An instrument cassette system

Abstract

The embodiment of the present specification provides an instrument box system, which is applied to the technical field of medical instruments. The system comprises an instrument box and a first magnetic attraction module arranged on a driving assembly; the driving assembly is arranged on a surgical robot; the instrument box comprises a box body, a second magnetic attraction module arranged on the outer surface of the box body, and a processing circuit arranged in the interior of the box body; the positions of the first magnetic attraction module and the second magnetic attraction module correspond to each other, and the first magnetic attraction module and / or the second magnetic attraction module are attracted to each other when they are in a conduction state, so as to fix the surgical instrument relative to the driving assembly; the processing circuit is used for acquiring surgical instrument use information, and judging whether the surgical instrument meets instrument application conditions based on the surgical instrument use information. The above-mentioned instrument box system ensures that the instrument box will not be loose compared with the surgical robot, so as to verify the application situation of the surgical instrument, and ensure the effective performance of the surgery.

Description

TECHNICAL FIELD

[0001] Embodiments of the present specification relate to the technical field of medical instruments, and in particular to an instrument box system. BACKGROUND

[0002] Based on the concept of minimally invasive surgery, surgical robots have been widely used in surgical operations due to their advantages of small injury, less bleeding and fast recovery. In order to ensure the safety of the operation, the instruments installed on the surgical robot need to be authenticated and detected before the operation. When the instrument authentication is passed and the current state of the instrument is still within the service life range, the subsequent operation process can be performed.

[0003] In view of the above needs, the corresponding information is generally recorded through the instrument box, and the current instrument can be determined to be normally used by reading the information in the instrument box. At present, the instrument box is generally fixed on the instrument through a mechanical structure, for example, the instrument box is fixed on the instrument through a buckle. However, since the mechanical arm needs to drive the instrument and the instrument box to move during the operation, different actions will cause the mechanical structure between the instrument box and the instrument to bear different sizes and different directions of force, thereby easily causing the instrument box and the instrument to loosen. In addition, based on the actual application requirement, when the instrument box is frequently replaced, it is also easy to cause the instrument box and the instrument to be not firmly fixed. When the instrument box cannot be effectively fixed on the instrument, not only the communication with the instrument box cannot be effectively performed, but also the operation accident may be caused due to the loosening of the instrument box. Therefore, there is an urgent need for a method for conveniently and effectively fixing the instrument box. SUMMARY

[0004] The purpose of the embodiments of the present specification is to provide an instrument box system to solve the technical problem of how to conveniently and effectively fix the instrument box.

[0005] In order to solve the above technical problem, the embodiments of the present specification provide an instrument box system, which comprises an instrument box and a first magnetic attraction module arranged on a driving assembly; the instrument box is connected with a surgical instrument; the driving assembly is arranged on a surgical robot; the instrument box comprises a box body, a second magnetic attraction module arranged on the outer surface of the box body, and a processing circuit arranged in the interior of the box body; the positions of the first magnetic attraction module and the second magnetic attraction module correspond to each other, and the first magnetic attraction module and / or the second magnetic attraction module are attracted to each other when they are in a conduction state, so as to fix the surgical instrument relative to the driving assembly; the processing circuit is used to acquire surgical instrument use information, and judge whether the surgical instrument meets the instrument application condition based on the surgical instrument use information.

[0006] In some embodiments, the first magnetic attraction module comprises a metal surface, and the second magnetic attraction module comprises a coil circuit, or the first magnetic attraction module comprises a coil circuit, and the second magnetic attraction module comprises a metal surface; the metal surface is composed of a magnetic metal; the coil circuit generates a magnetic field to attract the metal surface in an energized state.

[0007] In some embodiments, the first magnetic attraction module comprises a permanent magnet, and the second magnetic attraction module comprises a coil circuit, or the first magnetic attraction module comprises a coil circuit, and the second magnetic attraction module comprises a permanent magnet; the coil circuit attracts or repels the permanent magnet based on different energized directions when energized.

