Preoperative opening instruments, control methods and medical equipment for medical robots

Abstract

This specification relates to the field of minimally invasive surgery technology, specifically disclosing a medical robot preoperative incision instrument, control method, and medical device. The instrument includes a pneumatic sealing mechanism, an incision mechanism, and a controller. The pneumatic sealing mechanism is used to contact the patient's skin to form a sealed chamber between the pneumatic sealing mechanism and the patient's skin. It also uses negative pressure to draw the patient's skin into the sealed chamber and detects the degree of suction. The incision mechanism includes an incision tool and a driving mechanism. The tip of the incision tool is located inside the sealed chamber. The controller controls the driving mechanism to move the incision tool towards the patient's skin when the degree of suction meets a preset condition, allowing the tip of the incision tool to perform preoperative incision on the patient's skin. This solution can achieve automatic preoperative incision, improving safety and surgical efficiency, reducing the workload of doctors, and improving the patient's surgical experience.

Description

Technical Field

[0001] This manual relates to the field of minimally invasive surgery technology, and in particular to a preoperative opening instrument, control method and medical device for a medical robot. Background Technology

[0002] In minimally invasive surgery, a device called a trocar is typically inserted into the abdominal wall. The trocar is a metal tube with a tapered tip. Surgical instruments (such as scalpels and laparoscopes) are inserted through the trocar's tube into the abdominal cavity. Simultaneously, the abdominal cavity is filled with carbon dioxide to ensure sufficient space for the surgical instruments. The surgically removed tissue is then removed through the trocar. Because the trocar needs to be inserted into the patient's skin, an incision must be made before minimally invasive surgery. Currently, before performing minimally invasive surgery, doctors manually create an incision at the surgical site using a scalpel. This involves the doctor pinching the skin with their fingers and making a cut with the scalpel. Since this manual incision is based on experience and pre-defined landmarks, the incision efficiency is low, and the depth and size of the incision are difficult to control.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This specification provides a medical robot preoperative incision instrument, control method, and medical device to solve the problems of low efficiency and low accuracy of manual incision before minimally invasive surgery in the prior art.

[0005] This specification provides a medical robot preoperative opening device, comprising: a pneumatic sealing mechanism, an opening mechanism, and a controller; the pneumatic sealing mechanism is used to contact the patient's skin to form a sealed chamber between the pneumatic sealing mechanism and the patient's skin, and is also used to use negative pressure to draw the patient's skin into the sealed chamber, and to detect the degree of attraction of the patient's skin; the opening mechanism includes an opening tool and a driving mechanism, the front end of the opening tool being located inside the sealed chamber; the controller is used to control the driving mechanism to drive the opening tool toward the patient's skin when the degree of attraction meets a preset condition, so that the front end of the opening tool performs preoperative opening of the patient's skin.

[0006] This specification also provides a method for controlling preoperative opening of a medical robot, based on the preoperative opening device of the medical robot described in the above embodiments. The method includes: determining whether the degree of attraction of the patient's skin meets preset conditions; and, if the degree of attraction of the patient's skin meets the preset conditions, controlling a drive mechanism to drive an opening tool toward the patient's skin, so that the front end of the opening tool performs preoperative opening of the patient's skin.

[0007] This specification also provides a medical device, including the preoperative opening instrument for medical robots described in any of the above embodiments.

[0008] In this embodiment of the specification, a medical robot preoperative opening device is provided, including a pneumatic sealing mechanism, an opening mechanism, and a controller. The pneumatic sealing mechanism can contact the patient's skin to form a sealed chamber between the pneumatic sealing mechanism and the patient's skin. It can also use negative pressure to draw the patient's skin into the pneumatic sealing mechanism and detect the degree of skin suction. The opening mechanism can include an opening tool and a driving mechanism. The front end of the opening mechanism can be disposed inside the sealed chamber. The controller can control the driving mechanism to move the opening tool toward the patient's skin when the degree of suction meets a preset condition, thereby enabling the front end of the opening tool to perform preoperative opening on the patient's skin. The above solution provides a medical robot preoperative opening device that can effectively replace current manual opening methods. The operator only needs to contact the pneumatic sealing mechanism of the preoperative opening device with the patient's skin and press the start button. The pneumatic sealing mechanism will then suck up the skin, simulating the doctor pinching the skin during minimally invasive surgery. After the skin is suctioned to a certain extent, the controller controls the opening mechanism to open the patient's skin, achieving automatic preoperative opening for minimally invasive surgery. This instrument can create a puncture hole of ideal size at the precise location, improving safety and surgical efficiency, reducing the workload of doctors, and enhancing the patient's surgical experience. This solution addresses the problems of low efficiency and accuracy of manual incision before minimally invasive surgery in existing technologies, achieving a significant improvement in both surgical efficiency and safety. Attached Figure Description

[0009] The accompanying drawings, which are included to provide a further understanding of this specification and form part of it, do not constitute a limitation thereof. In the drawings:

[0010] Figure 1 This specification shows a component assembly diagram of the preoperative opening instrument for the medical robot in an embodiment of the present specification;

[0011] Figure 2 A cross-sectional view of the component with the maximum displacement of the hole-making tool in an embodiment of this specification is shown;

[0012] Figure 3 A cross-sectional view of the hole-making tool in an embodiment of this specification is shown;

[0013] Figure 4 A schematic diagram of the driving mechanism of the hole-opening tool in an embodiment of this specification is shown;

[0014] Figure 5 A schematic diagram of the improved hole-opening tool drive mechanism in the embodiments of this specification is shown;

[0015] Figure 6 A diagram of the lead screw drive mechanism assembly in the hole-opening device in the embodiments of this specification is shown;

[0016] Figure 7 A schematic diagram of the hole-opening instrument drive mechanism in an embodiment of this specification is shown;

[0017] Figure 8 A flowchart illustrating the internal algorithm of the hole-opening device in an embodiment of this specification is shown;

[0018] Figure 9 A schematic diagram of the skin sensing device in an embodiment of this specification is shown;

[0019] Figure 10 This specification shows a schematic diagram illustrating the working principle of the absolute encoder in an embodiment.

