Surgical device

Abstract

A surgical device for holding a surgical tool includes a multi-axis motion platform having a stationary end and a moving end, the multi-axis motion platform configured to generate relative motion between the moving end and the stationary end; a housing fixed to the stationary end; a motor having a rotary interface, the motor configured to rotate the surgical tool through the rotary interface when the surgical tool is held in the rotary interface; an adapter connected to the multi-axis motion platform and fixedly oriented with the moving end, the adapter configured to move in unison with the moving end, and the adapter includes a surgical tool stopper, wherein when the surgical tool drops from the rotary interface, the surgical tool stopper is configured to catch the surgical tool; a surgical tool zero latch interface is exposed in the adapter and is configured to provide an attractive force to hold the surgical tool in the rotary interface.

Description

Technical Field

[0001] The present disclosure relates to a surgical device, and more particularly to a surgical device that can assemble surgical tools through a zero-latch interface. Background Art

[0002] In a surgical environment, contamination is a concern for every doctor and medical staff. Generally, most surgeries require multiple surgical procedures, such as incision, resection, and suturing. Moreover, each surgical procedure typically requires specific surgical tools, such as using a scalpel to make an incision. Therefore, doctors need to manually handle different surgical tools during a surgery. Although many surgical tools are disposable, handling multiple surgical tools still increases the chance of contamination, such as contamination transferred from patient blood, tissue, pus, or other sources of contamination. Since it is the doctor who is handling the surgical tools, the contamination can be transferred to the surgical gloves on the doctor's hands.

[0003] Currently, semi-automatic surgical devices are commonly used for some surgeries to achieve high-precision and stable surgical operations. However, the same problem of contamination transfer still exists because doctors or medical staff still need to separately install and remove multiple surgical tools from the surgical device. Although proper disinfection can be carried out between changing surgical tools, the risk of contamination transfer cannot be eliminated.

[0004] The present disclosure provides a surgical device that can install and remove surgical tools without doctors or medical staff manually contacting the surgical tools. In addition, in the context of automatically installing surgical tools, the possibility of the surgical tools falling due to a malfunction can also be avoided. Summary of the Invention

[0005] The present disclosure provides a surgical device that can install / dismantle surgical tools.

[0006] A surgical device for holding a surgical tool includes a multi-axis motion platform having a stationary end and a moving end, the multi-axis motion platform configured to generate relative motion between the moving end and the stationary end; a housing fixed to the stationary end of the multi-axis motion platform; a motor having a rotary interface, the motor configured to rotate the surgical tool through the rotary interface when the surgical tool is held in the rotary interface; an adapter connected to the multi-axis motion platform and fixedly oriented with the moving end of the multi-axis motion platform, the adapter configured to move in unison with the moving end, and the adapter including: a motor end, a surgical tool end, a surgical tool stopper disposed between the motor end and the surgical tool end, and a passage extending between the motor end and the surgical tool end, wherein the passage is configured to receive the rotary interface from the motor end and the surgical tool from the surgical tool end, wherein the surgical tool stopper has a fixed end fixed to the adapter, a free end extending into the passage, and an elastic member disposed between the free end and the fixed end, wherein the elastic member is configured to reset the free end pushed towards the fixed end, wherein when the surgical tool drops from the rotary interface, the surgical tool stopper is configured to catch the surgical tool in the passage by the free end; a surgical tool zero-latch interface exposed in the passage of the adapter and configured to provide an attractive force in the passage to hold the surgical tool in the rotary interface.

[0007] According to an embodiment of the present disclosure, the surgical tool stopper maintains a distance from the surgical tool when the surgical tool is held in the rotary interface.

[0008] According to an embodiment of the present disclosure, the free end of the surgical tool stopper includes a ball, the ball contacting the surgical tool when the surgical tool is held in the rotary interface, wherein the ball is configured to rotate freely to reduce friction between the surgical tool stopper and the surgical tool.

[0009] According to an embodiment of the present disclosure, the surgical device further includes a leakage current feedback circuit, the leakage current feedback circuit coupled to the motor and configured to detect leakage current, wherein the surgical tool zero-latch interface is further configured to stop providing the attractive force after the leakage current feedback circuit detects leakage current.

[0010] According to an embodiment of the present disclosure, when the leakage current feedback circuit detects the leakage current, the surgical tool stopper is further configured to maintain insulation between the surgical tool and the rotary interface of the motor when fixing the surgical tool in the adapter.

[0011] According to an embodiment of the present disclosure, the surgical tool zero-latch interface is further configured to provide an attractive force to the surgical tool to move it past the surgical tool stopper, whereby the surgical tool is moved from outside the channel of the adapter to inside, and the surgical tool is held in the rotary interface.

[0012] According to an embodiment of the present disclosure, the surgical tool zero-latch interface is further configured to provide a repulsive force to the surgical tool to move it past the surgical tool stopper, whereby the surgical tool is separated from the rotary interface, and the surgical tool is moved from inside the channel of the adapter to outside.

[0013] According to an embodiment of the present disclosure, the adapter further includes a bearing exposed in the channel and disposed between the motor end of the adapter and the surgical tool stopper, and the bearing is configured to stabilize the rotation of the surgical tool.

[0014] According to an embodiment of the present disclosure, when the surgical tool zero-latch interface holds the surgical tool in the rotary interface, the surgical tool is in physical contact only with the surgical tool zero-latch interface, the rotary interface, and the bearing.

[0015] According to an embodiment of the present disclosure, the surgical tool zero-latch interface includes a gas channel extending inside the rotary interface and in fluid communication with the channel of the adapter, wherein the gas channel is configured to allow gas to flow therethrough, and the surgical tool zero-latch interface is further configured to provide a repulsive force, and the surgical tool zero-latch interface provides attractive and repulsive forces through the pressure difference generated by the gas channel.

[0016] According to an embodiment of the present disclosure, further includes an air pump disposed inside the housing and connected to the surgical tool zero-latch interface, and the air pump is in fluid communication with the channel of the adapter through the surgical tool zero-latch interface, wherein the air pump is configured to evacuate gas from the channel of the adapter through the surgical tool zero-latch interface to generate an attractive force, and the air pump is further configured to inject gas into the channel of the adapter through the surgical tool zero-latch interface to generate a repulsive force.

[0017] According to an embodiment of the present disclosure, the surgical tool zero-latch interface includes an electromagnet configured to generate attractive and repulsive forces electromagnetically, wherein the attractive force is generated by making the polarity of the electromagnet different from that of the surgical tool, and the repulsive force is generated by making the polarity of the electromagnet the same as that of the surgical tool.

[0018] According to an embodiment of the present disclosure, the adapter further includes a connection portion disposed outside the tool end of the adapter, and the surgical tool includes a marker support, wherein the connection portion is configured to connect the marker support of the surgical tool to fix the marker support to the adapter when the surgical tool rotates with the rotary interface.

[0019] According to an embodiment of the present disclosure, the surgical tool further includes a first end and a second end, and the surgical tool includes: a surgical tool body extending between the first end and the second end; the marker support is disposed between the first end and the second end and closer to the first end; a marker bearing is disposed between the surgical tool body and the marker support, and the marker bearing is configured to facilitate free rotation of the marker support around the surgical tool body; wherein the rotation axis of the marker support defines a surgical tool axis.

[0020] According to an embodiment of the present disclosure, the surgical tool further includes a first directional feature fixed to the marker support and a second directional feature fixed to the surgical tool body; wherein the first directional feature is disposed between the marker support and the second directional feature; wherein, when viewed along the surgical tool axis, the first directional feature and the second directional feature have the same cross-sectional shape.

[0021] According to an embodiment of the present disclosure, the motor is configured to rotate the surgical tool so that the cross-sectional shape of the second directional feature coincides with the cross-sectional shape of the first directional feature, thereby placing the first directional feature and the second directional feature into a directional surgical tool slot.

[0022] According to an embodiment of the present disclosure, when viewed along the surgical tool axis, the first directional feature and the second directional feature respectively include an irregular polygon profile.

[0023] According to an embodiment of the present disclosure, when viewed along the surgical tool axis, the first directional feature and the second directional feature have a non-polygonal shape lacking rotational symmetry.

[0024] According to an embodiment of the present disclosure, the surgical tool further includes a first end and a second end, and the surgical tool includes a reference marker; wherein a surgical tool axis of the surgical tool is defined to extend between the first end and the second end; wherein, the reference marker is axially symmetric with the surgical tool axis and coaxially connected to the surgical tool.