[0008] In some embodiments, the second magnetic attraction module is arranged at at least four different positions on the outer surface of the box body.

[0009] In some embodiments, the surgical instrument use information includes a surgical instrument use duration; and the determining whether the surgical instrument meets the instrument application condition based on the surgical instrument use information comprises: determining whether the surgical instrument use duration is not greater than a limited use duration.

[0010] In some embodiments, the surgical instrument use information includes at least one of information storage times, instrument use time, instrument factory number, and torque use time; and the determining whether the surgical instrument meets the instrument application condition based on the surgical instrument use information comprises: calculating a remaining use life of the surgical instrument based on the surgical instrument use information; and determining whether the surgical instrument meets the instrument application condition based on the remaining use life.

[0011] In some embodiments, the instrument box is further provided with a wireless charging receiving module; and the wireless charging receiving module is used to supply power to the processing circuit and / or the second magnetic attraction module.

[0012] In some embodiments, the instrument box is provided with a detected module, and the surgical robot is provided with a sensing module; the sensing module outputs a detection signal based on a detection distance between the detected module and the sensing module; and the detection signal is used to determine whether the instrument box is installed in place relative to the surgical robot.

[0013] Based on the above embodiments, the sensing module comprises at least one of a Hall sensing module, a macro distance measuring sensor module, and a photosensitive sensor module.

[0014] In some embodiments, the surgical instrument and the instrument box are provided with a wireless communication module; and the wireless communication module communicates based on near field communication and / or radio frequency identification technology.

[0015] In some embodiments, the wireless communication module is configured to perform encrypted authentication on the surgical instrument or the instrument box, so that the surgical instrument usage information is obtained after the surgical instrument or the instrument box is authenticated.

[0016] In some embodiments, the driving assembly is configured to drive the instrument box and the surgical instrument to move when the first magnetic attraction module and the second magnetic attraction module are attracted to each other.

[0017] As can be seen from the technical solutions provided by the above embodiments of the present specification, the above instrument box system is configured to have a magnetic attraction module on the driving assembly of the surgical robot and the instrument box, so that the instrument box and the driving assembly are connected to each other by magnetic force, thereby ensuring the fixation of the surgical instrument relative to the driving assembly. In this way, during the surgery, even if the driving assembly drives the instrument box and the surgical instrument to move, the attraction force between the driving assembly and the instrument box ensures that the instrument box will not be detached from the driving assembly, and also ensures the effective use of the instrument box on the surgical robot.

[0018] In addition, by additionally providing the induction module and the detection module, the installation state of the instrument box can be detected after installation, thereby avoiding the situation of directly performing surgery in the case of improper installation. By providing the wireless communication module and the wireless charging module, the communication and charging process will not be disturbed due to the incomplete fitting between the instrument box and the surgical robot. Therefore, the above technical solutions ensure that the instrument box can effectively read the relevant information of the surgical instrument, thereby verifying the application of the surgical instrument and ensuring the effective performance of the surgery. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present specification or the prior art, the drawings needed in the embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present specification, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0020] Figure 1 FIG. 1 is a schematic diagram of a minimally invasive surgery implementation environment according to an embodiment of the present specification;

[0021] Figure 2 FIG. 2 is a structural schematic diagram of an instrument box system according to an embodiment of the present specification;

[0022] Figure 3 FIG. 3 is a structural diagram of an instrument box according to an embodiment of the present specification;

[0023] Figure 4 FIG. 4 is a schematic diagram of a contact surface of an instrument box according to an embodiment of the present specification;

[0024] Figure 5 A schematic diagram of a contact surface of an instrument box system according to an embodiment of the present specification;

[0025] Figure 6A A schematic diagram of a magnetic attraction module according to an embodiment of the present specification;

[0026] Figure 6B A schematic diagram of a magnetic attraction module according to an embodiment of the present specification;

[0027] Figure 7A A schematic diagram of an induction module and a detected module according to an embodiment of the present specification;

[0028] Figure 7B A schematic diagram of an induction module and a detected module according to an embodiment of the present specification;

[0029] Figure 8 A schematic diagram of a wireless communication module according to an embodiment of the present specification.