[0020] Figure 11 A schematic diagram of the system electrical components in the embodiments of this specification is shown;

[0021] Figure 12 This document illustrates the air pressure detection logic diagram for the sealed chamber of the perforating instrument in an embodiment of this specification.

[0022] Figure 13 A flowchart illustrating the depressurization process of the air chamber of the perforating instrument in an embodiment of this specification is shown;

[0023] Figure 14 This specification shows a power-on self-test logic diagram for the hole-opening instrument in an embodiment.

[0024] Figure 15 This specification illustrates a flowchart of the use of the automated surgical robot opening instrument in an embodiment of the invention.

[0025] Figure 16 A flowchart of the preoperative orifice control method for a medical robot according to an embodiment of this specification is shown. Detailed Implementation

[0026] The principles and spirit of this specification will now be described with reference to several exemplary embodiments. It should be understood that these embodiments are given merely to enable those skilled in the art to better understand and implement this specification, and are not intended to limit the scope of this specification in any way. Rather, these embodiments are provided to make this disclosure more thorough and complete, and to fully convey the scope of this disclosure to those skilled in the art.

[0027] Those skilled in the art will recognize that the embodiments described in this specification can be implemented as a system, apparatus, method, or computer program product. Therefore, the disclosure of this specification can be specifically implemented in the following forms: entirely hardware, entirely software (including firmware, resident software, microcode, etc.), or a combination of hardware and software.

[0028] This specification provides an embodiment of a preoperative opening instrument for a medical robot. Please refer to... Figure 1 This diagram illustrates the component assembly of the preoperative incision instrument used in embodiments of this specification. Figure 1 As shown in the embodiments of this specification, the preoperative opening instrument for the medical robot may include: a pneumatic sealing mechanism 10, an opening mechanism 20, and a controller 30.

[0029] The pneumatic sealing mechanism 10 can contact the patient's skin 40 to form a sealed chamber 50 between the pneumatic sealing mechanism 10 and the patient's skin 40. The pneumatic sealing mechanism 10 can also use negative pressure to draw the patient's skin 40 into the sealed chamber 50 and measure the degree of drawing of the patient's skin 40.

[0030] like Figure 1 As shown, the opening mechanism 20 may include an opening tool 201 and a driving mechanism 202. The front end of the opening tool 201 may be disposed inside the sealed chamber 50. The driving mechanism 202 may be used to drive the opening tool 201 to make a preoperative opening in the patient's skin 40.

[0031] The controller 30 can communicate with the opening mechanism 20 and the pneumatic sealing mechanism 10. When the suction level meets preset conditions, the controller 30 can control the drive mechanism 202 to drive the opening tool 201 to perform preoperative opening of the patient's skin 40. The controller 30 can be implemented as a microcontroller (MCU).

[0032] Please continue to refer to this. Figure 1 In some embodiments of this specification, the pneumatic sealing mechanism 10 may include a housing 101, a suction cup 102, an air extraction device 103, and a suction degree measuring device 104.

[0033] The suction cup 102 can be disposed around the periphery of the housing 101 and seals upon contact with the patient's skin to form a sealed chamber 50 between the housing 101 and the patient's skin 40. The suction cup 102 can be an adhesive suction cup, functioning similarly to a sealing ring.

[0034] An air extraction device 103 may be disposed in the housing for extracting air from the sealed chamber 50 to draw the patient's skin 40 toward the interior of the housing 101.

[0035] like Figure 1 As shown, in one embodiment, the suction device 103 may include an electric air pump 131 (or suction pump) and a suction tube 132. The electric air pump 131 may be disposed in the pneumatic sealing mechanism and communicate with the sealing chamber 50 through the suction tube 132 to extract gas from the sealing chamber 50, thereby creating a negative pressure that draws the patient's skin toward the interior of the sealing chamber.

[0036] The suction degree measuring device 104 may be wholly or partially disposed in the sealed chamber 50 to measure the degree of suction on the patient's skin 40.

[0037] In some embodiments of this specification, the suction degree measuring device 104 may include a pressure sensor. The pressure sensor can measure the air pressure within the sealed chamber 50 to characterize the degree to which the patient's skin 40 is suctioned. The controller 30 can control the drive mechanism 202 to drive the piercing tool 201 to perform preoperative piercing of the patient's skin 40 when the air pressure value detected by the pressure sensor is less than or equal to a preset air pressure.

[0038] In some embodiments of this specification, the attraction degree measuring device 104 may include a position sensor. The position sensor measures the distance between the patient's skin 40 and the position sensor to characterize the degree of attraction to the patient's skin 40. The controller 30 may control the drive mechanism 202 to drive the piercing tool 201 to perform preoperative piercing of the patient's skin 40 when the distance detected by the position sensor is less than or equal to a preset distance threshold. The position sensor may be a laser position sensor. The degree of skin attraction can be accurately characterized by the distance measured by the position sensor.

[0039] In some embodiments of this specification, the drilling tool 201 is detachably connected to the drive mechanism 202. The detachable connection may include, but is not limited to, snap-fit ​​connections and threaded fastenings.

[0040] In one embodiment, when changing tools, the drilling tool can be removed from the drive mechanism and a new drilling tool can be installed on the drive mechanism.

[0041] In another embodiment, the drilling mechanism may further include a tool changing mechanism that can connect the drive mechanism to the drilling tool. When changing the tool, the drilling tool can be removed from the tool changing mechanism and a new drilling tool can be installed on the tool changing mechanism.

[0042] By detachably connecting the opening mechanism and the drive mechanism, surgical efficiency can be effectively improved by simply changing the cutting tool when different diameter surgical holes are required.

[0043] Please continue to refer to this. Figure 1The preoperative puncture instrument has a trapezoidal cross-section in its sealed chamber 50, with the puncture tool 201 mounted in the center of its upper surface. The suction port 51 and the pressure sensor are positioned 180 degrees apart on either side of the puncture tool 201. The preoperative puncture instrument is cylindrical, with the puncture tool 201 located at the central axis O. Therefore, the doctor only needs to place the preoperative puncture instrument at the site of the minimally invasive surgical incision and ensure it is firmly attached to the patient's skin 40 via the suction cup 102. After pressing the start switch 60, the suction pump begins operation. The patient's skin 40 is then suctioned up. When the pressure sensor detects that the air pressure in the air chamber has reached a certain value, the drive mechanism 202 is triggered, ejecting the puncture tool 201 to pierce the patient's skin 40.