[0025] According to an embodiment of the present disclosure, it further includes that the surgical tool has a first end and a second end, and the surgical tool includes a permanent magnet and a bearing connected between the surgical tool and the permanent magnet; wherein the permanent magnet is located between the first end and the second end of the surgical tool and is closer to the first end; wherein the permanent magnet is configured to respond to the attractive force provided by the zero-latch interface of the surgical tool.

[0026] According to an embodiment of the present disclosure, it further includes a set of first fiducial marks and the surgical tool, and the surgical tool includes a second fiducial mark, wherein the set of first fiducial marks and the second fiducial mark are configured to form a spatial pattern recognizable by an optical sensor, wherein the spatial pattern includes a plurality of coordinates, and the matching between the plurality of coordinates of the spatial pattern and a geometric relationship represents that the surgical tool is correctly held on the rotary interface.

[0027] Compared with the prior art, the above surgical device installs or removes the surgical tool through a zero-latch interface, thereby avoiding the contamination risk brought by medical staff directly touching the surgical tool. Brief Description of the Drawings

[0028] Figure 1 It is an isometric view of the surgical environment in an embodiment of the present disclosure.

[0029] Figure 2 It is an isometric view of the surgical device in an embodiment of the present disclosure.

[0030] Figure 3 It is an isometric view of the surgical device in an embodiment of the present disclosure.

[0031] Figure 4 It is an isometric view of the surgical device in an embodiment of the present disclosure.

[0032] Figure 5 It is an isometric view of the surgical device in an embodiment of the present disclosure.

[0033] Figure 6 It is an isometric view of the surgical device in an embodiment of the present disclosure.

[0034] Figure 7 It is a cross-sectional view of the adapter in an embodiment of the present disclosure.

[0035] Figure 8 It is a cross-sectional view of the adapter in an embodiment of the present disclosure.

[0036] Figure 9 It is a cross-sectional view of the adapter in an embodiment of the present disclosure.

[0037] Figure 10It is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

[0038] Figure 11 It is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

[0039] Figure 12 It is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

[0040] Figure 13 It is a schematic cross-sectional view of an adapter in an embodiment of the present disclosure.

[0041] Figure 14 It is a schematic top view of a tool box in an embodiment of the present disclosure.

[0042] Figure 15 It is an isometric view of a tool box and a surgical tool in an embodiment of the present disclosure.

[0043] Figure 16 It is a method of a surgical device in an embodiment of the present disclosure.

[0044] Figure 17 It is a method of a surgical device in an embodiment of the present disclosure.

[0045] Figure 18 It is a method of a surgical device in an embodiment of the present disclosure.

[0046] Figure 19 It is an isometric view of a spatial pattern SP of a surgical device in an embodiment of the present disclosure.

[0047] Figure 20 Is Figure 19 A simplified schematic diagram of the spatial pattern SP in

[0048] Figure 21 It is a schematic diagram exaggerating the deviation between the geometric relationship GR and the spatial pattern SP in an embodiment of the present disclosure.

[0049] Figure 22 It is a schematic diagram where the spatial pattern SP almost matches the geometric relationship GR in an embodiment of the present disclosure.

[0050] Figure 23 It is a schematic diagram where the mark is within the acceptance range AA in an embodiment of the present disclosure.

[0051] Description of main component symbols

[0052]

[0053]

[0054]

[0055]

[0056] The following specific embodiments will further illustrate the present disclosure in conjunction with the above-mentioned drawings. Specific Embodiments

[0057] It should be understood that, for simplicity and clarity of illustration, reference numerals are repeated in different drawings where appropriate to indicate corresponding or similar elements. Additionally, numerous specific details are set forth to provide a thorough understanding of the present invention. However, those of ordinary skill in the art will understand that the embodiments described herein may be practiced without these specific details. In other instances, methods, procedures, and components are not described in detail so as not to obscure the relevant features being described. Also, the description should not be regarded as limiting the scope of the embodiments described herein. The drawings are not necessarily drawn to scale, and the proportions of certain parts may be enlarged to better illustrate details and features of the present disclosure.

[0058] It should be noted that the term "connected" can be interpreted as direct or indirect physical contact; the term "coupled" can be interpreted as direct or indirect electrical communication.

[0059] Figure 1In one embodiment of the present disclosure, it is an isometric view diagram of a surgical environment. In the surgical environment, a surgical staff member 1 can hold a surgical device 100 connected to a robotic arm 5 to perform a surgery on a subject 2. A surgical computer 3 is connected to the robotic arm 5 and a tracker 4. Thus, the surgical computer 3 is configured to receive position information from the tracker 4 and then guide the movement of the surgical device 100 with the robotic arm 5 according to the position information. Further, the tracker 4 includes an optical sensor, the optical sensor is configured to receive an optical signal from a fiducial marker (not shown) and is fixedly arranged on the surgical device 100; the tracker 4 is configured to generate position information according to the optical signal, so that the surgical computer 3 can determine the position of the surgical device 100. One end of the surgical device 100 is connected to a surgical tool 200 to perform a surgical operation of the surgery. When multiple different surgical tools are required during the surgery, the surgical tool 200 on the surgical device 100 can be replaced with another surgical tool 200a in a surgical tool box 300. In addition, in most cases, a surgery involves multiple surgical operations, which can only be completed by different surgical tools. Therefore, it is essential to frequently replace surgical tools during the surgery. The replacement of surgical tools is usually performed by a surgical staff member or a medical assistant. Of course, anyone replacing a surgical tool can wear sterilized gloves, but this cannot avoid the transfer of contamination in blood or tissue between different surgical tools via the gloves. In the present disclosure, the surgical device 100 is configured to replace different surgical tools without direct human contact with the surgical tools, so the chance of contamination can be reduced.

[0060] Figure 2 In one embodiment of the present disclosure, it is an isometric view diagram of a surgical device. As Figure 2As shown, a surgical device 100 includes a multi-axis motion platform 101, a housing 102, a motor 103, and an adapter 104. The multi-axis motion platform 101 includes a fixed end 1011, a moving end 1013, and a plurality of joints 1012 connecting the moving end 1013 to the fixed end 1011. The multi-axis motion platform 101 is configured to generate relative motion between the moving end 1013 and the fixed end 1011 by driving the plurality of joints 1012. The housing 102 is fixed to the fixed end 1011 of the multi-axis motion platform 101, so that the moving end 1013 can move relative to the housing 102. The motor 103 is fixed between the moving end 1013 and the adapter 104, so that the motor 103 and the adapter 104 are configured to move together with the moving end 1013. The adapter 104 is configured to receive a rotary interface (not shown) of the motor 103 and a surgical tool 200, and the surgical tool 200 is held at the rotary interface in the adapter 104. Therefore, the motor 103 is configured to drive the rotation of the surgical tool 200 by the rotary interface. In an embodiment of the present disclosure, the adapter 104 is directionally fixed with respect to the moving end 1013. Further, when the multi-axis motion platform 101 moves, the direction of the adapter 104 with respect to the moving end 1013 remains unchanged. For example, when the moving end 1013 moves, the adapter 104 will move accordingly, such as up / down, front / back, left / right, rolling, deflection, or tilting movements. As another example, the adapter 104 has a first axis, and the moving end 1013 has a second axis that has a specific relationship (e.g., parallel, intersecting, perpendicular, coincident, etc.) with the first axis. The specific relationship between the adapter 104 and the moving end 1013 remains unchanged. The motor 103 is configured to generate torque by rotating the rotary interface, and the rotary interface is configured to continuously rotate to support surgical operations such as drilling, or configured to rotate a specified angle to support surgical operations such as implant placement or nerve retraction. For example, the motor 103 can be a stepper motor or a servo motor to achieve rotating the rotary interface by a specified angle. For surgical operations that require the surgical tool 200 to move in a form other than rotation, the multi-axis motion platform 101 is configured to drive the moving end 1013 by utilizing the plurality of joints 1012 to achieve this purpose. For example, the plurality of joints 1012 are configured to move the moving end 1013 (in Figure 2 it) up and down to support surgical operations such as piling. In an embodiment, the multi-axis motion platform 101 is a parallel manipulator, which has many advantages compared with a serial manipulator, such as: smaller inertial force, higher stiffness, well-defined and unique direct force conversion, precise positioning, etc.