[0030] Legend: 100: instrument box system; 110: instrument box; 111: box body; 112: second magnetic attraction module; 113: processing circuit; 114: induction module; 115: detected module; 116: wireless communication module; 117: wireless charging receiving module; 121: first magnetic attraction module. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present specification will be described clearly and completely below in combination with the drawings in the embodiments of the present specification. Obviously, the described embodiments are only part of the embodiments of the present specification, rather than all the embodiments. Based on the embodiments in the present specification, all other embodiments obtained by those of ordinary skill in the art without creative labor should fall within the scope of protection of the present specification.

[0032] In order to better understand the technical solutions of the present application, first, the scene to which the instrument box system of the present application is applied will be introduced. As shown in Figure 1 the schematic diagram of the actual minimally invasive surgery scene. In this execution environment, there are an image trolley, a patient operation end and a doctor operation end. The patient operation end corresponds to a surgical robot, which can include multiple mechanical arms that can be used to hold corresponding surgical instruments or endoscopes and the like. The surgical instrument is pre-connected with the instrument box, and during the surgery, the surgical instrument and the instrument box can be fixed on the mechanical arm, and the mechanical arm is used to drive the surgical instrument to perform corresponding surgical operations.

[0033] The doctor operation end is a terminal device operated by a doctor, and is mainly used for controlling the mechanical arm on the patient operation end to adjust the viewing angle of the endoscope and perform specific operations using surgical instruments. Correspondingly, in the case that the instrument box is used to obtain the relevant information of the surgical instruments, the doctor operation end can also obtain the surgical instrument information in the instrument box, and then determine whether the surgical instruments are compliant, and perform specific surgical operations under the condition of compliance.

[0034] The image trolley can be connected with the endoscope to display the images taken by the endoscope on the display screen for other medical staff to view. The image trolley also has a certain image processing capability, and then displays the relevant information after processing the images.

[0035] In order to solve the above technical problems, an instrument box system 100 is introduced in an embodiment of the present specification. As shown in the figure, the instrument box system includes an instrument box 110 and a first magnetic attraction module 121 arranged on the driving assembly. Figure 2

[0036] The instrument box 110 can be used to connect surgical instruments, such as Figure 3 The figure shows the schematic diagram of the mutual connection between the instrument box 110 and the surgical instruments. Since the instrument box 110 and the surgical instruments are generally kept in a fixed state in the surgical instruments, and the connection mode will not be disturbed by the movement of the mechanical arm, the fixation between the surgical instruments and the instrument box 110 can be realized by using the general mechanical structure.

[0037] Since some surgical instruments have a certain service life, and the corresponding surgical instruments may need to be replaced as the operation progresses, the surgical instruments can be detached from the instrument box 110. For example, the surgical instruments are fixed through specific mechanical structures on the instrument box, and when disassembly is needed, the surgical instruments can be released from the instrument box by combining the characteristics of the mechanical structure through a specific way.

[0038] As shown in the figure, the instrument box 110 includes a box body 111, a second magnetic attraction module 112 arranged on the outer surface of the box body 111, and a processing circuit 113 arranged inside the box body 111. Figure 3

[0039] The box body 111 can be a hollow box structure, for example, the box body 111 can be a hollow cuboid. In actual application, the shape of the box body 111 can be set according to the needs, which is not limited.

[0040] ​​The second magnetic attraction module 112 is arranged on the outer surface of the box body 111, and the first magnetic attraction module 121 is correspondingly arranged on the driving assembly. The side of the box body 111 provided with the second magnetic attraction module 112 can be the side that is attached to the driving assembly. Specifically, the first magnetic attraction module 121 is arranged corresponding to the position of the second magnetic attraction module 112, as shown in Figure 4 When the instrument box 110 is installed on the surgical robot, the first magnetic attraction module 121 and the second magnetic attraction module 112 are attached to each other. Based on the contact surface between the first magnetic attraction module 121 and the second magnetic attraction module 112, each module can realize electrical connection or communication connection through contact, thereby realizing the corresponding function.