[0044] Please refer to Figure 2 This shows a cross-sectional view of the component when the drilling tool is at its maximum displacement. (Example:) Figure 2 As shown, after the suction cup 102 contacts the patient's skin 40, the sealed chamber 50 becomes a sealed space. Because the air pump continuously draws air out of the sealed chamber 50, a negative pressure is generated, which lifts the patient's skin 40. This is smoother than the current method where doctors manually pinch the patient's skin to make an incision. Whether the skin is lifted can be determined by monitoring the air pressure inside the sealed chamber or by monitoring the distance between the position sensor and the skin. Once a certain negative pressure or distance is reached, the drive mechanism 202 is triggered to drive the incision tool 201 downwards, piercing the patient's skin to complete the incision operation.

[0045] In some embodiments of this specification, the perforation tool may be spear-shaped. The size of the perforation tool can be determined based on the size of the puncture card matched to the medical robot. Please refer to... Figure 3 The image shows a cross-sectional view of the hole-making tool. (See image for details.) Figure 3 As shown, the front end of the perforation tool 201 is spear-shaped. Given the diameter of the trocar of the minimally invasive surgical robot, the perforation size can be roughly determined. Considering the contractility of human skin, the trocar 70 and the surgical hole 80 need to be tightly fitted; therefore, the diameter of the surgical hole 80 should be slightly smaller than the diameter of the trocar 70. Without considering the influence of the skin's elasticity coefficient, the relationship between the surgical hole diameter h and the width d of the perforation tool is: d = πh / 2. The handle 212 of the perforation tool has an internal thread to ensure a tight connection (threaded connection) with the instrument's drive mechanism. The spear-shaped design, with a lower triangular cross-section, facilitates vertical perforation and disassembly, and the tool size is highly correlated with the perforation size.

[0046] Please refer to Figure 4 A schematic diagram of the hole-opening tool drive mechanism is shown. (For example...) Figure 4As shown, in some embodiments of this specification, the driving mechanism 202 may include a driving rod 221, a top plate 222, a base 223, an electromagnetic coil 224, a first switch (not shown), and a power supply (not shown). One end of the driving rod 221 can be connected to the top plate 222, and the other end can be connected to the drilling tool 201. Both the top plate 222 and the base 223 are made of conductive metal. The drilling tool 201 can pass through the base and enter the sealed chamber. The power supply can be connected to the electromagnetic coil via the first switch. The first switch can be a relay. The controller controls the first switch to close when the attraction level meets a preset condition, so as to energize the electromagnetic coil through the power supply. The electromagnetic coil 224 is connected to the base 223. When the electromagnetic coil 224 is energized, it attracts the top plate 222 to move toward the base 223, thereby driving the drilling tool 201 to move toward the patient's skin for preoperative drilling. In the above scheme, the drilling tool can be ejected by electromagnetic force to perform preoperative drilling.

[0047] Please continue to refer to this. Figure 4 In some embodiments of this specification, the drive mechanism 202 may further include a helical spring 225. The helical spring 225 is installed between the top plate 222 and the base 223 and is in a compressed, energy-storing state. In one embodiment, the helical spring 225 may be sleeved around the drive rod 221. When the first switch is open, the helical spring 225 can rebound from its compressed, energy-storing state, thereby automatically resetting the drilling tool 201. For example, in the event of drilling completion, drilling failure, or instrument malfunction, the controller can control the first switch to open. In this way, the drilling tool can be automatically reset after drilling is completed.

[0048] When the suction level measuring device is a barometric pressure sensor, when the controller receives a certain value from the barometric pressure sensor, it controls the relay to energize the electromagnetic coil. Due to the energization, the electromagnetic coil 10 generates magnetism, pulling the top plate 222 downwards. Since the top plate 222 is rigidly connected to the drive rod 221, and the drive rod 221 is threadedly connected to the piercing tool 201, the piercing tool 201 also moves downwards, achieving the purpose of piercing the patient's skin to create an opening.

[0049] Considering that the attractive force generated when the electromagnetic coil is energized may cause the drilling tool to move too quickly, resulting in a poor patient experience, the drive mechanism may further include a damper disposed between the top plate and the base to provide resistance to the movement of the top plate toward the base. In one embodiment, two symmetrical dampers may be disposed between the top plate and the base.

[0050] Please refer to Figure 5, showing a schematic diagram of the improvement of the driving mechanism of the hole-opening tool. Figure 4 The hole-opening tool driving mechanism in [reference] does not consider the flexibility problem during the downward movement of the hole-opening tool. For example, when the controller controls the relay to close, the electromagnetic coil 224 is energized to generate a magnetic field. At this time, the top plate 222 of the driving mechanism 202 will immediately be attracted and pulled downward. Therefore, as Figure 5 shown, two dampers 226 can be installed between the top plate 222 and the base 223 to appropriately improve the problem of rough movement.

[0051] The preoperative automatic hole-opening instrument of the medical robot in the above embodiment has a simple structure and can replace the current manual hole-opening method. The doctor only needs to align the suction cup of the automatic hole-opening instrument with the position where the hole needs to be opened. After ensuring that the suction cup is in correct contact with the skin, press the "Start" button. The air pump in the automatic hole-opening instrument will work to抽走 the air in the cavity between the skin and the suction cup. At this time, the skin is gradually sucked up by the suction cup. When the air pressure inside the cavity reaches a certain value, the automatic hole-opening instrument automatically triggers the hole-opening mechanism, and the perforation knife instantly pops out to pierce the skin. The size of the hole-opening tool in the automatic hole-opening instrument can be calculated according to the size of the trocar配套 with the medical robot.

