transmission of the driving group 1221 and the driven group 1222. In this way, while ensuring the transmission effect, the occupied space can be minimized as much as possible to avoid affecting other components in the installation housing 110. The driving group 1221 is arranged on the driving turntable 121, the driven group 1222 is arranged in the installation housing 110, and the indication component 130 is installed on the driven group 1222. When the driving turntable 121 drives the driving group 1221 to rotate, the driving group 1221 can drive the driven group 1222 that is in transmission cooperation with it to rotate synchronously. Furthermore, the driven group 1222 drives the indication component 130 thereon to rotate, so that the indication number corresponding to the observation window 111 on the indication component 130 can be adjusted.

[0081] Of course, in other embodiments of the present invention, the transmission assembly 122 may only include the driving group 1221. At this time, the indication component 130 is arranged on the driving group 1221, and the usage times of the surgical instrument are adjusted by driving the indication component 130 to rotate through the driving group 1221.

[0082] In one embodiment, the driving group 1221 includes a driving shaft 12211 and a driving member 12212 arranged on the driving shaft 12211. The driving shaft 12211 is arranged on the driving turntable 121. The driven group 1222 includes a driven shaft 12221 and a driven member 12222 arranged on the driven shaft 12221. The driven shaft 12221 is arranged in the installation housing 110. The driving member 12212 is in transmission connection with the driven member 12222 to drive the driven member 12222 to rotate.

[0083] The driving shaft 12211 and the driven shaft 12221 are arranged in parallel in the installation housing 110. The driving shaft 12211 is fixedly installed on the driving turntable 121. The driving member 12212 is installed on the driving shaft 12211, the driven member 12222 is installed on the driven shaft 12221. The driving member 12212 is in transmission connection with the driven member 12222, and the indication component 130 is fixedly installed on the driven member 12222. When the driving turntable 121 rotates, the driving turntable 121 can drive the driving shaft 12211 and the driving member 12212 thereon to rotate synchronously. Furthermore, the driving member 12212 can drive the driven member 12222 that is in transmission connection with it to rotate synchronously, so that the driven member 12222 drives the indication component 130 to rotate and adjusts the indication number of the indication component 130 corresponding to the observation window 111.

[0084] It can be understood that it is acceptable for either the driven shaft 12221 or the driven member 12222 in the driven group 1222 to be rotatable, as long as the driven member 12222 can drive the indication component 130 to rotate. Optionally, the driven shaft 12221 can be rotatably arranged in the installation housing 110. Of course, the driven shaft 12221 can also be fixedly arranged in the installation housing 110, and the driven member 12222 is rotatably arranged on the driven shaft 12221.

[0085] In one embodiment, the driving member 12212 and the driven member 12222 are a gear transmission structure, a chain transmission structure or a belt transmission structure. Exemplarily, the driving member 12212 is a driving gear, the driven member 12222 is a driven gear, and the driving gear meshes with the driven gear to achieve the transmission of the motion between the driving group 1221 and the driven group 1222. Further, the driving gear and the driven gear can be internally meshed or externally meshed. Of course, in other embodiments of the present invention, the driving member 12212 and the driven member 12222 can also be a chain transmission structure or a belt transmission structure to achieve the driving of rotation.

[0086] See Figure 1 , Figures 5 to 8 , in one embodiment, the counting device 100 further includes a limiting mechanism 140. The limiting mechanism 140 is arranged in the installation housing 110 and is used to limit the rotation angle of the indication component 130. After the counting device 100 is separated from the surgical instrument, although the number of uses of the surgical instrument is displayed on it, in the case of accidental touch or the like, the number of uses of the surgical instrument may be inaccurate. This requires that the counting device 100 needs to be calibrated after being installed in the surgical instrument box. Moreover, when the counting device 100 is installed on other surgical instruments, the data displayed by the counting device 100 needs to be calibrated to adapt to the number of uses of the current surgical instrument.

[0087] Therefore, a limiting mechanism 140 is added to the counting device 100 of the present invention. The limiting mechanism 140 can provide a force for the driving indication component 130 to rotate, and then the reaction force transmitted through the transmission assembly 122 and the driving turntable 121 is fed back to the power source 210, providing a blocking torque limit for the movement of the power source 210. When the limit torque is equal to the preset blocking torque of the power source 210, it indicates that the power source 210 has reached the initial position, and then the power source 210 is controlled to drive the indication component 130 to rotate in the reverse direction.

