Surgical robotic system end effector

Abstract

The application discloses a novel end device of a surgical robot system, which comprises a parent control module and a child tool module detachably installed on the parent control module; a plurality of positioning holes are arranged on the end face of the parent control module towards the child tool module; a plurality of positioning pillars for identifying the model of a surgical tool are arranged on the end face of the child tool module towards the parent control module; when the plurality of positioning pillars on the child tool module are inserted into the plurality of positioning holes on the parent control module, the parent control module identifies the model of the surgical tool of the child tool module by judging the layout style and / or length of the inserted positioning pillars. The end device of the application can be installed on the mechanical arm of the surgical robot to realize intelligent identification.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to an end effector for a surgical robot system. Background Technology

[0002] With the development of surgical robot technology, different end effectors are required for different surgical procedures or complex surgeries, depending on the operational requirements. Currently, for single-procedure procedures, the requirements for end effectors are relatively low, and operators generally replace them by visually identifying the model. However, as the types of surgeries using surgical robot systems increase, the variety of end effectors becomes richer. How to quickly and accurately install and identify end effectors has become a pressing technical problem for current surgical robot systems. Current surgical navigation systems generally employ optical navigation and electromagnetic navigation. When using optical navigation, end effectors can be identified by recognizing marking patterns. Some manufacturers have also begun research into this issue.

[0003] For example, invention patent application CN113974837A discloses an end-effector identification system, method, end-effector, and surgical robot system. This system creates marking patterns of varying roughness on the surface of the end-effector and uses an image acquisition device to capture these marking patterns for identification. However, this identification system has a drawback: it can only be used with surgical robot systems equipped with optical navigation. When the surgical robot system uses an electromagnetic navigation system for surgical navigation, identification via marking patterns requires the addition of an image acquisition device to the existing equipment, undoubtedly increasing the number of devices and their cost, especially burdening the space-constrained environment of the operating room.

[0004] For example, utility model patent CN215839271U discloses an automatic identification device for electric laparoscopic stapler components and an electric laparoscopic stapler. It identifies components by using conductive identification components at both the female and female ends. While this method solves the problem of automatic identification at the female end, it also introduces the issue of sterilization of the end components during actual use. If the end components are sterilized using methods such as high-temperature sterilization, it may damage the conductive components within the end components, affecting their normal use and increasing the risk of failure.

[0005] Therefore, through beneficial exploration and research, the applicant has found a solution to the above problems, and the technical solution to be introduced below is the result of this research. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an end effector for a surgical robot system that can quickly and intelligently identify different end-effectors, is easy to sterilize and disinfect, and is easy to install, in order to address the shortcomings of the prior art.

[0007] The technical problem to be solved by this invention can be achieved by the following technical solution:

[0008] An end effector for a surgical robot system includes a female control module and a male tool module detachably mounted on the female control module. The female control module has a plurality of positioning holes spaced apart on its end face facing the male tool module, and the male tool module has a plurality of positioning supports spaced apart on its end face facing the female control module for identifying the surgical tool model. When the positioning supports on the male tool module are inserted into the positioning holes on the female control module, the female control module identifies the surgical tool model of the male tool module by determining the layout and / or length of the inserted positioning supports.

[0009] In a preferred embodiment of the present invention, the mother-end control module includes:

[0010] The female end housing has a plurality of positioning holes spaced apart on its end face facing the male end tool module;

[0011] A length detection unit for detecting the length of the positioning support column is installed in each positioning hole of the female end housing;

[0012] Signal acquisition units installed inside the female end housing and connected to each length detection unit respectively; and

[0013] A control unit installed inside the female end housing and connected to the signal acquisition unit and the surgical robot system.

[0014] In a preferred embodiment of the present invention, each length detection unit includes a plurality of photoelectric sensors, which are spaced apart along the axial direction in corresponding positioning holes and are respectively connected to the signal acquisition unit.

[0015] In a preferred embodiment of the present invention, each length detection unit is a displacement sensor disposed in the corresponding positioning hole.

[0016] In a preferred embodiment of the invention, the depth of each positioning hole is equal.

[0017] In a preferred embodiment of the present invention, a drive control button connected to the control unit is provided on the outer peripheral surface of the female end housing.

[0018] In a preferred embodiment of the present invention, a wraparound reminder light strip connected to the control unit is provided on the outer peripheral surface of the female end housing.

[0019] In a preferred embodiment of the present invention, a gap sealing strip is provided at the periphery of the end face of the female end housing facing the male end tool module.