[0052] In this specific embodiment, the preoperative automatic hole-opening instrument of the medical robot includes components such as a machine body, a hole-opening tool, an actuator, an electric air pump, a suction cup, a start switch, and a power supply module. The appearance of the machine body can be cylindrical, with a diameter of 10 cm and a height of about 10 cm. Components such as an air pump and a tool are installed inside. The suction cup can be used for the machine to better seal with the skin, form a sealed chamber, and更容易 suck up the skin around the hole, facilitating automatic hole-opening by the machine. The start switch is used to start the machine. After pressing the switch, the machine抽气吸起 the skin. When the air pressure in the cavity reaches a certain value, it automatically triggers the hole-opening tool to pierce the skin. The electric air pump can be used to抽气 the cavity between the suction cup and the skin to suck up the skin. The hole-opening tool is used to pierce the skin for preoperative hole-opening. The size of the hole depends on the size of the tool, and the tool size should match the size of the minimally invasive trocar. The driving mechanism can include components such as a trigger buckle and a spring, and the movement of the hole-opening tool can be controlled through this mechanism. The power supply module can be used for power supply, such as supplying power to power-consuming modules such as the electric air pump, air pressure sensor, and single-chip microcomputer. The air pressure sensor is used to detect the magnitude of the air pressure in the cavity formed between the suction cup and the skin. The single-chip microcomputer can be used to receive the signal of the gas sensor and perform functions such as the hole-opening tool mechanism.

[0053] This preoperative hole-opening instrument can be a fully automatic intelligent device. Medical staff only need to place this instrument at the position where the patient needs to have a hole opened, and then press the "Start" button. The hole-opening device starts抽气建立负压 to complete a set of processes from hole-opening by itself, and the instrument has a voice prompt function, allowing medical staff to better understand the process of the instrument opening the hole. It should be noted that there are some Chinese characters that seem to be incomplete in the original text (such as "抽走", "更容易", "抽气吸起", "抽气建立负压"), which may affect the accurate understanding and translation. You may want to check and correct the original text for a more accurate translation.

[0054] The following describes another embodiment of the drive mechanism, which is implemented through a lead screw transmission mechanism.

[0055] Please refer to Figure 6 This diagram illustrates the screw drive mechanism assembly in the hole-opening device as described in this specification. Figure 6 As shown, in some embodiments of this specification, the drive mechanism 202 may include: a lead screw 231, a stepper motor 232, and a second switch. Figure 6 (Not shown in the image) and drive wheel 233. Lead screw 231 can be connected to the drilling tool 201. Stepper motor 232 can be connected to the drive wheel 233 via a second switch. The second switch can be a relay. Drive wheel 233 engages with lead screw 231. When the attraction level meets a preset condition, controller 30 controls the second switch to close, so that the stepper motor 232 rotates the drive wheel 233, which drives the lead screw 231 downward, thereby driving the drilling tool 201 toward the patient's skin 40.

[0056] Figure 6 and Figure 1 The difference lies in the specific structure of the drive mechanism. For example... Figure 6 As shown, the lead screw transmission mechanism may include: a stepper motor 232, which serves as a power source and outputs mechanical energy to drive the drilling tool 201 to move up and down; a lead screw 231, which is threadedly installed and fastened to the drilling tool 201, and the helical lead screw drives the drilling tool 201 to move; and a drive wheel 233, which is rigidly connected to the rotating shaft of the stepper motor 232 and meshes with the lead screw 231 to play a transmission role.

[0057] Please continue to refer to this. Figure 6In some embodiments of this specification, the drive mechanism 202 may further include a position sensor 234 and an absolute encoder 235. The position sensor 234 can be used to measure the distance between the patient's skin 40 and the position sensor 234. The distance between the position sensor 234 and the head of the drilling tool 201 may be known. Therefore, the controller 30 can determine the distance between the head of the drilling tool 201 and the patient's skin 40 based on the distance between the patient's skin 40 and the position sensor 234, and the distance between the position sensor 234 and the head of the drilling tool 201. Given the drilling depth, the controller can calculate the distance the drilling tool 201 needs to move towards the patient's skin 40, which is the sum of the drilling depth and the distance between the head of the drilling tool and the skin. After determining the distance the drilling tool 201 needs to move, the controller 30 can determine the distance the lead screw 231 needs to move, and thus determine the required rotation angle of the drive wheel 233. When the drive wheel 233 and the stepper motor 232 are rigidly connected, the controller can determine the rotation angle of the drive wheel 233 as the required rotation angle of the stepper motor 232's shaft. The absolute encoder 235 can be used to measure the rotor position of the stepper motor 232. The controller 30 can determine the rotor rotation angle based on multiple rotor positions measured by the absolute encoder 235. When the determined rotor rotation angle reaches the required rotation angle of the stepper motor 232's shaft, the controller 30 controls the second switch to open, causing the stepper motor 232 to stop working. The position sensor 234 can be a laser position sensor. Through the above method, the opening depth of the preoperative perforation instrument can be accurately controlled.

[0058] Please refer to Figure 7 A schematic diagram of the hole-opening instrument drive mechanism is shown. Since the drive wheel 233 and the lead screw 231 are meshed, assuming the lead screw pitch is 'a', when the drive wheel 233 rotates one revolution, the lead screw 231 moves downward by one pitch 'a', at which point the stepper motor shaft rotates 360 mechanical degrees. For example... Figure 7 As shown, the distance between the piercing tool 201 and the patient's skin 40 is D. Assuming the doctor inputs an piercing depth of m millimeters into the piercing instrument, the maximum displacement of the piercing tool 201 requires m+D, and the driving wheel 233 needs to rotate through an angle of 360(m+D) / a. Since the driving wheel 233 is rigidly connected to the motor shaft, the mechanical angle rotated by the motor shaft is also 360(m+D) / a. The controller can calculate the required rotation angle of the stepper motor and, by adjusting the stepper motor's rotation, drive the lead screw and the piercing tool to move downwards.

[0059] Please refer to Figure 8 The flowchart illustrates the internal algorithm of the hole-opening device. The drive mechanism of the hole-opening device can employ... Figure 6The stepper motor shown serves as the power source, while gears and a lead screw act as the transmission mechanism. (Example) Figure 8 As shown, the position sensor monitors the distance between the skin and the top surface of the sealed chamber. This distance parameter serves as an important input for the opening depth. An absolute encoder mounted on the stepper motor records the rotation angle of the shaft. The downward displacement of the lead screw (drive rod) can be calculated from the motor's rotation angle, and this displacement, combined with the initial position of the tool, can be used to calculate the actual opening depth.