[0061] In one embodiment of the present disclosure, as Figure 3 shown, the multi-axis motion platform 101 of the surgical device 100 further includes a plurality of linear motors 1014 connected to the plurality of joints 1012, and the plurality of linear motors 1014 are configured to drive the corresponding plurality of joints 1012. More specifically, the joint 1012 connected to the mover of the linear motor 1014 can extend or contract as the mover moves, and the motion end 1013 fixed to the plurality of joints 1012 also moves as the joints 1012 actuate. Regarding the foregoing piling surgical operation, the plurality of linear motors 1014 are configured to drive all the joints 1012 to repeatedly extend and contract together. Therefore, relative to the subject of the piling surgical operation, the surgical tool 200 is configured to move back and forth with the motion end 1013. In Figure 3 this case, the plurality of linear motors 1014 can be accommodated within the housing 102 (only shown in outline for clarity of description). In another embodiment of the present disclosure, as Figure 4 shown, the plurality of linear motors 1014 are disposed between the stable end 1011 and the motion end 1013 of the multi-axis motion platform 101. With this arrangement, the space in the housing 102 originally occupied by the plurality of linear motors 1014 can be saved to accommodate other components. In addition, exposing the plurality of linear motors 1014 is beneficial for maintenance or repair. Even in Figure 3 and Figure 4 it is the plurality of linear motors 1014 that drive the multi-axis motion platform 101, on the premise that linear motion can be provided to extend and contract the joints 1012 of the multi-axis motion platform 101, the linear motor 1014 can be replaced with a servo motor, a stepper motor, a lead screw / ball screw and a nut, or any combination thereof.

[0062] Figure 5 The arrangement of the motor 103 is shown according to an embodiment of the present disclosure. As Figure 5 shown, the motor 103 is at least partially disposed between the stable end 1011 and the motion end 1013 of the multi-axis motion platform 101. In this way, the surgical device 100 in Figure 5 is shorter than the surgical device 100 in Figure 2 . As in the other embodiments described above, the motor 103 in this embodiment is configured to output torque to the surgical tool 200 to rotate the surgical tool 200. And, partially or completely incorporating the motor 103l into the motion end 1013 can increase the stability of the multi-axis motion platform 101 when the motor 103 outputs torque, so the precision of the surgery can be improved. The same concept is also applied to another embodiment of the present disclosure, asFigure 6 As shown, the motor 103 is integrated within the housing 102. It should be noted that Figure 5 and Figure 6 the housing 102 in and are only presented in outline for clarity of description. The motor 103 includes a motor body 1031 and a rotary interface 1032, wherein the motor body 1031 is disposed between the plurality of linear motors 1014 within the housing 102, so that the adapter 104 and the motor body 1031 are respectively disposed on different sides of the multi-axis motion platform 101. In this embodiment, the rotary interface 1032 is in an extended form with two ends, and one end is fixedly attached to the rotor in the motor body 1031, while the other end is disposed within the adapter 104 to connect and rotate the surgical tool 200. In other words, the rotary interface 1032 is configured to transmit the torque provided by the motor body 1031 to the surgical tool 200. During a surgical operation, in terms of the motor body 1031 being disposed within the housing 102, the vibration interference generated by the rotating rotor within the motor 103 is significantly reduced at the surgical end T of the surgical tool 200 close to the subject surgical from the rotation of the rotor within the motor 103. In addition, the multi-axis motion platform 101 no longer needs to bear the weight of the motor 103, and thus has a longer service life. Additionally, due to the reduction in inertia, reducing the load on the moving end 1013 of the multi-axis motion platform 101 is beneficial for better controlling the multi-axis motion platform 101, thereby reducing the stabilization time of the moving end 1013 from motion to rest. Therefore, the surgical end T of the surgical tool 200 performing the surgical operation surgical can also be stabilized more quickly accordingly.

[0063] Referring again to Figure 2 , the surgical device 100 further includes at least one device marker 105 fixedly attached thereto, and the surgical tool 200 includes a surgical tool marker 201 disposed thereon. In the present disclosure, a surgical tool axis T axis is defined as between the two ends of the surgical tool 200, where one end (hereinafter referred to as the adapter end T adaptor ) is disposed within the adapter 104, and the other end (hereinafter referred to as the surgical end T surgical ) is for performing surgical operations. In one embodiment, the surgical tool marker 201 is coaxially disposed with the surgical tool axis T of the surgical tool 200 axis , so that the position information of the surgical tool marker 201 is not affected by the rotation of the motor 103 rotating the surgical tool 200. The device marker 105 and the surgical tool marker 201 are both Figure 1The fiducial markers that can be tracked by the tracker 4 therein. In other words, the device marker 105 and the surgical tool marker 201 are configured to reflect or emit optical signals to the tracker 4, and position information of the surgical device 100 and the surgical tool 200 can be generated in the tracker 4. Although Figure 3 , Figure 5 and Figure 6 the device marker 105 is not shown therein, the omission is only for a clearer visual presentation. Since the multi-axis motion platform 101 can move the surgical tool 200, and the robotic arm 5 can further move the surgical device 100 including the multi-axis motion platform 101, tracking the device marker 105 and the surgical tool marker 200 by the tracker 4 enables the surgical computer 3 to determine the position of the surgical device 100, the position of the surgical tool 200, and the relative position between the surgical device 100 and the surgical tool 200. In this way, the basic requirements for automatic surgical tool replacement (i.e., determining the positions of the surgical device 100 and the surgical tool 200) are met. For example, the surgical computer 3 is configured to guide the actuation of the surgical device 100 based on the position information of the surgical device 100 and the surgical tool 200, so that the surgical device 100 approaches the surgical tool 200, thereby enabling the surgical tool 200 to be installed on the surgical device 100 without manual operation. However, to achieve automatic surgical tool replacement, not only the position information of the surgical device 100 and the surgical tool 200 needs to be determined, but also the ability to automatically install the surgical tool 200 onto the surgical device 100 is required. Details of the automatic installation will be further described in Figures 7 to 13 , where Figures 7 to 13 a cross-sectional view of the adapter 104, the local motor 103, and the local surgical tool 200 is shown.

[0064] According to an embodiment of the present disclosure, Figures 7 to 13 a partial cross-sectional view of the surgical device 100 around the adapter 104 is shown. As Figure 7 shown, the adapter 104 includes a motor end A motor , a surgical tool end A tool , a channel 1041 extending between the motor end A motor and the surgical tool end A tool and a surgical tool stopper 1042 disposed between the motor end A motor and the surgical tool end A tool . The channel 1041 is configured to receive the rotary interface 1032 from the motor end A motor and from the surgical tool end A toolReceives the surgical tool 200, and the rotary interface 1032 is configured to connect to the surgical tool 200 within the channel 1041. The surgical device 100 further includes a surgical tool zero-latch interface 106 exposed within the channel 1041, and the surgical tool zero-latch interface 106 is configured to provide an attractive force within the channel 1041 to hold the surgical tool 200 at the rotary interface 1032, thereby mounting the surgical tool 200 to the surgical device 100. In one embodiment, the device marker 105 and the surgical tool marker 201 form a spatial pattern recognizable by the tracker 4, and the coordinates (e.g., Cartesian coordinates) of the recognized spatial pattern are sent to the surgical computer 3 for determination. When the coordinates of the spatial pattern match a specified geometric relationship stored in the surgical computer 3, it is determined that the surgical tool 200 is correctly held at the rotary interface 1032. The attractive force can be in the form of air pressure, magnetic force, etc. It should be noted that, for clear visual presentation, Figures 7 to 10 the specific structure of the surgical tool zero-latch interface 106 is not shown, which is to emphasize the ability of the surgical tool zero-latch interface 106 to provide an invisible force that helps install the tool 200 without manual grasping, and Figure 11 and Figure 12 the surgical tool zero-latch interface 106 will be further described in detail.