[0088] Specifically, since the control chip in the surgical instrument pre-stores the data of the usage times of the surgical instrument, the controller in the surgical instrument or the console of the surgical robot can read the usage times of the surgical instrument in the control chip, and calculate the angle required for the indication number on the indication component 130 to rotate to the observation window 111 according to the usage times. Subsequently, the controller or console of the surgical instrument controls the power source 210 to reverse and rotate the above angle, so that the usage times of the surgical instrument are displayed through the cooperation of the indication component 130 and the observation window 111. In this way, the calibration of the counting device 100 can be completed, ensuring that the counting device 100 can accurately display the usage times of the surgical instrument.

[0089] In one embodiment, the limiting mechanism 140 includes a first limiting member 141 and a second limiting member 142. The first limiting member 141 is disposed on the indication component 130, and the second limiting member 142 is fixedly disposed. The first limiting member 141 can abut against the second limiting member 142 to limit the rotation of the indication component 130. The first limiting member 141 is disposed at the top or bottom of the indication component 130, and the second limiting member 142 is disposed at a fixed position. That is to say, the first limiting member 141 can move with the indication component 130, and the second limiting member 142 is fixed. When the first limiting member 141 abuts against the second limiting member 142, the continuous rotation of the indication component 130 can be limited.

[0090] Optionally, the first limiting member 141 and the second limiting member 142 are limiting blocks. Of course, the first limiting member 141 and the second limiting member 142 can also be other components that can play a limiting role.

[0091] In one embodiment, the second limiting member 142 is disposed on the inner wall of the installation housing 110, or the second limiting member 142 is disposed in the installation housing 110 through a support rod, or the second limiting member 142 is disposed on the fixed shaft of the transmission assembly 122. Optionally, the second limiting member 142 can be disposed on the inner wall of the installation housing 110, and can abut against the second limiting member 142 when the indication component 130 drives the first limiting member 141 to rotate a certain angle. Optionally, when the driven shaft 12221 is fixedly disposed in the installation housing 110, the driven member 12222 can be rotatably disposed on the driven shaft 12221, and the second limiting block can be fixedly disposed on the driven shaft 12221. Optionally, a separately fixed support rod can also be disposed in the installation housing 110, and the support rod can mount the second limiting member 142. Of course, in other embodiments of the present invention, the second limiting member 142 can also be disposed at other positions that can limit the rotation of the first limiting member 141 and achieve the contact positioning function.

[0092] In this embodiment, the description is made with the second limiting member 142 disposed on the inner wall of the mounting housing 110. For the sake of describing the reset of the counting device 100, the control of the console of the surgical robot is taken as an example for illustration. Of course, the control principle of using the controller of the surgical instrument is substantially the same as that of the console control, and will not be elaborated one by one here.

[0093] After the counting device 100 is installed on the power box 200 of the surgical instrument, the driving turntable 121 is docked with the power source 210 in the power box 200. The console controls the power source 210 to rotate in one direction. Then, the power source 210 drives the driving turntable 121 and the transmission assembly 122 in the rotating mechanism 120 to rotate. In this way, the transmission assembly 122 drives the indicating member 130 to rotate. When the first limiting member 141 on the indicating member 130 contacts the fixed second limiting member 142, the rotation of the first limiting member 141 can be restricted. However, the reaction force of the second limiting member 142 on the first limiting member 141 will be fed back to the power source 210 through the transmission assembly 122 and the driving turntable 121. The received reaction force of the power source 210 causes the current on the power source 210 to increase. The controller can calculate the current limiting torque of the current power source 210 by detecting the current of the power source 210 through the sensor.

[0094] When the limiting torque reaches the preset stall torque, the console controls the power source 210 to rotate in the reverse direction by an angle corresponding to the number of uses. The console can read the data of the number of uses stored in the control chip of the surgical instrument, and the console calculates the reverse rotation angle of the indicating member 130 according to the number of uses. In this way, after the indicating member 130 rotates in the reverse direction by the above angle, the indicating number on the indicating member 130 will correspond to the observation window 111, that is, the number of uses of the surgical instrument is displayed, and the calibration of the counting device 100 is completed. Subsequently, the surgical instrument can perform surgical operations.

[0095] If the second limiting member 142 cannot restrict the first limiting member 141, such as when the first limiting member 141 is damaged or other situations cause the limiting torque of the power source 210 to not reach the preset stall torque, it indicates that the counting device 100 has a fault. At this time, the console will issue an error prompt, prompting the medical staff that the counting is inaccurate and a new counting device 100 needs to be replaced or the counting device 100 needs to be repaired, etc.