[0060] The above embodiments achieve the target drilling depth using a position sensor and an absolute encoder. Considering the high cost and accuracy drawbacks of laser rangefinders, a skin sensing system can be used instead. Specifically, in another embodiment, drilling to the target drilling depth can be achieved using a skin sensing device and an absolute encoder. Specifically, in some embodiments of this specification, the drive mechanism may further include a skin sensing device and an absolute encoder. The skin sensing device can be used to detect whether the drilling tool is in contact with the patient's skin. The absolute encoder is used to measure the rotor position of the stepper motor.

[0061] Please refer to Figure 9 A schematic diagram of a skin-sensing device is shown. Figure 9 As shown, the skin sensing device can conduct electricity to the drive mechanism through an internal 5V conversion chip. Since the drive mechanism is connected to the piercing tool, the electromotive force (EMF) of the piercing tool is 5V. The skin is in close contact with the suction cup, which can be fitted with a grounding terminal, meaning the skin's EMF is 0. During the piercing stage, when the EMF of the piercing tool changes from 5V to 0V, the controller immediately stores the rotor position detected by the absolute encoder as the initial rotor position upon receiving the voltage change. Subsequently, the controller can determine the displacement of the piercing tool based on the rotor position detected in real time by the absolute encoder and the initial rotor position. When the displacement of the piercing tool equals the piercing depth, the controller can control the second switch to open, causing the stepper motor to stop working. In this way, the piercing depth of the preoperative piercing instrument can be accurately controlled.

[0062] Please refer to Figure 10 The diagram illustrates the working principle of an absolute encoder. Figure 10As shown, an absolute encoder may include a transmitter 241, an encoding optical disc 242, a mask 243, a photon receiver 244, and a Schmitt trigger 245. The encoding optical disc 242 has many optical channels etched on it, each channel arranged sequentially with 2 lines, 4 lines, 8 lines, 16 lines, and so on. Thus, at each position of the encoder, by reading the on / off state of each channel, a unique binary code (Gray code) from 2^0 to 2^(n-1) is obtained, which is called an n-bit absolute encoder. During operation, a power supply is placed on one side of the encoding optical disc 242, and the photon receiver 244 is placed on the other side. Each code channel corresponds to a phototube and amplification and shaping circuitry. As the encoding optical disc 242 rotates to different positions, the photon receiver 244 receives the optical signal and converts it into a corresponding electrical signal, which is then amplified and shaped into a corresponding digital electrical signal. Each angular position transmits a unique signal. By receiving the encoder position signal, the controller knows the position of the motor shaft and thus the real-time position of the drilling tool, making it convenient to control the movement of the drilling tool and the drilling depth.

[0063] In some embodiments of this specification, the pneumatic sealing mechanism may further include an electromagnetic air valve 133, such as... Figure 1 , Figure 2 and Figure 6 As shown in the diagram. The electromagnetic air valve 133 can be used to depress the sealed chamber 50 after the preoperative incision is completed by the incision mechanism 20. The electromagnetic air valve 133 can be connected to the pneumatic sealing mechanism 10. After the incision is completed, the controller can control the electromagnetic air valve to open, allowing outside air to enter the sealed chamber, thereby separating the suction cup from the skin. Depressurization facilitates the removal of the instrument and avoids close contact between the suction cup and the skin due to negative pressure. Figure 1 , Figure 2 and Figure 6 As shown, the electromagnetic air valve 133 can be located around the suction tube 132 and is opened after the hole is opened to release air from the sealed chamber 50.

[0064] In some embodiments of this specification, the preoperative perforation instrument for the medical robot may further include an emergency interruption switch for interrupting the preoperative perforation process under the control of the operator. By setting the emergency interruption switch, emergency operations can be performed in case of unexpected events during the perforation process.

[0065] In some embodiments of this specification, the preoperative perforation instrument for the medical robot further includes a stroke detection device. This device includes a first stroke switch and a second stroke switch. The first stroke switch closes when the perforation tool resets, and the second stroke switch closes when the perforation tool reaches its maximum displacement. The opening and closing state of the first stroke switch determines whether the perforation tool has reset, and the opening and closing state of the second stroke switch determines whether the perforation tool has reached its maximum displacement. In one embodiment, a conductive contact can be provided at the reset position and the maximum position to achieve the switching function. In this embodiment, by using a detection device to detect whether the perforation tool has moved to its maximum position and whether it has completed resetting, abnormal phenomena such as jamming during the movement of the perforation tool can be prevented.

[0066] Please refer to Figure 11 A schematic diagram of the system's electrical components is shown. For example... Figure 11 As shown, the microcontroller inside the perforation instrument is powered by 12V, and the battery is a rechargeable lithium battery. The system includes the following electrical components: Emergency interrupt switch: cuts off system operation in case of system abnormality; Start switch: starts the device to perform perforation operation; Limit switch 1: monitors whether the perforation tool has returned to its original position; Limit switch 2: monitors whether the perforation tool has reached its lowest point (maximum travel); Relay 1: controls whether the electromagnetic coil in the perforation tool drive mechanism is energized; Relay 2: controls whether the air pump is energized; Electromagnetic coil: generates a magnetic field when energized to pull the top plate, causing the perforation tool to move downwards; Air pump: evacuates air from the air chamber (i.e., the sealed chamber) to the external environment, making the air chamber negative pressure; Air solenoid valve: normally closed when not energized, energized to connect the air chamber to the outside for depressurization; Air pressure sensor: monitors the air pressure inside the air chamber. In some embodiments of this specification, the medical robot preoperative perforation instrument may also include an airtightness detection device. The airtightness detection device can be used to detect whether the airtightness of the sealed chamber meets the preset airtightness conditions under the control of the controller.