[0065] In one embodiment of the present disclosure, the surgical tool zero-latch interface 106 is configured to pull (drag) the surgical tool 200 across the surgical tool stopper 1042 by providing an attractive force. As Figure 8 shown, the surgical tool 200 is pulled from outside the channel 1041 of the adapter 104 into it. The surgical tool stopper 1042 includes a fixed end TS fixed fixed to the adapter 104, a free end TS free extending into the channel, and an elastic member 10421 disposed between the free end TS free and the fixed end TS fixed . When the surgical tool 200 passes by the surgical tool stopper 1042, the elastic member 10421 allows the free end TS fixed pushed by the surgical tool 200 towards the fixed end TS free to reset. The surgical tool stopper 1042 further includes a ball 10422 at the free end TS free , and when the surgical tool 200 passes by the free end TS freeWhen the ball 10422 is configured to prevent the surgical tool 200 from being worn by the surgical tool stopper 1042. After the surgical tool 200 passes over the free end and is held by the rotary interface 1032, the surgical tool stopper 1042 is spaced from the surgical tool 200 and thus does not interfere with the rotation of the surgical tool 200.

[0066] As Figure 9 shown, as the surgical tool zero-latch interface 106 continues to provide an attractive force, the surgical tool 200 is further drawn into the channel 1041. Thus, the surgical tool 200 is connected to the rotary interface 1032 of the motor 103. In this way, the surgical tool stopper 1042 is no longer pushed by the surgical tool 200, so the free end TS free is reset to the initial position of the free end TS free by the elastic member 10421. And as long as the surgical tool zero-latch interface 106 continues to provide an attractive force, the adapter end T adaptor of the surgical tool 200 can be held in the rotary interface 1032 within the channel 1041 of the adapter 104. In an embodiment of the present disclosure, the rotary interface 1032 is configured to rotate the surgical tool 200 by the torque provided by the motor body 1031 of the motor 103, so the adapter end T adaptor of the surgical tool 200 includes at least two surfaces (such as flat surfaces) that are structurally complementary to the rotary interface 1032. The adapter 104 further includes a bearing 1043 exposed within the channel 1041 and disposed at the motor end A motor and the surgical tool end A toolTherebetween. The bearing 1043 is configured to circumferentially hold the surgical tool 200 fixed to the rotary interface 1032, thereby contacting the surgical tool 200 in addition to the rotary interface 1032, thus increasing the contact area between the surgical tool 200 and the adapter 104, and thus facilitating the stable rotation of the surgical tool 200 within the channel 1041 of the adapter 104. In an embodiment of the present disclosure, when the surgical tool 200 is held by the surgical tool zero latching interface 106 to the rotary interface 1032, in addition to the surgical tool zero latching interface 106 and the rotary interface 1032, the surgical tool 200 just contacts the bearing 1043, thus reducing the frictional force exerted by the bearing 1043 on the surgical tool 200 when the surgical tool 200 rotates. In other words, the surgical tool 200 only has physical contact with the surgical tool zero latching interface 106, the rotary interface 1032, and the bearing 1043. In another embodiment, when the surgical tool 200 is held to the rotary interface 1032, at the free end TS free the balls 10422 are designed to contact the surgical tool 200, so as to further increase the rotational stability of the surgical tool 200.

[0067] In an embodiment, the surgical tool zero latching interface 106 is further configured to provide a repulsive force. Similar to the attractive force, the repulsive force can be in the form of air pressure, magnetic force, etc., which can be provided to the surgical tool 200 without physical contact, so that the surgical tool 200 can be unloaded without pulling by hand. When the surgical tool zero latching interface 106 provides a repulsive force, the surgical tool 200 is pushed and moves over the surgical tool stopper 1042, so that the surgical tool 200 separates from the rotary interface 1032 and moves from within the channel 1041 of the adapter 104 to outside, thus unloading the surgical tool 200 from the surgical device 100. Regarding Figures 7 to 9 the installation process of the surgical tool 200 shown in, unloading the surgical tool 200 is basically the reverse process thereof.

[0068] In an embodiment of the present disclosure, the surgical device 100 further includes a leakage current feedback circuit coupled to a power supply terminal of the rotary interface 1032 or the motor 103. In Figure 1In the surgical environment shown, the leakage current of the surgical device 100 can flow to the surgical personnel 1 and / or the subject 2, which is not ideal. On the other hand, the leakage current can also cause overheating or other malfunctions, thereby hindering the operation of the surgical device 100. The leakage current feedback circuit is configured to detect the leakage current around the motor 103, and when the leakage current feedback circuit detects the leakage current, the surgical tool zero latch interface 106 is further configured to stop providing the attraction force. After the attraction force disappears, gravity immediately causes the surgical tool 200 to fall. Therefore, as Figure 10 shown, after the surgical tool 200 falls from the rotary interface 1032, the surgical tool stopper 1042 is further configured to receive the surgical tool 200 through the free end TS in the channel 1041 free to catch the surgical tool 200. In this way, the surgical tool stopper 1042 fixes the surgical tool 200 in the adapter 104 to keep the surgical tool 200 at a distance from the rotary interface 1032. In other words, the surgical tool 200 is insulated from the motor 103 and the leakage current.

[0069] In an embodiment of the present disclosure, as Figure 11 shown, the surgical tool zero latch interface 106 includes a gas channel 1061 extending within the rotary interface 1032 and in fluid communication with the channel 1041 of the adapter 104. In this way, the gas channel 1061 is configured to allow gas to flow therethrough, so that the gas can enter or exit the adapter 104 by flowing through the gas channel 1061 of the surgical tool zero latch interface 106, thereby providing a pressure difference. First, when the gas exits the channel 1041 and flows into the gas channel 1061, a negative pressure is generated in the channel 1041, thereby generating the attraction force provided by the surgical tool zero latch interface 106. Therefore, a surgical tool 200 can be attracted into the adapter 104 and then connected to the rotary interface 1032. When the surgical tool 200 is connected, the air pressure in the channel 1041 returns to approximately atmospheric pressure (i.e., it can be slightly higher or lower than atmospheric pressure), and the attraction force is maintained by providing a negative pressure in the gas channel 1061 of the surgical tool zero latch interface 106, thereby holding the surgical tool 200 on the rotary interface 1032. On the contrary, when the gas enters the channel 1041 from the gas channel 1061, a positive pressure is generated in the channel 1041, thereby generating the repulsive force provided by the surgical tool zero latch interface 106. Therefore, a surgical tool 200 can be unloaded from the rotary interface 1032 and pushed out of the adapter 104 by the repulsive force.

[0070] In an embodiment of the present disclosure, the surgical device 100 further includes an air pump (not shown) disposed within the housing 102 and connected to the surgical tool zero-latch interface 106. The air pump is in fluid communication with the channel 1041 of the adapter 104 through the surgical tool zero-latch interface 106. Thus, the surgical tool zero-latch interface 106 can be a gas channel in fluid communication with the channel 1041. In one embodiment, the gas channel is arranged to pass through the motor 103. In another embodiment, the gas channel is disposed outside the motor 103. The air pump is configured to provide a pressure difference to the channel 1041 of the adapter 104 through the gas channel to generate an attractive force, such as sucking gas out of the channel 1041. Conversely, the air pump is further configured to provide a pressure difference by injecting gas from the gas channel into the channel 1041 of the adapter 104, thereby generating a repulsive force in the channel 1041. Alternatively, the gas channel can be connected to an external air pump in the surgical environment instead of being connected to the air pump integrated within the housing 102. In this way, the flow of gas is controlled by a plurality of solenoid valves between the gas channel and the external air pump, and the solenoid valves can be disposed within the housing 102. Therefore, the overall weight of the surgical device 100 can be reduced.

[0071] As Figure 12 shown, in an embodiment of the present disclosure, the surgical tool zero-latch interface 106 includes an electromagnet 1062 configured to generate attractive and repulsive forces through electromagnetism. The electromagnet 1062 is disposed between the motor 103 and the surgical tool end A of the adapter 104 tool and is exposed to the channel 1041. The surgical tool 200 includes a permanent magnet 202 connected thereto to respond to electromagnetic attractive and repulsive forces. The permanent magnet 202 is disposed between the adapter end T of the surgical tool 200 adaptor and the surgical end T surgical and is closer to the adapter end T adaptorThe electromagnet 1062 is configured to be driven by receiving power supply from the cable 1063, so as to generate attractive force and repulsive force. By driving the electromagnet 1062 to have a different polarity from the permanent magnet 202 of the surgical tool 200, an attractive force is generated. Conversely, by driving the electromagnet 1062 to have the same polarity as the permanent magnet 202 of the surgical tool 200, a repulsive force is generated. In one embodiment, the electromagnet 1062 is disposed within the channel 1041 but does not contact the rotary interface 1032, so the rotation of the rotary interface 1032 will not be offset by the frictional force due to the non-rotating-together electromagnet 1062. In this case, the surgical tool 200 further includes a magnet bearing 203 disposed between the permanent magnet 202 and a surgical tool body 204. Therefore, when the permanent magnet 202 is held by the attractive force to the electromagnet 1062, the surgical tool body 204 is configured to freely rotate with the rotary interface 1032. In another embodiment, the electromagnet 1062 is integrated into the rotary interface 1032, and thus can rotate with the rotary interface 1032. In this way, both the permanent magnet 202 and the surgical tool body 204 are configured to rotate with the rotary interface 1032 and the electromagnet 1062. In other words, there is no need to provide the magnet bearing 203 between the permanent magnet 202 and the surgical tool body 204.

