A surgical instrument alignment tooling platform and offset angle measurement method

Abstract

The embodiment of the present application provides a surgical instrument alignment tooling platform and a method for measuring an offset angle, wherein the alignment tooling platform includes an adapter, a motor module, a controller and a stopper, wherein: the upper and lower surfaces of the adapter are respectively engaged with the surgical instrument and the motor module; the stopper is provided with a first groove and a second groove, the second groove is located inside the first groove, the inner diameter of the second groove is smaller than the inner diameter of the first groove, and the first groove and the second groove are coaxially arranged; the controller is electrically connected to the motor module. The embodiment of the present application realizes accurate measurement of the offset angle of the surgical instrument.

Description

Technical Field

[0001] The present application relates to the technical field of medical instruments, and in particular to a surgical instrument alignment tooling platform and an offset angle measurement method. Background Art

[0002] With the rapid development of modern medical technology, minimally invasive surgery has increasingly become the dominant form of surgery. Compared with traditional open surgery, minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery, making it a key research direction in the field of surgery. At present, the method of using surgical robots to carry surgical instruments at the end for auxiliary treatment has gradually matured and is widely used in minimally invasive surgery.

[0003] The surgical instrument at the end of the surgical robot is usually an instrument with multiple degrees of freedom of joints, and the driving mechanism controls the degrees of freedom of movement of each joint by rope transmission through traction ropes such as steel wire ropes or tungsten wire ropes. The transmission accuracy is better when the zero position of the driving mechanism is consistent with the zero position of each joint. However, due to the large number of joints and complex structure of surgical instruments, errors are introduced during the assembly of the instruments, and various rope / wire transmission methods produce irreversible elastic deformation after repeated use. The zero position of the joints of the surgical instrument is usually inconsistent with the zero position of the driving mechanism, that is, the surgical instrument has an offset angle. Therefore, pre-measuring the offset angle has become an important step to ensure transmission accuracy and thus ensure surgical safety. In the related art, there is a lack of a device and method that can measure the offset angle of a surgical instrument. Summary of the invention

[0004] In order to solve the problem of measuring the offset angles of different surgical instruments, the present application provides a surgical instrument alignment tooling platform and an offset angle measurement method.

[0005] In a first aspect, an embodiment of the present application provides a surgical instrument alignment tooling platform, the surgical instrument alignment tooling platform comprising an adapter, a motor module, a controller and a limiter, wherein:

[0006] The upper and lower surfaces of the adapter are respectively engaged with the surgical instrument and the motor module;

[0007] The limiting member is provided with a first groove and a second groove, the second groove is located inside the first groove, the inner diameter of the second groove is smaller than the inner diameter of the first groove, and the first groove and the second groove are both coaxially arranged with the instrument axis of the surgical instrument;

[0008] The controller is electrically connected to the motor module.

[0009] In some embodiments, the adapter is provided with a rotating connector, and the motor module is provided with a motor shaft connector. The positions of the motor shaft connector and the rotating connector correspond to each other. The first side of the rotating connector and the motor shaft connector are provided with a matching first clamping component, and the second side of the rotating connector and the docking plate in the instrument box of the surgical instrument are provided with a matching second clamping component.

[0010] In some embodiments, the first fixing component includes a first protrusion and a first slot, the first side of the rotating connector is provided with the first protrusion, and the motor shaft connector of the motor module is provided with the first slot.

[0011] In some embodiments, the second fastening component includes a second protrusion and a second slot, the second protrusion is disposed on the second side of the rotating connector, and the second slot is disposed on the docking plate.

[0012] In some embodiments, a limiting mounting plate is further included, and the limiting member is fixed above the limiting mounting plate.

[0013] In some embodiments, the limiting member is provided with a symmetrical third groove in the horizontal direction outside the first groove, and the limiting member is provided with a threaded hole passing through the third groove in the vertical direction, and a locking screw is passed through the threaded hole.

[0014] In some embodiments, it also includes a clamp, which has a limiting groove, the bottom surface of the limiting groove is a plane, and the side surface is an arc surface. The limiting member is a circular member with a flat bottom. The limiting member is arranged in the limiting groove, and the clamp is fixedly mounted on the limiting mounting plate.

[0015] In some embodiments, a base plate is also included, and the motor module, controller and limit mounting plate are mounted on the base plate, wherein a slide groove is provided at the bottom of the limit mounting plate, and an adjusting screw is passed through the slide groove, and the limit mounting plate is fixed to the base plate through the adjusting screw.

[0016] In some embodiments, a support plate is further included, the support plate is fixed to the base plate, the motor module is arranged above the support plate, and the controller is located between the motor module and the limit member and has a height lower than the surgical instrument of the motor module and the first groove of the limit member.

[0017] In a second aspect, an embodiment of the present application provides a transmission control method for a surgical instrument alignment tooling platform, which is used for the surgical instrument alignment tooling platform in the first aspect, and the method includes:

[0018] Connect the motor module to the adapter and rotate it to zero position;

[0019] Fixing the end of the surgical instrument to the surgical instrument alignment tooling platform, and docking the instrument box of the surgical instrument with the adapter;

[0020] Controlling the motor shaft of the motor module to rotate along a first direction;

[0021] Monitoring whether the motor torque of the motor module increases;

[0022] If the motor torque increases, the surgical instrument offset angle is obtained according to the rotation angle of the motor module.

[0023] In some embodiments, obtaining the offset angle of the surgical instrument according to the rotation angle of the motor module includes: obtaining the offset angle of the surgical instrument according to the rotation angle of the motor module and the transmission error of the surgical instrument.