[0041] Specifically, the surgical robot can include a mechanical arm, which can realize movement in a certain direction and within a certain range. The driving assembly can be arranged on the mechanical arm, and after installation, the mechanical arm can drive the driving assembly, the corresponding instrument box 110 and the surgical instrument to move. The driving assembly itself can also move relative to the mechanical arm, for example, a guide rail is arranged on the mechanical arm, and the driving assembly can move along the guide rail, thereby also driving the instrument box and the surgical instrument to move.

[0042] The first magnetic attraction module 121 or the second magnetic attraction module 112 can be connected to a circuit, and when the first magnetic attraction module 121 or the second magnetic attraction module 112 is in an energized state after the circuit is turned on, an attractive force is generated between the first magnetic attraction module 121 and the second magnetic attraction module 112, so that the first magnetic attraction module 121 and the second magnetic attraction module 112 are attracted to each other. In the case that the surgical instrument is fixed to the instrument box 110, the surgical instrument can be fixed to the surgical robot.

[0043] Specifically, the first magnetic attraction module 121 or the second magnetic attraction module 112 can be a coil circuit, which can generate a magnetic field in a corresponding direction when energized, thereby generating an attractive force on the second magnetic attraction module 112 or the first magnetic attraction module 121. The specific magnetic force can also be adjusted based on requirements, for example, by adjusting the current passing through the coil circuit or changing the number of turns of the coil circuit to change the magnetic force, which is not limited.

[0044] In some embodiments, the first magnetic attraction module 121 can be a metal surface composed of a magnetic metal, and the magnetic metal includes iron, cobalt, nickel, etc.; and the second magnetic attraction module 112 can be a coil circuit, as shown in Figure 6A When the second magnetic attraction module 112 is in an energized state, it will generate a magnetic field, and the metal surface will be attracted in the magnetic field due to the magnetic force, thereby fixing the instrument box 110 to the surgical robot.

[0045] In other embodiments, the first magnetic attraction module 121 can also be set as a coil circuit, and the second magnetic attraction module 112 can be set as a metal surface, so that the first magnetic attraction module 121 generates a magnetic field in the energized state to attract the second magnetic attraction module 112. In actual applications, the corresponding embodiments can be selected according to the requirements, and no limitation is made.

[0046] In some embodiments, while the first magnetic attraction module 121 or the second magnetic attraction module 112 is set as a coil circuit, the second magnetic attraction module 112 or the first magnetic attraction module 121 can also be set as a permanent magnet, as shown in Figure 6B The permanent magnet has magnetism under normal circumstances. According to the magnetic field direction of the permanent magnet, when the coil circuit is energized and generates a magnetic field, the magnetic field directions of the two can cause the first magnetic attraction module 121 and the second magnetic attraction module 112 to attract or repel each other. In the case of setting a permanent magnet, when it is necessary to disassemble the instrument box 110, the energization direction of the coil circuit can be changed, so that the coil circuit and the permanent magnet repel each other, thereby more conveniently achieving the disassembly of the instrument box 110, which is beneficial to actual applications.

[0047] Correspondingly, the first magnetic attraction module 121 can be set as a permanent magnet, and the second magnetic attraction module 112 can be set as a coil circuit, or the first magnetic attraction module 121 can be set as a coil circuit, and the second magnetic attraction module 112 can be set as a permanent magnet, and no limitation is made.