[0096] See Figure 9 , in another embodiment of the present invention, the transmission assembly 122 includes a lead screw 1223 disposed on the driving turntable 121, and the indicating member 130 is movably mounted on the lead screw 1223. The observation window 111 is disposed parallel to the lead screw 1223, and indicating numbers are provided on the observation window 111. When the lead screw 1223 rotates, it can drive the indicating member 130 to move up and down, so that the indicating member 130 indicates the indicating numbers on the observation window 111.

[0097] That is to say, the observation window 111 is arranged in a long strip shape on the outer wall of the installation housing 110, and the edge of the observation window 111 marks the indication numbers. When the indication component 130 moves, it corresponds to the observation windows 111 at different heights, and then indicates the indication numbers at different positions. This indication number is the usage number of the surgical instrument. The movement of the indication component 130 is realized by the lead screw 1223, and the lead screw 1223 can drive the indication component 130 to move up and down.

[0098] The lead screw 1223 is fixedly arranged on the driving turntable 121. When the driving turntable 121 rotates, it can drive the lead screw 1223 to rotate, and then the lead screw 1223 can drive the indication component 130 thereon to move, realizing the lifting control of the indication component 130. In this embodiment, the shape of the indication component 130 is not limited in principle. It can be circular, can also be in a long strip shape, or can be other shapes, etc., as long as it can correspond to the indication numbers of the observation window 111.

[0099] In one embodiment, the transmission assembly 122 further includes a guiding member 1224. The guiding member 1224 is arranged in the installation housing 110 and is arranged parallel to the lead screw 1223. The indication component 130 is movably arranged on the guiding member 1224 for guiding the lifting of the indication component 130. The indication component 130 has a guiding hole, and the indication component 130 is sleeved on the guiding member 1224 through the guiding hole. When the lead screw 1223 drives the indication component 130 to rise or fall, the indication component 130 moves along the guiding member 1224 through the guiding hole to ensure the accurate movement track of the indication component 130, avoid the position displacement of the indication component 130 from affecting the indication effect, and enable the indication component 130 to accurately indicate the usage times of the surgical instrument.

[0100] Optionally, the guiding member 1224 is a guiding shaft. In other embodiments of the present invention, the guiding member 1224 can also be a slide rail, and a sliding groove matching with the slide rail is arranged on the indication component 130. Of course, the guiding member 1224 can also be other structures that can realize the guiding of the indication component 130.

[0101] See Figure 4 and Figure 8, the above-mentioned counting device 100 drives the transmission component 122 to rotate by driving the turntable 121, and then the transmission component 122 drives the indicating component 130 to move, so that the indicating component 130 indicates the number of times the surgical instrument has been used through the observation window 111. This device has a simple structure and low cost, and can enable medical staff to directly observe the remaining number of times the surgical instrument can be used at any time after the surgical instrument is withdrawn from the surgical robot. Moreover, a limiting mechanism 140 is designed on the counting device 100, which can rotate the turntable 121 by the power source 210 each time, thereby driving the indicating component 130 to rotate and move the indicating component 130 to the initial position. Then, by reading the information of the number of times used in the internal control chip of the surgical instrument, the power source 210 is controlled to rotate the indicating component 130 to the true remaining number of times.

[0102] See Figure 4 、 Figure 7 and Figure 10 , the present invention also provides a control method for the counting device 100, which is applied to the counting device 100 as described above, and the control method includes the following steps:

[0103] Install the counting device 100 on the power source 210 of the power box 200 of the surgical instrument;

[0104] Control the power source 210 to drive the rotating mechanism 120 to rotate in one direction;

[0105] Judge whether the power source 210 reaches the preset stall torque;

[0106] If so, read the number of times used recorded in the control chip of the surgical instrument, and control the power source 210 to drive the rotating mechanism 120 and the indicating component 130 to rotate in the reverse direction by the corresponding position according to the number of times used, so as to correct the number of times used of the counting device 100.

[0107] After the counting device 100 is installed on the power box 200 of the surgical instrument, the driving turntable 121 is docked with the power source 210 in the power box 200. The console controls the power source 210 to rotate in one direction. Then, the power source 210 drives the driving turntable 121 and the transmission assembly 122 in the rotating mechanism 120 to rotate. In this way, the transmission assembly 122 drives the indicating component 130 to rotate. Subsequently, it is determined whether the power source 210 reaches a preset stall torque. When the power source 210 reaches the preset stall torque, the console can read the data of the usage times stored in the control chip of the surgical instrument. The console calculates the reverse rotation angle of the indicating component 130 based on the usage times, and controls the indicating component 130 to reverse rotate according to the rotation angle. In this way, after the indicating component 130 reversely rotates by the above angle, the indicating numbers on the indicating component 130 will correspond to the observation window 111, that is, the usage times of the surgical instrument are displayed, and the calibration of the counting device 100 is completed. Subsequently, the surgical instrument can perform surgical operations.