[0067] In one embodiment, the airtightness testing device compares the measured air pressure value with a program-set value. For example, if the air extraction device pumps air for two seconds, the air pressure is 0.4 bar if the sealed chamber is well-sealed. If the difference between the measured air pressure and the preset air pressure is greater than the preset value, it indicates that the sealing chamber is not well-sealed. Otherwise, it indicates that the sealing chamber is well-sealed. After the airtightness test is passed, the controller monitors whether the air pressure in the sealed chamber reaches the air pressure threshold for triggering the drive mechanism. If so, it triggers the drive mechanism to drive the drilling tool to perform the drilling operation.

[0068] Please refer to Figure 12 The diagram illustrates the air pressure detection logic of the sealed chamber of the opening device in this embodiment. Figure 12As shown, the sealing check includes the following steps: After the self-test is completed, the air pump starts pumping air. During this time, the MCU monitors the air pressure in the air chamber at all times through the air pressure sensor and compares the measured air pressure value with the value set in the program. For example, if the air pump pumps air for 2 seconds, the air pressure should be around 0.4 bar if the air chamber is well sealed. If the measured air pressure deviates from 0.4 bar by more than the threshold, it indicates that the air chamber is not well sealed. After the sealing test is passed, the controller monitors whether the air pressure in the air chamber reaches the air pressure threshold for triggering the drive mechanism. If it does, the controller triggers the hole-opening tool drive mechanism to perform the hole-opening operation.

[0069] Please refer to Figure 13 The flowchart for depressurizing the air chamber of an opening device is shown. Figure 13 As shown, the controller monitors the drilling tool's descent via limit switches. When this is detected, the drive mechanism is de-energized. Due to spring energy storage, the tool automatically returns to its original position. At this time, a limit switch is also installed on the top plate; if the drilling tool returns to its normal position, the limit switch closes. The controller then controls the air solenoid valve to open, releasing air from the air chamber. This release facilitates instrument removal and prevents the suction cup from coming into close contact with the skin due to negative pressure. During the release process, the controller uses the relationship between the air solenoid valve's opening time and the air pressure measured by the pressure sensor to determine if the pressure release is normal. If abnormalities occur, such as a slow pressure drop in the air chamber, a voice prompt will say, "Air chamber pressure release abnormal; check the air solenoid valve."

[0070] In some embodiments of this specification, the preoperative opening instrument for the medical robot may further include a device self-testing device. The device self-testing device is used to test the functionality of the devices in the preoperative opening instrument for the medical robot under the control of the controller. For example, the devices may include at least one of the following: a first switch, a second switch, a pressure sensor, a first limit switch, a second limit switch, an electromagnetic air valve, etc. When the device self-testing device detects that all devices are functioning normally, the controller controls the evacuation device to evacuate the sealed chamber, thereby controlling the drive mechanism to drive the opening tool to perform the opening operation.

[0071] Please refer to Figure 14 The diagram shows the power-on self-test logic of the drilling instrument. (Example:) Figure 14As shown, after pressing the "Start" switch, the device powers on, and the microcontroller (MCU) performs a self-test on the electrical components. First, it reads the status of limit switches 1 and 2. Since limit switch 1 is installed at the initial position of the drilling tool, if limit switch 1 is not closed, the MCU will issue a voice prompt to the user indicating a self-test abnormality in limit switch 1. This could be due to two reasons: the drilling tool is not in its correct position or the limit switch is faulty. If limit switches 1 and 2 are functioning normally, the MCU then checks whether the control solenoid coil and the air pump relay are working properly. This is done by observing voltage changes on the detection line when the relay is activated. Finally, it reads whether the air pressure measured by the pressure sensor matches the set atmospheric pressure. If the measured value differs significantly from the threshold, a voice prompt will indicate a self-test abnormality in the pressure sensor.

[0072] In some embodiments of this specification, the preoperative perforation instrument for the medical robot further includes a prompting device. This prompting device is used to inform the operator of the current perforation stage, which includes at least one of the following: air aspiration in progress, perforation commencement, perforation completion, and perforation failure. The prompting device can be a voice prompting device or a display prompting device, etc. By setting up the prompting device, the operator can be promptly informed of the current perforation status.

[0073] Please refer to Figure 15 The flowchart illustrates the use of the automated surgical robot's perforation instrument. (For example...) Figure 15 As shown, the operating procedure of the automatic pore-opening instrument is as follows: When the start button is pressed, the electric air pump is activated. This air pump generates negative pressure between the adhesive suction cup of the automatic pore-opening surgical instrument and the skin, ensuring close contact between the instrument and the skin. The operation of the electric air pump requires monitoring for proper function. If the air pump malfunctions, a prompt will be issued, including voice prompts, vibration, or flashing indicator lights. When the air pump is functioning normally, the adhesive suction cup of the automatic pore-opening surgical instrument generates negative pressure upon contact with the skin. A pressure sensor detects the air pressure between the adhesive suction cup and the skin. If the air pressure is less than or equal to a threshold, it is considered that the pore-opening instrument is in close contact with the skin. If the air pressure is greater than the threshold, an abnormal negative pressure is indicated in the air chamber. If the air pressure is less than or equal to the threshold, the drive mechanism operates, and the pore-opening tool is ejected. At this time, a voice prompt can be given indicating that pore-opening is in progress. A position sensor detects whether the pore-opening tool has shifted. If not, a voice prompt indicates an abnormal pore-opening. If there is shift, the electric pump stops operating when the pore-opening depth is reached, and the air solenoid valve operates to eliminate the negative pressure in the air chamber. The air pressure sensor detects whether the air pressure inside the air chamber has increased. If so, the process ends; otherwise, a voice prompt indicates that there is an abnormal pressure release inside the air chamber.

[0074] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. For details, please refer to the foregoing descriptions of the relevant processing embodiments; they will not be repeated here.

[0075] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0076] Based on the same inventive concept, embodiments of this specification also provide a medical device, including the preoperative opening instrument for medical robots described in any of the above embodiments. Since the principle by which the medical device solves the problem is similar to that of the preoperative opening instrument for medical robots, the implementation of the medical device can refer to the implementation of the preoperative opening instrument for medical robots; repeated details will not be elaborated further.