[0048] When the second magnetic attraction module 112 is arranged on the outer surface of the box body 111 of the instrument box 110, in order to ensure the fitting effect in actual applications, the second magnetic attraction module 112 can be arranged on the entire surface of the box body 111, for example, the fitted surface is entirely covered with a metal surface. However, in actual applications, other modules such as a communication module and an induction module 114 can also be arranged on the fitted surface. Therefore, while reducing the coverage area of the second magnetic attraction module 112, in order to ensure the attraction effect in actual applications, the second magnetic attraction module 112 can be arranged at different positions on the surface of the instrument box 110 fitted with the surgical robot.

[0049] Preferably, the second magnetic attraction module 112 can be arranged at at least four different positions on the contact surface of the box body 111 and the driving assembly, as shown in Figure 5

[0050] ​In some embodiments, a corresponding detection module can also be provided. Specifically, an inductive module 114 and a detected module 115 can be respectively provided on the contact surface of the instrument box 110 and the driving assembly, for example, the detected module 115 is provided on the instrument box 110, and the inductive module 114 is provided on the driving assembly, or the inductive module 114 is provided on the instrument box 110, and the detected module 115 is provided on the driving assembly. The inductive module 114 can output a detection signal according to the distance between the inductive module 114 and the detected module 115, and the detection signal can reflect the distance between the inductive module 114 and the detected module 115, so as to determine whether the instrument box 110 is installed in place relative to the surgical robot.

[0051] Specifically, as shown in Figure 7A , the inductive module 114 can include at least one of a Hall inductive module 114, a micro-distance ranging sensor module, and a photosensitive sensor module. When the inductive module 114 is a Hall inductive module 114, the detected module 115 can be a permanent magnet, and the distance between the inductive module 114 and the detected module 115 can be determined according to the Hall signal output by the Hall inductive module 114.

[0052] As shown in Figure 7B , when the inductive module 114 is a micro-distance ranging sensor module or a photosensitive sensor module, the distance between the inductive module 114 and the detected module 115 can be directly obtained based on the corresponding ranging principle. In actual application, a corresponding inductive module 114 and a detected module 115 can also be provided based on other ranging principles to achieve the corresponding technical effects, which are not limited.

[0053] Since the detection signal can be used to reflect the distance between the inductive module 114 and the detected module 115, a normal distance range can be set in advance according to the distance between the detected module 115 and the inductive module 114 under normal circumstances. When the distance determined according to the detection signal is within the normal distance range, it indicates that the instrument box 110 and the surgical robot are mutually attached and have been installed in place.

[0054] Preferably, in order to ensure the detection effect, the inductive module 114 and the detected module 115 can also be provided at different positions, for example, as shown in Figure 5 , the detected module 115 can be provided on the four corners of the contact surface of the instrument box 110 and the surgical robot. In actual application, the number and position of the inductive module 114 can also be adjusted according to the requirements, which are not limited.

[0055] The processing circuit 113 can be a circuit provided with corresponding processing logic, for example, a circuit board etching the corresponding circuit. Based on the processing logic, the processing circuit 113 can acquire the surgical instrument use information and determine whether the surgical instrument meets the instrument application condition based on the surgical instrument use information. Since in minimally invasive surgery, some surgical instruments have a preset use limit or use time limit, it is necessary to determine whether the currently installed surgical instrument can continue to be applied through the instrument box 110, thereby ensuring the smooth progress of the surgery.

[0056] In some embodiments, determining whether the surgical instrument meets the instrument application condition can be based on the use time. Specifically, the surgical instrument use information can include the use time of the surgical instrument, that is, the total time of the surgical instrument from the first application to now being applied to the surgery. Specifically, the instrument box 110 can identify the surgical instrument according to the model or identification of the surgical instrument, and record the use time of the surgical instrument based on the progress of the surgery.

[0057] The instrument box 110 can pre-store a corresponding limit use time for the type of the surgical instrument. The limit use time is used to describe the maximum use time of the corresponding surgical instrument. After the instrument box 110 acquires the use time of the surgical instrument, the use time of the surgical instrument can be compared with the limit use time. When the use time of the surgical instrument is less than the limit use time, it means that the surgical instrument can still be normally used to perform the surgical operation; if the use time of the surgical instrument is not less than the limit use time, the surgical instrument has reached the maximum use time and cannot continue to perform the corresponding surgical operation.