[0108] In one embodiment, the step of determining whether the power source 210 reaches a preset stall torque includes:

[0109] The power source 210 drives the indicating component 130 to rotate in one direction through the transmission assembly 122;

[0110] When the first limiting member 141 on the indicating component 130 can abut against the second limiting member 142, the second limiting member 142 restricts the rotation of the indicating component 130;

[0111] Calculate the current value of the power source 210;

[0112] Calculate the limiting torque of the power source 210 according to the current value, and compare it with the preset stall torque.

[0113] The power source 210 drives the indicating component 130 to rotate in one direction through the transmission assembly 122. When the first limiting member 141 on the indicating component 130 contacts the fixed second limiting member 142, the rotation of the first limiting member 141 can be restricted. However, the reaction force of the second limiting member 142 on the first limiting member 141 will be fed back to the power source 210 through the transmission assembly 122 and the driving turntable 121. The reaction force received by the power source 210 causes the current on the power source 210 to increase. The controller can calculate the current limiting torque of the current power source 210 by detecting the current of the power source 210, and compare the limiting torque with the preset stall torque to determine whether the power source 210 reaches the preset stall torque.

[0114] In one embodiment, the control method further includes the following steps:

[0115] When the power source 210 does not reach the preset stall torque, obtain the rotation time of the power source 210;

[0116] Compare the rotation time with a preset time;

[0117] If the rotation time exceeds the preset time, control the counting device 100 to report an error;

[0118] If the rotation time is less than the preset time, determine whether the power source 210 reaches a preset stall torque.

[0119] When the power source 210 does not reach the preset stall torque, that is, when the limit torque of the power source 210 is less than the preset stall torque, the control console obtains the rotation time of the power source 210 driving the driving turntable 121 to rotate. Subsequently, compare the rotation time of the power source 210 with the preset time. The preset time here refers to the maximum time limit for the power source 210 to drive the indicating component 130 to rotate one week. If the rotation time exceeds the preset time, it indicates that the first limiting member 141 has contacted the second limiting member 142, but the second limiting member 142 does not limit the first limiting member 141, which indicates that the second limiting member 142 has a malfunction, or the first limiting member 141 is damaged, etc. Therefore, the control console controls the counting device 100 to report an error, prompting the medical staff that the counting device 100 has a malfunction. If the rotation time is less than the preset time, it indicates that the first limiting member 141 has not contacted the second limiting member 142, and it is necessary to continue to determine whether the power source 210 reaches the preset stall torque.

[0120] In one embodiment, the control method further includes the following steps:

[0121] When the usage times recorded in the control chip of the surgical instrument cannot be read, control the counting device 100 to report an error.

[0122] After the control console determines whether the power source 210 reaches the preset stall torque, it will also read the usage times of the surgical instrument recorded in the control chip of the surgical instrument, so that the indicating component 130 can indicate the usage times of the surgical instrument. However, if the usage times recorded in the control chip of the surgical instrument cannot be read, control the counting device 100 to report an error, prompting the medical staff that the control chip of the surgical instrument has a malfunction.

[0123] See Figure 2 and Figure 4, the present invention further provides a surgical instrument, including an instrument body 300, a power box 200, and the counting device 100 in the above embodiments. The power box 200 is installed at the proximal end of the instrument body 300 and provides power for the surgical operation at the distal end of the instrument body 300. The counting device 100 is installed at one end of the power box 200 away from the instrument body 300. There are multiple power sources 210 in the power box 200, and one of the power sources 210 is connected to the counting device 100. The power source 210 can receive a trigger signal and control the movement of the counting device 100 to record the usage times of the surgical instrument. After adopting the counting device 100 of the above embodiments, the surgical instrument of the present invention can accurately record the usage times of the surgical instrument, so as to directly observe the remaining usage times of the surgical instrument, which is convenient for use. Optionally, the power source 210 is a motor.