[0077] Based on the same inventive concept, embodiments of this specification also provide a method for controlling preoperative opening of a medical robot, based on the preoperative opening instrument for a medical robot described in any of the above embodiments. Since the principle underlying the problem-solving of the preoperative opening control method for a medical robot is similar to that of the preoperative opening instrument for a medical robot, the implementation of the preoperative opening control method for a medical robot can refer to the implementation of the preoperative opening instrument for a medical robot; repeated details will not be elaborated further.

[0078] Please refer to Figure 16 This illustrates a preoperative orifice control method for a medical robot according to embodiments of this specification. For example... Figure 16 As shown, the preoperative opening control method for medical robots may include the following steps.

[0079] Step S161: Determine whether the degree of attraction of the patient's skin meets the preset conditions.

[0080] The method in this embodiment can be applied to the controller of a preoperative perforation instrument for medical robots. The controller can determine whether the suction procedure of the patient's skin meets preset conditions.

[0081] In one implementation, the controller can receive the air pressure value within the sealed chamber detected by an air pressure sensor. It then determines whether the air pressure value is less than or equal to a preset air pressure. If the air pressure value is determined to be less than or equal to the preset air pressure, it is determined that the degree of suction on the patient's skin meets a preset condition.

[0082] In another embodiment, the controller can receive the distance between the position sensor and the patient's skin detected by the position sensor. It can determine whether this distance is less than or equal to a preset distance. If the distance is determined to be less than or equal to the preset distance, it is determined that the degree of attraction to the patient's skin meets a preset condition.

[0083] Step S162: When it is determined that the degree of attraction of the patient's skin meets the preset conditions, the drive mechanism is controlled to drive the opening tool to move toward the patient's skin, so that the front end of the opening tool makes a preoperative opening in the patient's skin.

[0084] Once the aspiration level of the patient's skin meets preset conditions, the controller can control the drive mechanism to move the piercing tool toward the patient's skin, allowing the tip of the piercing tool to make a preoperative incision in the patient's skin. The drive mechanism can employ... Figure 1 or Figure 6 The structure is shown. Accordingly, when the skin is attracted to a certain degree that meets preset conditions, the controller can control the relay to engage, energize the electromagnetic coil to attract the top plate, or energize the stepper motor to rotate the lead screw, thereby driving the drilling tool to move toward the patient's skin, so that the front end of the drilling tool can make a preoperative hole in the patient's skin.

[0085] To control the drilling depth, in some embodiments of this specification, controlling the drive mechanism to move the drilling tool toward the patient's skin, so that the tip of the drilling tool performs a preoperative drilling on the patient's skin, may include: obtaining a target drilling depth, a first initial distance, and a second initial distance; the first initial distance is the distance between the patient's skin and a position sensor when the attraction level of the patient's skin meets a preset condition; the second initial distance is the distance between the position sensor and the tip of the drilling tool; based on the target drilling depth, the first initial distance, and the second initial distance, determining a target distance that the drilling tool needs to move toward the patient's skin; determining a target angle that the drive wheel needs to rotate according to the target distance; controlling the drive wheel to rotate the target angle along a first direction to drive the drilling tool to move the target distance toward the patient's skin, so that the tip of the drilling tool performs a preoperative drilling on the patient's skin. The target distance can be the first initial distance minus the second initial distance plus the target drilling depth. Dividing the target distance by the pitch of the lead screw yields the target angle that the drive wheel needs to rotate. The first direction can be clockwise or counterclockwise. As the drive wheel rotates in the first direction, the drilling tool moves beyond the patient's skin.

[0086] In some embodiments of this specification, the method may further include: after the preoperative incision is completed, controlling the drive wheel to rotate the target angle along a second direction to drive the incision tool away from the patient's skin by the target distance, thereby resetting the incision tool; the first direction is opposite to the second direction. After the incision is completed, the drive wheel can be controlled to rotate the target angle along a second direction opposite to the first direction, thereby resetting the incision tool. Wherein, if the first direction is clockwise, the second direction is counterclockwise. If the first direction is counterclockwise, the second direction is clockwise.

[0087] In some embodiments of this specification, controlling the drive mechanism to move the perforation tool toward the patient's skin, such that the tip of the perforation tool performs a preoperative perforation on the patient's skin, includes: obtaining a target perforation depth; controlling the rotor of a stepper motor to rotate to drive a drive wheel to rotate in a first direction; receiving notification information sent by a skin sensing device during the process of controlling the rotor of the stepper motor to drive the drive wheel to rotate in the first direction; wherein the notification information carries the contact time when the perforation tool contacts the patient's skin; obtaining the initial rotor position of the stepper motor corresponding to the contact time measured by an absolute encoder; determining a target rotor position based on the target perforation depth and the initial rotor position; and controlling the stepper motor to stop working when the rotor of the stepper motor is at the target rotor position.

[0088] The controller can obtain the initial position of the rotor at the moment the drilling tool just contacts the skin. Then, based on the current position of the rotor, the current drilling depth can be calculated. When the current drilling depth is the target drilling depth, the stepper motor can be controlled to stop working.

[0089] In some embodiments of this specification, the controller can also acquire the original position of the rotor when the drive mechanism is not activated. After the preoperative drilling is completed, the drive wheel can be controlled to rotate in the second direction until the rotor position returns to its original position, indicating that the drilling tool has been reset.

[0090] As can be seen from the above description, the embodiments of this specification achieve the following technical effects: A medical robot preoperative incision device is provided, which can effectively replace the current manual incision method. The operator only needs to bring the pneumatic sealing mechanism of the preoperative incision device into contact with the patient's skin and press the start button. The pneumatic sealing mechanism will then suck up the skin, simulating the doctor pinching the skin during minimally invasive surgery. After the skin is sucked to a certain extent, the controller will control the incision mechanism to make an incision in the patient's skin, realizing automatic preoperative incision for minimally invasive surgery. This device can make an ideal puncture hole at the accurate location, which can improve safety and surgical efficiency, reduce the workload of doctors, and improve the patient's surgical experience. The above solution solves the problems of low efficiency and low accuracy of manual incision before minimally invasive surgery in the prior art, achieving the technical effect of effectively improving surgical efficiency and safety.

[0091] Obviously, those skilled in the art will understand that the modules or steps of the embodiments described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the embodiments of this specification are not limited to any particular combination of hardware and software.