[0072] As described above, as Figure 2 shown, the surgical tool marker 201 can be coaxially arranged with the surgical tool 200. As Figure 13 shown, in another embodiment, the surgical tool marker 201 is disposed on a marker support 205 of the surgical tool 200. The surgical tool 200 includes a marker bearing 206 and the marker support 205 disposed between the marker bearing 206 and the surgical tool body 204, and both the marker bearing 206 and the marker support 205 have a rotation axis coinciding with the surgical tool axis T axis coinciding. Through the marker bearing 206, the marker support 205 and the surgical tool marker 201 thereon do not rotate together with the surgical tool body 204 driven by the rotary interface 1032, which is beneficial to the rotational stability and tracking of the surgical tool 200. More specifically, the surgical tool marker 201 that does not rotate together with the surgical tool body 204 will not apply unnecessary centrifugal force to the surgical tool 200. Of course, it is relatively easy to track the surgical tool 200 through the tracker 4 according to the non-moving surgical tool marker 201 during the surgical operation. The marker support 205 can be disposed at the adapter end T adaptor and the surgical end T surgicaland closer to the adapter end T adaptor In addition, the adapter 104 includes a first connection portion 1044 disposed at the surgical tool end A of the adapter 104 tool and the surgical tool 200 further includes a second connection portion 207 disposed on the marker support 205 and located between the surgical tool marker 201 and the marker bearing 206. Thus, the marker support 205 can be fixed to the adapter 104 by connecting the second connection portion 207 to the first connection portion 1044. By doing so, the surgical tool marker 201 and the marker support 205 are further prevented from freely rotating around the surgical tool body 204 due to gravity. In other words, when the surgical tool 200 is not perpendicular to the ground during a surgical operation, the surgical tool marker 201 does not move due to gravity because the marker support 205 is fixed to the surgical device 100. In one embodiment, one of the first connection portion 1044 and the second connection portion 207 can be a magnet and the other is ferromagnetic.

[0073] In one embodiment, as Figure 13 shown, the surgical tool 200 further includes a first directional feature 208 disposed around the marker bearing 206 and fixed below the marker support 205, so the first directional element 208 also does not rotate with the surgical tool body 204. When observing along the surgical tool axis T axis the cross-sectional shape of the first directional element 208 has directionality. In other words, if the cross-sectional shape of the first directional element 208 is rotated 360 degrees, it only coincides with itself once, that is, it lacks rotational symmetry. As Figure 14As shown, a surgical tool box 300 includes a plurality of directional surgical tool slots 302. The first directional element 208 is configured to be received in a directional surgical tool slot 302 of the surgical tool box 300, wherein the directional surgical tool slot 302 corresponds to the shape of the first directional element 208. Thus, the relative direction between the marker support 205 and the surgical tool box 300 can be restricted by the matching between the first directional element 208 fixed to the marker support 205 and the directional surgical tool slot 302. In another embodiment, the surgical tool box 300 further includes a non-directional surgical tool slot 302a and a third connecting portion 303. When the surgical tool 200 is placed in the non-directional surgical tool slot 302a, the third connecting portion 303 is configured to fix the marker support 205 without the first directional element 208. For example, when the marker support 205 is ferromagnetic, the third connecting portion 303 can be a magnet. Therefore, the surgical tool box 300 can restrict the relative direction between the marker support 205 and the surgical tool body 204. In this way, during the process of picking up the surgical tool 200 from the surgical tool box 300 or putting the surgical tool 200 back into the surgical tool box 300 by the surgical device 100, the marker support 205 is either fixed to the surgical tool box 300 by the third connecting portion 303 or fixed to the surgical device 100 by the first connecting portion 1044.

[0074] In one embodiment, the surgical tool box 300 further includes a tool box marker 301 fixed thereto. Similar to the device marker 105 and the surgical tool marker 201, the tool box marker 301 is a reference marker that can be tracked by the tracker 4, so the position of the surgical tool box 300 in the surgical environment can be determined. Thus, under the guidance of the surgical computer 3, the robotic arm 5 can move the surgical device 100 above the surgical tool box 300, thereby facilitating the installation or removal of the surgical tool 200.

[0075] In one embodiment, as Figure 15 shown, the surgical tool 200 further includes a second directional element 209 fixed to the surgical tool body 204 below the first directional element 208, and when observed along the surgical tool axis T axis the second directional element 209 has the same cross-sectional shape as the first directional element 208 and thus lacks rotational symmetry. As described above, the adapter end T adaptor of the surgical tool 200 includes at least two surfaces that are complementary in structure to the rotary interface 1032. In other words, at the adapter end Tadaptor When matching the structure of the rotating interface 1032, the surgical tool 200 can be correctly installed on the surgical device 100. When the surgical tool 200 is placed into the surgical tool box 300, both the first directional element 208 and the second directional element 209 should be placed into the directional surgical tool slot 302. In addition, the motor 103 is configured to rotate the surgical tool body 204 so that the cross-sectional shape of the second directional element 209 coincides with the cross-sectional shape of the first directional element 208, where the cross-sectional shape is along the surgical tool axis T axis The cross-sectional shape observed. Thus, when observing along the surgical tool axis T axis When observing, the directional surgical tool slot 302 can limit the cross-sectional shape of the adapter end T adaptor to a specific direction. Therefore, the surgical tool 200 can be automatically installed on the surgical device 100 by setting the default direction of the rotating interface 1032, where when observing along the surgical tool axis T axis When observing, the cross-sectional shape of the rotating interface 1032 in the default direction coincides with the cross-sectional shape of the adapter end T adaptor .

[0076] It should be noted that since the first directional element 208, the second directional element 209, and the directional surgical tool slot 302 should have the same cross-sectional shape, their cross-sectional shapes are all directional. In Figure 14 The directional surgical tool slot 302b and the directional surgical tool slot 302c will be used as examples. In an embodiment of the present disclosure, as shown in the directional surgical tool slot 302b, the directional shape can be the contour of an irregular polygon. In another embodiment of the present disclosure, as shown in the directional surgical tool slot 302c, the directional shape can be a non-polygonal shape lacking rotational symmetry.

[0077] According to an embodiment of the present disclosure, Figure 16 A method for installing and removing a surgical tool 200 through the surgical device 100 is shown. The method includes:

[0078] In S101, the surgical device 100 receives a first confirmation signal. The first confirmation signal is sent from the surgical computer 3 to the surgical device 100. In an embodiment, when the opening of the surgical tool end A tool of the channel 1041 of the adapter 104 of the surgical device 100 is close to the adapter end T adaptor of the surgical tool 200 placed in the surgical tool box 300, and the rotation axis of the motor 103 coincides with the surgical tool axis Taxis Upon alignment, the first confirmation signal is sent. Meanwhile, the surgical computer 3 is configured to determine a first spatial pattern formed by at least one device marker 105 and a surgical tool marker 201, or formed by at least one device marker 105 and at least one tool cassette marker 301.

[0079] In S102, a first control signal is sent to the surgical tool zero-latch interface 106 in the surgical device 100 according to the first confirmation signal. In one embodiment, after the surgical device 100 receives the first confirmation signal, a controller of the surgical device 100 sends the first control signal to the surgical tool zero-latch interface 106. In one embodiment, the controller is disposed in the housing 102, and the controller controls the movement of the multi-axis motion platform 101, the rotation of the motor 103, and the driving of the surgical tool zero-latch interface 106 by sending electrical signals. The controller is also configured to receive a feedback signal from the leakage current feedback circuit, and thus correspondingly stop driving the surgical tool zero-latch interface 106.