[0124] The present invention further provides a surgical robot, including a console, a robotic arm, and the surgical instrument in the above embodiments. The robotic arm is arranged on the console, and the console is electrically connected to the robotic arm and the surgical instrument. The console controls the movement of the robotic arm and the surgical instrument. After adopting the above surgical instrument, the surgical robot of the present invention can achieve accurate monitoring of the surgical instrument and ensure the safety of the surgery. Exemplarily, the surgical robot is an abdominal surgical robot. Of course, in other embodiments of the present invention, the surgical robot can also be other types of robots.

[0125] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, 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, it should be considered as the scope described in this specification.

[0126] The above embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it cannot be understood as a limitation to the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. A counting device, characterized in that, A power box installed at the end of the instrument body of a surgical instrument, and the counting device includes: An installation housing installed on the power box, and the installation housing has an observation window; A rotating mechanism arranged in the installation housing and connected to the power source in the power box, and the rotating mechanism can rotate with the power source; and A indicating component arranged on the rotating mechanism, and when the indicating component moves with the rotating mechanism, it can correspond to the observation window to indicate the number of times the surgical instrument has been used; When the power source reaches a preset stall torque, the console reads the number of times of use recorded in the control chip of the surgical instrument and controls the movement of the power source; The rotating mechanism and the indicating component can be driven by the power source to rotate reversely to the corresponding position according to the number of times of use to correct the number of times of use of the counting device.

2. The counting device according to claim 1, wherein The rotating mechanism includes a driving turntable and a transmission component arranged on the driving turntable. The driving turntable can be connected to and rotate with the power source. The transmission component is arranged on the driving turntable and installs the indicating component, and the transmission component drives the indicating component to rotate.

3. The counting device according to claim 2, characterized in that, The transmission component includes a driving group and a driven group that is in transmission with the driving group. The driving group is arranged on the driving turntable, and the driven group is arranged in the installation housing and installs the indicating component. The indicating component has indicating numbers distributed in a circumferential manner; The driving turntable drives the transmission group and the indicating component thereon to rotate through the driving group, so that the indicating component drives the corresponding indicating numbers to be exposed from the observation window.

4. The counting device according to claim 3, characterized in that, The driving group includes a driving shaft and a driving member arranged on the driving shaft. The driving shaft is arranged on the driving turntable. The driven group includes a driven shaft and a driven member arranged on the driven shaft. The driven shaft is arranged in the installation housing; The driving member is in transmission connection with the driven member to drive the driven member to rotate; The driving member and the driven member are a gear transmission structure, a chain transmission structure or a belt transmission structure.

5. The counting device according to claim 3 or 4, characterized in that, The counting device further includes a limiting mechanism arranged in the installation housing for limiting the rotation angle of the indicating component.

6. The counting device according to claim 5, characterized in that, The limiting mechanism includes a first limiting member and a second limiting member. The first limiting member is arranged on the indicating component, and the second limiting member is fixedly arranged. The first limiting member can abut against the second limiting member to limit the rotation of the indicating component.

7. The counting device according to claim 2, characterized in that, The transmission component includes a lead screw arranged on the driving turntable, and the indicating component is movably installed on the lead screw; The observation window is arranged parallel to the lead screw, and indicating numbers are arranged on the observation window; When the lead screw rotates, it can drive the indicating component to move up and down, so that the indicating component indicates the indicating numbers on the observation window.

8. A control method for a counting device, characterized in that, Applied to the counting device according to any one of claims 1 to 7, the control method includes the following steps: Install the counting device on the power source of the power box of the surgical instrument; Control the power source to drive the rotating mechanism to rotate in one direction; Judge whether the power source reaches the preset stall torque; If so, read the number of uses recorded in the control chip of the surgical instrument, and control the power source to drive the rotation mechanism and the indication component to rotate in the reverse direction by corresponding positions according to the number of uses, so as to correct the number of uses of the counting device.

9. A surgical instrument, characterized in that, It includes an instrument body, a power box, and the counting device according to any one of claims 1 to 7; The power box is installed at the proximal end of the instrument body and provides power for performing surgical operations at the distal end of the instrument body. The counting device is installed at one end of the power box away from the instrument body. There are multiple power sources in the power box, and one of the power sources is connected to the counting device. The power source can receive a trigger signal and control the movement of the counting device to record the number of uses of the surgical instrument.

10. A surgical robot, characterized in that, It includes a console, a robotic arm, and the surgical instrument according to claim 9; The robotic arm is arranged on the console. The console is electrically connected to the robotic arm and the surgical instrument, and the console controls the movement of the robotic arm and the surgical instrument.

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