[0020] In a preferred embodiment of the present invention, the gap sealing strip is made of silicone.

[0021] In a preferred embodiment of the present invention, the sub-end tool module includes:

[0022] A sub-end housing, wherein the sub-end housing has a plurality of positioning supports spaced apart on its end face facing the mother end control module; and

[0023] Surgical tools are disposed on the end face of the daughter end housing that is opposite to the mother end control module.

[0024] In a preferred embodiment of the present invention, a plurality of positioning pillars on the sub-end tool module are used to identify different surgical tool models through different layout styles and / or lengths; during identification, the surgical type of the surgical tool is determined by identifying the layout style of the plurality of positioning pillars; when the surgical types are the same, different surgical tool models under the same surgical type are determined by identifying the length of the positioning pillars.

[0025] In a preferred embodiment of the present invention, an insulating layer is provided on the end face of the sub-end housing facing the mother end control module, and the plurality of positioning pillars extend outward after passing through the insulating layer.

[0026] In a preferred embodiment of the present invention, the insulating layer is made of nylon or PEEK material.

[0027] In a preferred embodiment of the present invention, a fastening assembly for fastening the child end housing and the mother end housing is provided at the connection between the child end housing and the mother end housing.

[0028] Due to the adoption of the above technical solution, the beneficial effects of the present invention are as follows:

[0029] 1. The end effector of this invention can be installed on the robotic arm of a surgical robot to achieve intelligent recognition. It is applicable not only to commonly used single-arm surgical robots with a serial structure, but also to multi-arm master-slave teleoperated surgical robots. The installation method of this invention eliminates the need for additional image scanning devices, reducing system components and facilitating placement of the equipment in space-constrained operating rooms.

[0030] 2. This invention, through the design of positioning holes and positioning pillars in different layout styles and / or lengths, can realize the installation of different types and models of sub-ends, while also having a foolproof function;

[0031] 3. The sub-end tool module of the present invention is designed as a passive structure connector, so it can be sterilized by high temperature and high pressure. There is no need to worry about damage to the sub-end tool module caused by multiple sterilization operations. At the same time, the sub-end tool module can be used multiple times, which extends the service life of the sub-end tool module and indirectly reduces the surgical cost for patients.

[0032] 4. This invention integrates sensors, signal acquisition units, drive control buttons, control modules, and indicator lights onto the main control module, facilitating the design of the main structure and providing visual alerts for the operator to identify problems. Therefore, the overall design is more ergonomic and easier for the operator to use. Furthermore, the main control module and the sub-tool module are designed separately, employing different sterilization methods to ensure a sterile environment during surgery, thereby guaranteeing patient safety.

[0033] 5. The sub-end tool module of the present invention adopts an insulating isolation layer design, which also ensures electrical insulation isolation from the main body of the surgical robot, thus playing a role in safety protection;

[0034] 6. After installation, the present invention is secured by fastening components to ensure the connection stability between the mother-end control module and the daughter-end tool module. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of the present invention.

[0037] Figure 2 This is a schematic diagram of the electrical principle of the present invention.

[0038] Figure 3 This is a schematic diagram of the structure of the mother-end control module of the present invention.

[0039] Figure 4 This is a cross-sectional view of the positioning hole portion of the female end control module of the present invention.

[0040] Figure 5This is a schematic diagram of the sub-end tool module of the present invention.

[0041] Figures 6a-6c This is a schematic diagram of three layout styles of the sub-end tool module of the present invention. Detailed Implementation

[0042] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below with reference to specific illustrations.

[0043] See Figure 1 The figure shows an end effector for a surgical robot system, including a mother control module 100 and a daughter tool module 200 detachably mounted on the mother control module 100.

[0044] See Figure 3 and combined Figure 2 The female end control module 100 includes a female end housing 110, several length detection units 120, a signal acquisition unit 130, and a control unit 140.

[0045] The female end housing 110 has a cylindrical structure, and a plurality of positioning holes 111 are spaced apart on its end face 101 facing the male end tool module 200. Each positioning hole 111 has an equal depth. The end face 102 of the female end housing 110 and the male end tool module 200 are fixedly mounted on the end flange 20 of the surgical robot's robotic arm by fasteners such as screws.