[0058] In some embodiments, determining whether the surgical instrument meets the instrument application condition can also be based on the use frequency. Specifically, the instrument box 110 can count the use frequency of the surgical instrument by accumulation when the surgical instrument is used each time, which is used to represent the number of times the current surgical instrument is applied to the surgery. Correspondingly, the instrument box 110 can also pre-store the limit use frequency of the surgical instrument. By comparing the use frequency of the surgical instrument with the limit use frequency, it can be determined whether the surgical instrument meets the instrument application condition, and then whether the surgical instrument can be used to perform the surgical operation.

[0059] In some embodiments, determining whether the surgical instrument meets the instrument application condition can also be based on the service life of the instrument. The service life of the instrument is generally affected by multiple factors. For example, the surgical instrument use information can include at least one of the instrument factory number and the torque use time. The instrument factory number can be used to determine the factory time of the instrument and the specific type of the instrument. The torque use time includes small torque use time, medium torque use time, and large torque use time.

[0060] The wire used by the instrument is a key factor that limits the service life of the instrument, and the service life of the wire is associated with the load, especially the large torque has a more critical impact on the service life of the wire. Therefore, by recording the torque use time, the impact of torque on the instrument can be determined. Specifically, the remaining service life of the surgical instrument can be calculated according to the surgical instrument use information including the instrument factory number and the torque use time, and then it is determined whether the surgical instrument meets the instrument application condition according to the calculated remaining service life.

[0061] It should be noted that the above determination process can be directly processed by the instrument box 110 according to the built-in logic to obtain the final determination result, and then the determination result is sent to the doctor control end for the doctor to directly determine whether the surgical instrument can continue to be used; or the instrument box 110 can directly send various types of information to the doctor control end, and the doctor control end processes these information to obtain the final determination result, and this is not limited.

[0062] In actual application, any of the above methods can be used to determine whether the surgical instrument meets the instrument application condition, or other methods can be used to determine whether the surgical instrument meets the instrument application condition, or a combination of multiple methods can be used to determine whether the surgical instrument meets the instrument application condition, and this is not limited.

[0063] Based on the above process, whether the instrument box 110 directly sends the determination result to the doctor control end or sends various types of information obtained to the doctor control end, it involves information interaction. Therefore, a corresponding communication module can be provided between the instrument box 110 and the surgical robot for transmitting the information of the instrument box 110 to the surgical robot, and then transmitting the information to the doctor control end by the patient end corresponding to the surgical robot. Correspondingly, the doctor control end can also send corresponding information or instructions to the surgical robot, and then transmit them to the instrument box 110.

[0064] However, if a wired connection is used for communication, it is still possible that the connection is not firm and thus affects the communication effect. Therefore, a wireless communication module 116 can be provided on the surgical robot and the instrument box 110 to realize the communication process in the absence of physical communication lines. Specifically, the wireless communication module 116 can communicate based on near field communication (NFC) and / or radio frequency identification (RFID) technology. As shown in the figure, it is a specific schematic diagram for realizing communication by using NFC. In actual application, other technologies can also be used to realize wireless communication, and are not limited to the above examples, which will not be described here. Figure 8

[0065] ​In some embodiments, in order to ensure the reliability of the installation process, the wireless communication module 116 can also perform encrypted authentication on the surgical instrument and / or the instrument box 110 to ensure the compliance of the surgical instrument and / or the instrument box 110 used. After the surgical instrument and / or the instrument box 110 passes the authentication, the surgical instrument usage information is obtained to determine whether the surgical instrument can be normally applied. Through the above-mentioned encrypted authentication process, it is ensured that the surgical instrument and the instrument box 110 used are standard and meet the actual surgical requirements, thereby ensuring the safe and effective performance of the surgery.