[0092] It should be understood that the above description is for illustrative purposes and not for limitation. Many embodiments and applications beyond the provided examples will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of this specification should not be determined by reference to the above description, but rather by reference to the foregoing claims and the full scope of their equivalents.

[0093] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to the embodiments described herein by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. A preoperative opening instrument for a medical robot, characterized in that, include: Pneumatic sealing mechanism, opening mechanism and controller; The pneumatic sealing mechanism is used to contact the patient's skin to form a sealed chamber between the pneumatic sealing mechanism and the patient's skin, and is also used to draw the patient's skin into the sealed chamber using negative pressure, and to detect the degree of attraction of the patient's skin. The opening mechanism includes an opening tool and a driving mechanism. The front end of the opening tool is located inside the sealed cavity. The size of the opening tool matches the size of the puncture card used with the medical robot. The controller is communicatively connected to the opening mechanism and the pneumatic sealing mechanism. The controller is used to control the drive mechanism to drive the opening tool toward the patient's skin when the degree of attraction meets the preset conditions, so that the front end of the opening tool makes a preoperative opening to the patient's skin. The pneumatic sealing mechanism includes a housing, a suction cup, an air extraction device, and a suction degree measuring device. The air extraction device is disposed inside the housing and is used to extract air from the sealing chamber to draw the patient's skin toward the inside of the housing. The suction degree measuring device is disposed in the sealing chamber and is used to measure the degree of suction on the patient's skin. The attraction measurement device includes a pressure sensor or a position sensor.

2. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The suction cup is disposed around the periphery of the housing for sealing with the patient's skin to form a sealed cavity between the housing and the patient's skin.

3. The preoperative opening instrument for medical robots according to claim 2, characterized in that, The attraction degree measuring device includes a pressure sensor; the pressure sensor is used to measure the pressure value inside the sealed chamber; The controller is used to control the drive mechanism to move the opening tool toward the patient's skin when the air pressure value is less than or equal to a preset air pressure threshold.

4. The preoperative opening instrument for medical robots according to claim 2, characterized in that, The suction level measuring device includes a position sensor for measuring the distance between the patient's skin and the position sensor; The controller is used to control the drive mechanism to drive the piercing tool to perform preoperative piercing on the patient's skin when the distance is less than or equal to a preset distance threshold.

5. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The drive mechanism is detachably connected to the drilling tool.

6. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The driving mechanism includes a driving rod, a top plate, a base, an electromagnetic coil, a first switch, and a power supply. One end of the drive rod is connected to the top plate, and the other end is connected to the drilling tool. The drilling tool passes through the base and enters the sealed chamber. The power supply is connected to the electromagnetic coil via the first switch; When the degree of attraction meets a preset condition, the controller controls the first switch to close so as to energize the electromagnetic coil through the power supply. The electromagnetic coil is connected to the base. When the electromagnetic coil is energized, it attracts the top plate to move toward the base, thereby driving the drilling tool toward the patient's skin.

7. The preoperative opening instrument for medical robots according to claim 6, characterized in that, The drive mechanism also includes a helical spring; the helical spring is installed between the top plate and the base and is in a compressed and energy-storing state; the helical spring is used to reset the drilling tool when the first switch is turned off.

8. The preoperative opening instrument for medical robots according to claim 6, characterized in that, The drive mechanism also includes a damper disposed between the top plate and the base, which provides resistance to the movement of the top plate toward the base.

9. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The drive mechanism includes: a lead screw, a stepper motor, a second switch, and a drive wheel; The lead screw is connected to the drilling tool; the stepper motor is connected to the drive wheel via the second switch; the drive wheel meshes with the lead screw; When the attraction level meets a preset condition, the controller controls the second switch to close, so as to drive the drive wheel to rotate through the stepper motor. When the drive wheel rotates, it drives the lead screw to move toward the patient's skin, and then drives the drilling tool to move toward the patient's skin.

10. The preoperative opening instrument for medical robots according to claim 9, characterized in that, The drive mechanism also includes a position sensor and an absolute encoder; The position sensor is used to measure the distance between the patient's skin and the position sensor; The absolute encoder is used to measure the rotor position of the stepper motor.

11. The preoperative opening instrument for medical robots according to claim 9, characterized in that, The drive mechanism also includes a skin sensing device and an absolute encoder; The skin sensing device is used to detect whether the opening tool is in contact with the patient's skin; The absolute encoder is used to measure the rotor position of the stepper motor.

12. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The control is specifically used for: acquiring a target opening depth, a first initial distance, and a second initial distance; the first initial distance is the distance between the patient's skin and the position sensor when the attraction level of the patient's skin meets a preset condition; the second initial distance is the distance between the position sensor and the tip of the opening tool; based on the target opening depth, the first initial distance, and the second initial distance, determining the target distance that the opening tool needs to move toward the patient's skin; determining the target angle that the drive wheel needs to rotate according to the target distance; controlling the drive wheel to rotate the target angle along a first direction to drive the opening tool to move toward the patient's skin the target distance, so that the tip of the opening tool performs a preoperative opening on the patient's skin.

13. The preoperative opening device for medical robots according to claim 12, characterized in that, The control is also specifically used to: after the preoperative incision is completed, control the drive wheel to rotate the target angle along the second direction to drive the incision tool away from the patient's skin and move the target distance, so that the incision tool is reset; the first direction is opposite to the second direction.

14. The preoperative opening instrument for medical robots according to claim 1, characterized in that, The control is specifically used for: acquiring a target opening depth; controlling the rotor of a stepper motor to rotate to drive a drive wheel to rotate in a first direction; receiving notification information sent by a skin sensing device during the process of controlling the rotor of the stepper motor to rotate to drive the drive wheel in the first direction; wherein the notification information carries the contact time when the opening tool contacts the patient's skin; acquiring the initial rotor position of the stepper motor corresponding to the contact time measured by an absolute encoder; determining a target rotor position based on the target opening depth and the initial rotor position; and controlling the stepper motor to stop working when the rotor of the stepper motor is located at the target rotor position.

15. A medical device, characterized in that, Including the medical robot preoperative opening device according to any one of claims 1 to 14.

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