[0046] Several length detection units 120 are correspondingly installed in several positioning holes 111 of the female end housing 110, and are used to detect the length of the positioning support. In this embodiment, see... Figure 4 The length detection unit 120 includes several photoelectric sensors 121, which are axially spaced within corresponding positioning holes 111 and connected to the signal acquisition unit 130. When an external object (positioning support) enters the positioning hole 111, the signal of the photoelectric sensor 121 changes accordingly with the depth of the object. The length of the object (positioning support) is determined by the change in the sensing signal. Of course, in addition to photoelectric sensors, the length detection unit 120 can also be a displacement sensor installed in the corresponding positioning hole 111, or other types of sensing components.

[0047] The signal acquisition unit 130 is installed inside the female end housing 110 and is connected to each length detection unit 120. It is used to acquire the sensing signals detected by each length detection unit 120. The signal acquisition unit 130 includes an optocoupler isolator and an operational amplifier circuit. The sensing signals detected by the length detection unit 120 are first isolated by the optocoupler isolator, and then amplified by the operational amplifier circuit before being output.

[0048] The control unit 140 is installed inside the female housing 110 and connected to the signal acquisition unit 130 and the surgical robot system 10. It receives sensor signals acquired by the signal acquisition unit 130, performs judgment and identification processing on the received sensor signals, and then transmits the judgment and identification results to the surgical robot system 10. The control unit 140 uses a microcontroller as its controller and includes components such as a processing chip, a power supply module, an analog-to-digital converter input circuit, and a digital-to-analog converter output circuit. In this embodiment, the control unit 140 preferably uses an STM32 series microcontroller.

[0049] A drive control button 150, connected to the control unit 140, is provided on the outer peripheral surface 103 of the female end housing 110. The operator can control the robotic arm of the surgical robot at any time according to the surgical environment using this drive control button 150. This operating mode is more ergonomic than the foot switch operating mode. When the drive control button 150 is pressed, the robotic arm of the surgical robot enters a free-drive mode. In this mode, the operator can freely drag the robotic arm for motion control, facilitating operation and protecting the patient in abnormal conditions.

[0050] A wraparound indicator light strip 160, connected to the control unit, is provided on the outer peripheral surface 103 of the female end housing 110. The wraparound indicator light strip 160 can display red or green to indicate the status; red indicates an abnormal situation, and green indicates normal operation. The light strip of the wraparound indicator light strip 160 allows surgeons to more intuitively understand the current operating status of the equipment in real time.

[0051] A gap sealing strip (not shown in the figure) is provided at the periphery of the end face 101 of the female end housing 110 facing the male end tool module. The gap sealing strip is made of silicone and serves to seal and isolate, preventing liquid or foreign matter from entering the connection between the female end control module 100 and the male end tool module 200 during the surgical procedure.

[0052] See Figure 5 and combined Figure 1 The sub-end tool module 200 includes a sub-end housing 210 and a surgical tool 220.

[0053] The sub-end housing 210 has a cylindrical structure, and a number of positioning supports 211 are spaced apart on its end face 201 facing the mother end control module 100. The surgical tool 220 is disposed on the end face 202 of the sub-end housing 210 away from the mother end control module 100.

[0054] The sub-end housing 210 has several positioning supports 110 used to identify the surgical tool model. Different layout patterns and / or lengths identify different surgical tool models. During identification, the surgical tool type is determined by recognizing the layout pattern of the positioning supports. When the surgical types are the same, different surgical tool models for the same surgical type are determined by recognizing the length of the positioning supports. For example, see 6a and... Figure 6b By using different positioning support layouts to identify surgical tools, it is possible to identify tools used in different surgical procedures. See also Figure 6a and 6c Although the positioning pillars are distributed in the same position, the use of positioning pillars of different lengths will cause different numbers of photoelectric sensor signals to change after the different pillars are inserted into the positioning holes, thereby achieving different signal encoding and thus generating different identification signals at different ends.

[0055] Through the above identification methods, the sub-end tool module 200 can be processed into a passive device. After processing with metal materials such as 316L, the sub-end tool module 200 can be sterilized in a high-temperature and high-pressure environment or under plasma, without worrying about damage to the device during sterilization, thus extending the service life of the component and indirectly reducing the surgical costs for patients.

[0056] An insulating layer 230 is provided on the end face 201 of the sub-end housing 210 facing the mother end control module 100. Several positioning pillars 211 extend outward after passing through the insulating layer 230. The insulating layer 230 is made of nylon or PEEK material and plays the role of electrical insulation to prevent the electrical conduction of the surgical robot body from being transmitted to the end part when an electrical fault occurs.