[0066] The specific encrypted authentication process can be set based on the actual application requirements, which will not be described here.

[0067] In the actual application process, the processing circuit 113 in the instrument box 110 and the processing circuit 113 and the coil circuit in the instrument box 110 need to be powered. In order to ensure the effective work of the processing circuit 113 and the coil circuit, a wireless charging receiving module 117 can be arranged on the instrument box 110. The wireless charging receiving module 117 can obtain electrical energy from the surgical robot or other devices based on the wireless charging mode, and store the obtained electrical energy to the energy storage unit. In work, the processing circuit 113 and / or the second magnetic attraction module 112 can be powered by the energy storage unit to ensure the normal work of the instrument box 110, and also avoid the problem of poor contact that may occur when transmitting electrical energy by wire.

[0068] In a preferred embodiment, when the instrument box 110 is provided with the wireless communication module 116 and the wireless charging receiving module 117 at the same time, the wireless communication module 116 and the wireless charging receiving module 117 can be combined into one module, as shown in Figure 4 The module can not only realize the reception and transmission of wireless signals, but also obtain electrical energy based on the wireless charging mode. Through this design, the normal work of the instrument box 110 is ensured, and the structure of the instrument box 110 is simplified, which is conducive to the actual application of the instrument box 110.

[0069] Based on the introduction of the above-mentioned embodiments, it can be seen that the above-mentioned instrument box system connects the instrument box and the surgical robot through magnetic force by respectively arranging magnetic attraction modules on the instrument box and the surgical robot, which ensures the fixation of the surgical instrument relative to the surgical robot. In this way, during the surgery, even if the surgical robot drives the instrument box and the surgical instrument to move, since there is always an attractive force between the surgical robot and the instrument box, it is ensured that the instrument box will not be loose relative to the surgical robot.

[0070] In addition, by additionally setting the induction module and the detected module, the installation state can be detected after the installation of the instrument box, avoiding the case that the operation is directly performed in the case of installation out of place. By setting the wireless communication module and the wireless charging module, the communication and charging process will not be disturbed due to the incomplete fitting between the instrument box and the surgical robot. Therefore, the above technical scheme ensures that the instrument box can effectively read the related information of the surgical instrument, so as to verify the application situation of the surgical instrument, and ensure the effective operation of the operation.

[0071] Although the process flow described above includes a plurality of operations in a specific order, it should be clear that the processes can include more or fewer operations, and the operations can be executed in sequence or in parallel (for example, using a parallel processor or multi-threaded environment).

[0072] The present application is described with reference to flowcharts and / or block diagrams according to the embodiments of the present specification. It should be understood that each flow and / or block in the flowcharts and / or block diagrams can be implemented by computer program instructions, and the combination of the flows and / or blocks in the flowcharts and / or block diagrams. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices produce a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more flows and / or blocks.

[0073] These computer program instructions can also be stored in a computer-readable memory that can guide the computer or other programmable data processing devices to work in a specific way, so that the instructions stored in the computer-readable memory produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more flows and / or blocks.

[0074] These computer program instructions can also be loaded into a computer or other programmable data processing device, so that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide a means for implementing the functions specified in the flowcharts and / or block diagrams. Figure 1 one or more flows and / or blocks Figure 1 means for performing the functions specified in one or more flows and / or blocks.

[0075] In a typical configuration, the computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memories.

[0076] Memory can include non-persistent memory and / or volatile memory, random access memory (RAM), and / or non-volatile memory, e.g., read only memory (ROM) or flash memory, among others. Memory is an example of computer readable media.

[0077] Computer readable media includes permanent and non-permanent, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital versatile discs (DVDs) or other optical storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer readable media does not include transitory media, such as modulated data signals and carrier waves.

[0078] Those skilled in the art will appreciate that embodiments of the present specification can be provided as methods, systems or computer program products. Accordingly, embodiments of the present specification can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present specification can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROMs, optical storage and the like) containing computer usable program code.