[0080] In S103, the surgical tool zero-latch interface 106 provides an attractive force according to the first control signal. In one embodiment, by sending a control signal to drive the air pump in the housing 102, the gas channel 1061 provides a pressure difference to the channel 1041, thereby providing an attractive force, such as pumping gas out of the channel 1041. In another embodiment, by sending a control signal to drive the electromagnet 1062 to have a different polarity from the permanent magnet 202 on the surgical tool 200, an attractive force is provided.

[0081] In S104, the surgical tool 200 is pulled into the adapter 104 of the surgical device 100 by the attractive force from the surgical tool zero-latch interface 106. In one embodiment, the surgical tool 200 is pulled into the adapter 104 by the negative pressure generated in the channel 1041. In another embodiment, the surgical tool 200 is pulled into the adapter 104 by electromagnetic force.

[0082] In S105, the surgical tool 200 is held in the motor 103 communicating with the channel 1041 of the adapter 104 by the attractive force from the surgical tool zero-latch interface 106. In one embodiment, the surgical tool zero-latch interface 106 continuously provides negative pressure to the channel 1041, thereby maintaining the adapter end T adaptor in contact with the rotary interface 1032. In another embodiment, the surgical tool zero-latch interface 106 continuously provides electromagnetic force to the channel 1041, thereby maintaining the adapter end T adaptoris connected to the rotating interface 1032.

[0083] In S106, the surgical device 100 receives a second confirmation signal. The second confirmation signal is sent from the surgical computer 3 to the surgical device 100. In one embodiment, when the surgical end T of the surgical tool 200 surgical is close to the opening of a surgical tool slot of the surgical tool cassette 300, and the surgical tool shaft T axis is aligned with the tool slot axis of the surgical tool slot, the second confirmation signal is sent. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool shaft T axis At the same time, the surgical computer 3 is configured to determine a second spatial pattern, where the second spatial pattern is formed by at least one tool cassette marker 301 and a surgical tool marker 201, or by at least one device marker 105 and at least one tool cassette marker 301.

[0084] In S107, a second control signal is sent to the surgical tool zero latching interface 106 in the surgical device 100 according to the second confirmation signal. In one embodiment, after the surgical device 100 receives the second confirmation signal, the controller of the surgical device 100 sends the second control signal to the surgical tool zero latching interface 106.

[0085] In S108, the surgical tool 200 is withdrawn from the adapter 104 to the surgical tool cassette 300 according to the second control signal. In one embodiment, the surgical tool 200 is withdrawn from the adapter 104 by the repulsive force provided by the surgical tool zero latching interface 106, where the repulsive force can be provided by the pressure difference or electromagnetic force in the channel 1041. In another embodiment, the surgical tool zero latching interface 106 withdraws the surgical tool 200 from the adapter 104 and drops it into the surgical tool cassette 300 by stopping providing the attractive force to make the surgical tool 200 fall due to gravity.

[0086] According to an embodiment of the present disclosure, Figure 17 shows a method of unloading the surgical tool 200 that is already in the surgical device 100. The method includes:

[0087] In S201, the surgical device 100 receives a third confirmation signal. The third confirmation signal can be sent from the surgical computer 3 to the surgical device 100. In one embodiment, when the surgical end T of the surgical tool 200 surgical is close to the opening of a surgical tool slot of the surgical tool cassette 300, and the surgical tool shaft T axisWhen aligned with the tool slot axis of the surgical tool slot, send the third confirmation signal. When the surgical tool 200 is placed in the surgical tool slot, the tool slot axis coincides with the surgical tool axis T axis At the same time, the surgical computer 3 is configured to determine a second spatial pattern, where the second spatial pattern is formed by at least one tool box marker 301 and a surgical tool marker 201, or by at least one device marker 105 and at least one tool box marker 301.

[0088] In S202, send a third control signal to the surgical tool zero latch interface 106 in the surgical device 100 according to the third confirmation signal. In one embodiment, after the surgical device 100 receives the third confirmation signal, the controller of the surgical device 100 sends the third control signal to the surgical tool zero latch interface 106.

[0089] In S203, provide a repulsive force through the surgical tool zero latch interface 106 according to the third control signal. In one embodiment, by sending a control signal to drive the air pump in the housing 102, the gas channel 1061 provides gas to the channel 1041, thereby providing a repulsive force. In another embodiment, by sending a control signal to drive the electromagnet 1062 to have the same polarity as the permanent magnet 202 on the surgical tool 200, a repulsive force is provided.

[0090] In S204, move the surgical tool 200 through the repulsive force from the surgical tool zero latch interface 106 and over the surgical tool stopper 1042 in the channel 1041 of the adapter 104 of the surgical device 100. In one embodiment, when the surgical tool 200 passes by the surgical tool stopper 1042, the free end TS of the surgical tool stopper 1042 free is pushed by the surgical tool 200 towards the fixed end TS fixed , thereby allowing the surgical tool 200 to pass over the surgical tool stopper 1042.

[0091] In S205, withdraw the surgical tool 200 from the channel 1041 of the adapter 104 to the surgical tool box 300 through the repulsive force from the surgical tool zero latch interface 106.

[0092] According to an embodiment of the present disclosure, Figure 18 shows a method for the surgical device 100 to handle electric leakage. The method includes:

[0093] In S301, leakage in the surgical device 100 is detected by a leakage feedback circuit. In one embodiment, the leakage feedback circuit is connected to the power supply terminal of the rotary interface 1032 or the motor 103. In addition, the leakage feedback circuit is configured to send a feedback signal to the controller disposed in the housing 102.

[0094] In S302, after detecting leakage, a fourth control signal is sent to the surgical tool zero-latch interface 106 that provides attraction in the channel 1041 of the adapter 104 of the surgical device 100. The controller sends the fourth control signal according to the feedback signal received from the leakage feedback circuit.

[0095] In S303, according to the fourth control signal, the attraction provided in the channel 1041 is stopped through the surgical tool zero-latch interface 106. Since the attraction is no longer provided, the surgical tool 200 falls from the surgical tool zero-latch interface 106 due to gravity, and thus the adapter end T of the surgical tool 200 adaptor is detached from the rotary interface 1032.

[0096] In S304, after the attraction disappears, the surgical tool stopper 1042 in the channel 1041 catches the surgical tool 200 that has fallen from the motor 103. In one embodiment, the surgical tool 200 includes a recess facing the inner wall of the channel 1041, and the recess is disposed between the adapter end T adaptor and the surgical end T surgical and the surgical tool stopper 1042 is configured to fix the surgical tool 200 by snapping the free end TS free into the recess.

[0097] In S305, when the leakage feedback circuit does not detect leakage, a fifth control signal is sent to the surgical tool zero-latch interface 106. In one embodiment, when the leakage feedback circuit does not detect leakage, the fifth control signal is sent from the controller of the surgical device 100 to the surgical tool zero-latch interface 106.

[0098] In S306, according to the fifth control signal, attraction is provided through the surgical tool zero-latch interface 106. In one embodiment, by sending a control signal to drive the air pump in the housing 102, the gas channel 1061 provides a pressure difference to the channel 1041, thereby providing attraction, such as evacuating the gas from the channel 1041. In another embodiment, by sending a control signal to drive the electromagnet 1062 to have a different polarity from the permanent magnet 202 on the surgical tool 200, attraction is provided.

[0099] In S307, the surgical tool 200 is pulled from the surgical tool stopper 1042 towards the motor 103 and held at the motor 103 by the attractive force from the surgical tool zero-latch interface 106. When the surgical tool zero-latch interface 106 provides the attractive force, the surgical tool 200 presses against the surgical tool stopper 1042 and slides past the surgical tool stopper 1042. As a result, the adapter end T of the surgical tool 200 adaptor moves towards the rotary interface 1032 of the motor 103 and attaches thereto. By continuously providing the attractive force, the adapter end T adaptor is held at the rotary interface 1032 to perform a surgical operation.