[0057] To ensure a secure connection between the sub-end housing 210 and the mother end housing 110, a fastening assembly (not shown in the figure) for fastening the sub-end housing 210 and the mother end housing 110 can be provided at the connection between the sub-end housing 210 and the mother end housing 110. The fastening assembly can be a snap-fit ​​connection assembly or other fastening assemblies.

[0058] When the positioning supports 121 on the child tool module 200 are inserted into the positioning holes 111 on the mother control module 100, the photoelectric sensors 121 in the corresponding positioning holes 111 are triggered. The sensing signals generated by the photoelectric sensors 121 are transmitted to the signal acquisition unit 130. The signal acquisition unit 130 acquires the sensing signals detected by each length detection unit 120 and transmits the acquired sensing signals to the control unit 140. The control unit 140 performs judgment and recognition processing on the received sensing signals and then transmits the judgment and recognition results to the surgical robot system 10, thereby realizing automatic recognition at the end of the system.

[0059] The end effector of this invention can be mounted on the robotic arm of a surgical robot to achieve intelligent recognition. It is applicable not only to commonly used single-arm surgical robots with a serial structure, but also to multi-arm master-slave teleoperated surgical robots. The mounting method of this invention eliminates the need for additional image scanning devices, reducing system components and facilitating placement of the equipment in space-constrained operating rooms.

[0060] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An end effector for a surgical robot system, comprising a female end control module and a female end tool module detachably mounted on the female end control module; characterized in that, The female control module has a plurality of positioning holes spaced apart on its end face facing the male tool module, and the male tool module has a plurality of positioning supports spaced apart on its end face facing the female control module for identifying the surgical tool model; when the plurality of positioning supports on the male tool module are inserted into the plurality of positioning holes on the female control module, the female control module identifies the surgical tool model of the male tool module by judging the layout pattern and / or length of the inserted plurality of positioning supports; The mother-end control module includes: The female end housing has a plurality of positioning holes spaced apart on its end face facing the male end tool module; A length detection unit for detecting the length of the positioning support column is installed in each positioning hole of the female end housing; Signal acquisition units installed inside the female end housing and connected to each length detection unit respectively; and A control unit installed inside the female end housing and connected to the signal acquisition unit and the surgical robot system.

2. The end effector for a surgical robot system as described in claim 1, characterized in that, Each length detection unit includes several photoelectric sensors, which are spaced apart along the axial direction in corresponding positioning holes and are respectively connected to the signal acquisition unit.

3. The end effector for a surgical robot system as described in claim 1, characterized in that, Each length detection unit is a displacement sensor installed in the corresponding positioning hole.

4. The end effector for a surgical robot system as described in claim 1, characterized in that, The depth of each positioning hole is equal.

5. The end effector for a surgical robot system as described in claim 1, characterized in that, A drive control button connected to the control unit is provided on the outer peripheral surface of the female end housing.

6. The end effector for a surgical robot system as described in claim 1, characterized in that, A wraparound reminder light strip connected to the control unit is provided on the outer peripheral surface of the female end housing.

7. The end effector for a surgical robot system as described in claim 1, characterized in that, A gap sealing strip is provided at the periphery of the end face of the female end housing facing the male end tool module.

8. The end effector for a surgical robot system as described in claim 7, characterized in that, The gap sealing strip is made of silicone.

9. The end effector for a surgical robot system as described in any one of claims 1 to 8, characterized in that, The sub-end tool module includes: A sub-end housing, wherein the sub-end housing has a plurality of positioning supports spaced apart on its end face facing the mother end control module; and Surgical tools are disposed on the end face of the daughter end housing that is opposite to the mother end control module.

10. The end effector for a surgical robot system as described in claim 9, characterized in that, The positioning pillars on the sub-end tool module identify different surgical tool models through different layout styles and / or lengths; during identification, the surgical tool type is determined by identifying the layout style of the positioning pillars; when the surgical types are the same, different surgical tool models under the same surgical type are determined by identifying the length of the positioning pillars.

11. The end effector for a surgical robot system as described in claim 9, characterized in that, An insulating layer is provided on the end face of the sub-end housing facing the mother end control module, and the plurality of positioning pillars extend outward after passing through the insulating layer.

12. The end effector for a surgical robot system as claimed in claim 11, characterized in that, The insulating layer is made of nylon or PEEK material.

13. The end effector for a surgical robot system as described in claim 9, characterized in that, A fastening assembly for securing the sub-end housing and the mother end housing is provided at the connection between them.

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