[0079] Embodiments of the present specification can be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform particular tasks or implement particular abstract data types. Embodiments of the present specification can also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules can be located in both local and remote computer storage media including memory storage devices.

[0080] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, system embodiments are basically similar to method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments. In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments in this specification. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0081] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. An instrument cassette system, characterized by The device box is connected with a surgical instrument, and the driving assembly is arranged on a surgical robot; The device box comprises a box body, a second magnetic attraction module arranged on the outer surface of the box body, and a processing circuit arranged in the box body; the positions of the first magnetic attraction module and the second magnetic attraction module correspond to each other, and the first magnetic attraction module or the second magnetic attraction module is attracted to each other when in an energized state, so that the surgical instrument is fixed relative to the driving assembly; the processing circuit is used to acquire surgical instrument use information and judge whether the surgical instrument meets an instrument application condition based on the surgical instrument use information; the surgical instrument use information comprises a surgical instrument use time length and / or a surgical instrument use frequency; The device box is provided with a detected module, and the surgical robot is provided with a sensing module, or The device box is provided with a sensing module, and the surgical robot is provided with a detected module; The sensing module outputs a detection signal based on the distance between the sensing module and the detected module; the detection signal is used to determine whether the device box is installed in place relative to the surgical robot; The judgment of whether the surgical instrument meets the instrument application condition based on the surgical instrument use information comprises: Comparing the surgical instrument use time length with a limited use time length, and judging whether the surgical instrument meets the instrument application condition based on the comparison result; And / or Comparing the surgical instrument use frequency with a limited use frequency, and judging whether the surgical instrument meets the instrument application condition based on the comparison result.

2. The instrument cassette system of claim 1, wherein, The first magnetic attraction module comprises a metal surface, and the second magnetic attraction module comprises a coil circuit, or The first magnetic attraction module comprises a coil circuit, and the second magnetic attraction module comprises a metal surface; The metal surface is composed of a magnetic metal; the coil circuit generates a magnetic field in an energized state to attract the metal surface.

3. The instrument cassette system of claim 1, wherein, The first magnetic attraction module comprises a permanent magnet, and the second magnetic attraction module comprises a coil circuit, or The first magnetic attraction module comprises a coil circuit, and the second magnetic attraction module comprises a permanent magnet; The coil circuit attracts or repels the permanent magnet based on different energized directions when energized.

4. The instrument cassette system of claim 1, wherein, The second magnetic attraction module is arranged at least four different positions on the contact surface of the box body and the surgical robot.

5. The instrument cassette system of claim 1, wherein, The sensing module comprises at least one of a Hall sensing module, a micro-distance ranging sensor module, and a photosensitive sensor module.

6. The instrument cassette system of claim 1, wherein, The surgical instrument use information comprises at least one of an instrument factory number and a torque use time; the judgment of whether the surgical instrument meets the instrument application condition based on the surgical instrument use information comprises: Calculating the remaining use life of the surgical instrument based on the surgical instrument use information; Judging whether the surgical instrument meets the instrument application condition based on the remaining use life.

7. The instrument cassette system of claim 1, wherein, The surgical robot and the device box are provided with a wireless communication module; the wireless communication module communicates based on near field communication and / or radio frequency identification technology.

8. The instrument cassette system of claim 7, wherein, The wireless communication module is used to encrypt and authenticate the surgical instrument and / or the device box, so that the surgical instrument use information is acquired after the surgical instrument and / or the device box pass the authentication.

9. The instrument cassette system of claim 1, wherein, The instrument box is also provided with a wireless charging receiving module; the wireless charging receiving module is used for supplying power to the processing circuit and / or the second magnetic attraction module.

10. The instrument cassette system of claim 1, wherein, The driving assembly is used for driving the instrument box and the surgical instrument to move under the condition that the first magnetic attraction module and the second magnetic attraction module are attracted to each other.

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