[0100] According to an embodiment of the present disclosure, a method for a macroscopic calibration operation between the surgical device 100 and the surgical tool 200 using a spatial pattern SP and a geometric relationship GR is described in Figures 19 to 21 . The macroscopic calibration is used to ensure that the surgical tool 200 is correctly installed on the surgical device 100. According to an embodiment of the present disclosure, Figure 19 shows a spatial pattern SP formed by a plurality of device markers 105 and a surgical tool marker 201. Figure 20 is simply shown as Figure 19 the spatial pattern SP in for ease of clear description. According to an embodiment of the present disclosure, Figure 21 presents the spatial pattern SP and the geometric relationship GR. In an embodiment, a tracker device (e.g., Figure 1 the tracker 4 shown) is configured to obtain optical signals from the plurality of device markers 105a to 105c and the surgical tool marker 201. Then, the tracker device can generate a plurality of coordinates (e.g., Cartesian coordinates, cylindrical coordinates, spherical coordinates) corresponding to the positions where the plurality of markers are observed based on the optical signals it receives. For example, the coordinates (X1, Y1, Z1) can be assigned to the device marker 105a; similarly, the coordinates of the device marker 105b are (X2, Y2, Z2); the coordinates of the device marker 105c are (X3, Y3, Z3); the coordinates of the surgical tool marker 201 are (X4, Y4, Z4). Moreover, the coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X3, Y3, Z3), and (X4, Y4, Z4) together represent the spatial pattern SP formed between the markers.

[0101] As Figure 21 shown, the three-dimensional (3D) geometric relationship GR represents that the surgical tool 200 is correctly held at the rotary interface 1032, and the geometric relationship GR can be stored in such asFigure 1 in the surgical computer 3 shown. In this way, the coordinates of the spatial pattern SP observed by the tracker 4 can be sent to the surgical computer 3 for comparison with the 3D geometric relationship GR. The surgical computer 3D is configured to determine whether the surgical tool 200 is correctly installed on the surgical device 100 based on the comparison. For example, as Figure 21 shown, when the coordinates of the spatial pattern SP do not match the 3D geometric relationship GR, the surgical computer 3 will consider that the surgical tool 200 is not correctly installed on the surgical device 100.

[0102] It should be noted that Figure 21 the deviation between the 3D geometric relationship GR and the coordinates of the spatial pattern SP is exaggerated for clarity of description. In fact, the deviation between the 3D geometric relationship GR and the coordinates of the spatial pattern SP can be as small as the detection limit of the tracker 4. In fact, each tracker device has a default resolution, and the default resolution determines how small a movement of a marker the tracker device can detect. Accordingly, the detection limit can be defined as the smallest movement that the tracker device can detect, for example, about 0.3 mm. In other words, the tracker 4 cannot detect movements of the device marker 105 or the surgical tool marker 201 that are less than the detection limit. However, any movement of the marker that is not detected by the tracker may result in inaccuracy during the surgical procedure. For example, a 0.1 mm deviation of the surgical tool marker 201 at the surgical end T of the surgical tool 200 surgical may be a significant deviation. Therefore, a micro-calibration operation can be performed on individual markers (such as surgical tool marker 201, device markers 105a, 105b, and 105c) according to the acceptance range to ensure that the position of each marker is at the center of the coordinates assigned to it. In this way, the installation accuracy (and the accuracy of the surgical operation) between the surgical device 100 and the surgical tool 200 can be further improved.

[0103] According to an embodiment of the present disclosure, in Figure 22 and Figure 23 the micro-calibration is further described. Figure 22 According to an embodiment of the present disclosure, the spatial pattern SP is shown to almost but not completely match the geometric relationship GR. In this case, since all the coordinates of the spatial pattern SP correspondingly fall within a plurality of acceptance ranges AA, the surgical tool 200 is determined to be correctly installed on the surgical device, where the determination is not as accurate as expected. Figure 23According to an embodiment of the present disclosure, a marker within an acceptance range AA is shown. In an embodiment of the present disclosure, the surgical computer 3 is configured to define an acceptance range AA for each coordinate within the coordinate system (such as a Cartesian coordinate system) of the tracker 4, and a marker within the acceptance range AA can be recognized by the tracker 4 as the corresponding coordinate assigned by the surgical computer 3 to the acceptance range AA. For example, as Figure 23 shown, the coordinates (X4, Y4, Z4) can be assigned to the surgical tool marker 201 within the acceptance range AA(X4, Y4, Z4).

[0104] In an embodiment, the acceptance range AA(X4, Y4, Z4) is a sphere, and the radius of the sphere is defined as the sum of the detection limit and the radius of the surgical tool marker 201. As described above, as long as the surgical tool marker 201 stays within the acceptance range AA(X4, Y4, Z4), the tracker 4 cannot detect the movement of the surgical tool marker 201 due to the detection limit. In other words, the coordinates of the surgical tool marker 201 will not be changed or re-assigned. Therefore, the tracker 4 cannot detect the exact position of the surgical tool marker 201 within an acceptance range AA (such as AA(X4, Y4, Z4)). In this case, the surgical device 100 can perform the micro-calibration. In an embodiment, the surgical device 100 is configured to calibrate the position of the surgical tool marker 201 within the acceptance range AA(X4, Y4, Z4) through the multi-axis motion platform 101. More specifically, the position of the surgical tool marker 201 can be calibrated by moving the surgical tool marker center TMC of the surgical tool marker 201 to coincide with the acceptance range center AAC. The vector required to move the surgical tool marker center TMC to coincide with the acceptance range center AAC is called the center deviation CD, and the center deviation CD is defined by the straight-line distance and direction between the two. And, the center deviation CD can be determined by the surgical computer 3. In an embodiment, the center deviation CD is determined as follows:

[0105] As an example, in the Cartesian coordinates of the tracker 4, the surgical tool marker 201 is located at an initial position within the acceptance range AA.

[0106] The surgical tool marker 201 is moved in a first direction (such as along the X-axis of the Cartesian system) until it reaches the edge of the acceptance range AA. Thereby, a plurality of motion encoders of the multi-axis motion platform 101 record a moving distance D1, and then the surgical tool marker 201 is moved back to the initial position.

[0107] Move the surgical tool marker 201 in a second direction (e.g., along the Y-axis of the Cartesian system) until reaching the edge of the acceptance range AA, whereby a plurality of motion encoders of the multi-axis motion platform 101 record a moving distance D2, and then the surgical tool marker 201 is moved back to the initial position.

[0108] Move the surgical tool marker 201 in a third direction (e.g., along the Z-axis of the Cartesian system) until reaching the edge of the acceptance range AA, whereby a plurality of motion encoders of the multi-axis motion platform 101 record a moving distance D3, and then the surgical tool marker 201 is moved back to the initial position.

[0109] It should be noted that the first direction, the second direction, and the third direction are three different directions, and the angular relationships among them are known. It should also be noted that when the change in the coordinates of the surgical tool marker 201 is detected by the tracker 4, it can be determined that the edge of the acceptance range AA has been reached. In other words, the movement of the surgical tool marker 201 is greater than the detection limit. For example, when the surgical tool marker 201 crosses the edge of the acceptance range AA (X4, Y4, Z4), the tracker 4 identifies that the coordinates of the marker 201 change from (X4, Y4, Z4) to different coordinates, thus reaching the edge of the acceptance range AA (X4, Y4, Z4). Send the moving distances D1, D2, and D3 to the surgical computer 3, and the surgical computer 3 determines the center deviation CD by using the moving distances D1, D2, D3 and the angular relationships among the first direction, the second direction, and the third direction. Therefore, the multi-axis motion platform 101 can move the surgical tool marker 201 according to the center deviation CD so that it is located at the center AAC of the acceptance range.

[0110] Although the surgical tool marker 201 is used as an example to illustrate the micro-calibration within the acceptance range, the same calibration technique can also be applied to the device marker 105. In an embodiment of the present disclosure, after calibrating the position of the surgical tool marker 201 to coincide with the center AAC of the acceptance range, with the surgical tool marker 201 kept stationary, the surgical device 100 can be moved by the robotic arm 5, thereby moving and calibrating the device marker 105 of the surgical device 100. In this case, for each movement of the device marker 105 during the calibration process, the multi-axis motion platform 101 moves the surgical tool marker 201 in the opposite direction, so as to keep the calibrated position of the surgical tool marker 201 unchanged. Therefore, after calibrating the device marker 105 and the surgical tool marker 201 within the corresponding acceptance range, the accuracy of automatically installing the surgical tool 200 onto the surgical device 100 can be improved.

[0111] In another embodiment of the present disclosure, when the surgical tool 200 installed in the surgical device 100 is still within the surgical tool cassette 300, the micro-calibration of the device marker 105 can be performed by the multi-axis motion platform 101. In this case, the position of the surgical tool cassette 300 is configured to be fixed in the surgical environment, so the position of the moving end 1013 of the multi-axis motion platform 101 and the surgical tool marker 201 are both indirectly limited by the surgical tool cassette 300. The robotic arm 5 connected to the surgical device 100 is configured to move passively (i.e., passive linkage) through the fixed end 1011 of the multi-axis motion platform 101, so the fixed end 1011 and the device marker 105 can move relative to the moving end 1013 and the surgical tool marker 201, and thus the micro-calibration of the device marker 105 can be performed. It should be noted that there is no specific order for the micro-calibration of both the surgical tool marker 201 and the device marker 105.

[0112] The embodiments shown and described above are merely examples. Many details often occur in the technical field of the present disclosure, so they are not shown or described. Even though many features, advantages, and details of the structure and function of the present technology have been stated in the foregoing description, the present disclosure is only for illustrating the present technology, and changes can be made to the details, especially changes to the shape, size, and arrangement of components within the entire scope of the broad meaning of the terms used in the principles of the present disclosure and the claims. Therefore, it will be understood that the above embodiments can be modified within the scope of the claims.

Claims

1. A surgical device for holding a surgical tool, comprising: A multi-axis motion platform having a stationary end and a moving end, the multi-axis motion platform configured to generate relative motion between the moving end and the stationary end; A housing fixedly attached to the stationary end of the multi-axis motion platform; A motor having a rotating interface, the motor configured to rotate a surgical tool through the rotating interface when the surgical tool is held by the rotating interface; An adapter connected to the multi-axis motion platform and fixedly attached to the moving end of the multi-axis motion platform in a directional manner, the adapter configured to move in unison with the moving end, and the adapter comprising: A motor end, A surgical tool end, A surgical tool stopper disposed between the motor end and the surgical tool end, and A passage extending between the motor end and the surgical tool end, wherein the passage is configured to receive the rotating interface from the motor end and the surgical tool from the surgical tool end, wherein the surgical tool stopper has a fixed end fixedly attached to the adapter, a free end extending into the passage, and an elastic member disposed between the free end and the fixed end, wherein the elastic member is configured to reset the free end pushed towards the fixed end, wherein when the surgical tool drops from the rotating interface, the surgical tool stopper is configured to catch the surgical tool in the passage by the free end; A surgical tool zero-latch interface exposed in the passage of the adapter and configured to provide an attractive force in the passage to hold the surgical tool on the rotating interface.

2. The surgical device according to claim 1, characterized in that The surgical tool stopper maintains a distance from the surgical tool when the surgical tool is held on the rotating interface.

3. The surgical device according to claim 1, characterized in that The free end of the surgical tool stopper includes a ball that contacts the surgical tool when the surgical tool is held on the rotating interface, wherein the ball is configured to rotate freely to reduce friction between the surgical tool stopper and the surgical tool.

4. The surgical device according to claim 1 further comprises a leakage feedback circuit, the leakage feedback circuit is coupled to the motor and configured to detect leakage, wherein the surgical tool zero-latch interface is further configured to stop providing attraction after the leakage feedback circuit detects leakage.

5. The surgical device according to claim 4, characterized in that When the leakage feedback circuit detects the leakage, the surgical tool stopper is further configured to maintain insulation between the surgical tool and the rotating interface of the motor when fixing the surgical tool in the adapter.

6. The surgical device according to claim 1, characterized in that The surgical tool zero-latch interface is further configured to provide an attractive force to the surgical tool to cause it to cross the surgical tool stopper, whereby the surgical tool is moved from outside the passage of the adapter to inside, and the surgical tool is held on the rotating interface.

7. The surgical device according to claim 1, characterized in that The surgical tool zero-latch interface is further configured to provide a repulsive force to the surgical tool to cause it to cross the surgical tool stopper, whereby the surgical tool is separated from the rotating interface, and the surgical tool is moved from inside the passage of the adapter to outside.

8. The surgical device according to claim 1, characterized in that The adapter further includes a bearing exposed in the passage and disposed between the motor end of the adapter and the surgical tool stopper, the bearing configured to stabilize the rotation of the surgical tool.

9. The surgical device according to claim 8, characterized in that When the surgical tool is held at the rotational interface by the zero-latch interface of the surgical tool, it is in physical contact only with the zero-latch interface of the surgical tool, the rotational interface, and the bearing entity.

10. The surgical device according to claim 1, characterized in that The zero-latch interface of the surgical tool includes a gas passage extending within the rotational interface and in fluid communication with the passage of the adapter, wherein the gas passage is configured to allow gas to flow therethrough, and the zero-latch interface of the surgical tool is further configured to provide a repulsive force, wherein the zero-latch interface of the surgical tool provides an attractive force and a repulsive force through the pressure difference generated by the gas passage.

11. The surgical device according to claim 1, characterized in that Further included is an air pump disposed within the housing and connected to the zero-latch interface of the surgical tool, the air pump being in fluid communication with the passage of the adapter through the zero-latch interface of the surgical tool, wherein the air pump is configured to evacuate gas from the passage of the adapter through the zero-latch interface of the surgical tool to generate an attractive force, and the air pump is further configured to inject gas into the passage of the adapter through the zero-latch interface of the surgical tool to generate a repulsive force.

12. The surgical device according to claim 1, characterized in that The zero-latch interface of the surgical tool includes an electromagnet configured to generate an attractive force and a repulsive force electromagnetically, wherein the attractive force is generated by making the polarity of the electromagnet different from that of the surgical tool, and the repulsive force is generated by making the polarity of the electromagnet the same as that of the surgical tool.

13. The surgical device according to claim 1, characterized in that The adapter further includes a connecting portion disposed outside the surgical tool end of the adapter, and the surgical tool includes a marker support, wherein the connecting portion is configured to connect the marker support of the surgical tool to fix the marker support to the adapter when the surgical tool rotates with the rotational interface.

14. The surgical device according to claim 13, further comprising the surgical tool, the surgical tool having a first end and a second end, the surgical tool comprising: A surgical tool body extends between the first end and the second end; The marker support is disposed between the first end and the second end and closer to the first end; A marker bearing is disposed between the surgical tool body and the marker support, and the marker bearing is configured to facilitate free rotation of the marker support around the surgical tool body; wherein the axis of rotation of the marker support defines a surgical tool axis.

15. The surgical device according to claim 14, wherein The surgical tool further includes a first directional element fixed to the marker support and a second directional element fixed to the surgical tool body; wherein the first directional element is disposed between the marker support and the second directional element; wherein, when viewed along the surgical tool axis, the first directional element and the second directional element have the same cross-sectional shape.

16. The surgical device according to claim 15, wherein The motor is configured to rotate the surgical tool so that the cross-sectional shape of the second directional element coincides with the cross-sectional shape of the first directional element, thereby placing the first directional element and the second directional element into a directional surgical tool slot.

17. The surgical device according to claim 15, wherein When viewed along the surgical tool axis, the first directional element and the second directional element respectively include an irregular polygon profile.

18. The surgical device according to claim 15, wherein When viewed along the surgical tool axis, the first directional element and the second directional element have a non-polygonal shape lacking rotational symmetry.

19. The surgical device according to claim 1, further comprising the surgical tool, the surgical tool having a first end and a second end, and the surgical tool comprising a reference mark; wherein a surgical tool axis of the surgical tool is defined as extending between the first end and the second end; wherein, The fiducial marker is axially symmetric with the surgical tool axis and is coaxially connected to the surgical tool.

20. The surgical device according to claim 1, further comprising the surgical tool, the surgical tool having a first end and a second end, and the surgical tool comprising a permanent magnet and a bearing connected between the surgical tool and the permanent magnet; wherein the permanent magnet is located between the first end and the second end of the surgical tool and closer to the first end; wherein the permanent magnet is configured to respond to an attractive force provided by the zero-latch interface of the surgical tool.

21. The surgical device according to claim 1, further comprising a set of first reference marks and the surgical tool, and the surgical tool comprising a second reference mark, wherein the set of first reference marks and the second reference mark are configured to form a spatially recognizable pattern by an optical sensor, wherein the spatially recognizable pattern comprises a plurality of coordinates, and a match between the plurality of coordinates of the spatially recognizable pattern and a geometric relationship represents that the surgical tool is correctly held in the rotary interface.

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