[0024] In some embodiments, obtaining the offset angle of the surgical instrument according to the rotation angle of the motor module and the transmission error of the surgical instrument includes:

[0025] Controlling the motor shaft of the motor module to rotate along a second direction;

[0026] Determining whether the motor torque of the motor module increases;

[0027] If the motor torque increases, obtaining a second rotation angle of the motor module;

[0028] The offset angle of the surgical instrument is obtained according to an average value of the first rotation angle and the second rotation angle, wherein the first rotation angle is the rotation angle of the motor module before rotating along the second direction.

[0029] In some embodiments, docking the motor module with the adapter and rotating them to a zero position includes:

[0030] Installing the adapter on the motor module and controlling the motor shaft of the motor module to rotate;

[0031] Monitoring whether the motor torque of the motor module increases;

[0032] If the motor torque increases, the motor shaft of the motor module is controlled to drive the adapter to rotate to the zero position.

[0033] The beneficial effects of the surgical instrument alignment tooling platform and offset angle measurement method provided in this application include:

[0034] The surgical instrument alignment tooling platform provided by the present application includes an adapter, a motor module, a controller and a limiter, the upper and lower surfaces of the adapter are respectively engaged with the surgical instrument and the motor module; the limiter includes a first groove and a second groove, which can constrain the joint of the surgical instrument to a zero position state. After the joint of the surgical instrument is constrained to the zero position state, the rotation angle of the docking plate in the instrument box of the surgical instrument is opposite to the offset angle of the joint of the surgical instrument before being constrained to the zero position state, and the offset angle can be measured by controlling the motor module to rotate and engaging the adapter with the instrument box; the surgical instrument offset angle measurement method provided by the present application docks the motor module with the adapter and rotates them to the zero position, so that the zero positions of the motor module and the adapter are consistent, and after the end of the surgical instrument, that is, the joint of the surgical instrument, is fixed to the zero position, by rotating the motor module, when the motor torque increases, the rotation angle of the instrument box in the adapter can be obtained according to the rotation angle of the motor module, and then the offset angle of the joint of the surgical instrument before being constrained to the zero position state can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0036] Figure 1 A schematic structural diagram of a surgical instrument alignment tooling platform is shown in FIG.

[0037] Figure 2 A schematic diagram of docking between a motor module and an adapter is shown as an example;

[0038] Figure 3 A schematic diagram of docking between an instrument box and an adapter is shown in FIG.

[0039] Figure 4 A schematic structural diagram of a position limiting member is shown in FIG.

[0040] Figure 5 A schematic diagram of a method for measuring the offset angle of a surgical instrument is shown in FIG.

[0041] Figure 6 A schematic diagram of a method for docking an adapter with a motor module is shown in FIG.

[0042] Figure 7 A schematic diagram of docking an adapter and a motor module is shown as an example;

[0043] Figure 8 A schematic diagram of an offset angle of a surgical instrument is shown as an example;

[0044] Fig. 9 A schematic diagram of a zero position of a surgical instrument is shown as an example;

[0045] Fig.10 A schematic diagram of a rotation state of a docking plate is exemplarily shown in FIG.

[0046] Fig.11 A schematic flow chart of a method for correcting an offset angle is shown in FIG. DETAILED DESCRIPTION

[0047] In order to make the purpose and implementation method of the present application clearer, the exemplary implementation method of the present application will be clearly and completely described below in conjunction with the drawings in the exemplary embodiments of the present application. Obviously, the described exemplary embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0048] It should be noted that the brief description of terms in this application is only for the convenience of understanding the embodiments described below, and is not intended to limit the embodiments of this application. Unless otherwise specified, these terms should be understood according to their common and usual meanings.

[0049] The terms "first", "second", "third", etc. in the specification and claims of this application and the above drawings are used to distinguish similar or similar objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances.

[0050] The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover but not exclude inclusion, for example, a product or device comprising a list of components is not necessarily limited to all the components expressly listed but may include other components not expressly listed or inherent to such product or device.

[0051] The presently disclosed embodiments will now be described in detail with reference to the accompanying drawings, wherein like reference numerals designate identical or corresponding elements in each of the several views.

[0052] See also Figure 1 , is a schematic diagram of the structure of a surgical instrument alignment tooling platform provided in an embodiment of the present application. Figure 1 As shown, the tooling platform includes an adapter 101 , a motor module 102 , a controller 103 and a limiter 104 .

[0053] In some embodiments, the alignment tooling platform further includes a bottom plate 100 , which may be a rectangular plate for supporting other structures on the tooling platform.

[0054] One surface of the adapter 101, such as the upper surface, is detachably connected to the motor module 102, and the other surface, such as the lower surface, is detachably connected to the instrument box 201 of the surgical instrument. The upper surface of the adapter 101 may refer to the side of the adapter 101 facing the stopper 104, and the lower surface of the adapter may refer to the side of the adapter 101 away from the stopper 104.

[0055] The connection method between the adapter 101 and the motor module 102 can be found in Figure 2 The connection method between the adapter 101 and the instrument box 201 can be found in Figure 3 .

[0056] like Figure 2 As shown, the adapter 101 may be provided with a plurality of rotating connectors 1011, and the positions of the rotating connectors 1011 correspond to the positions of the motor shaft connectors 1021 of the motor module 102. The rotating connectors 1011 and the motor shaft connectors 1021 are connected via a first fixing assembly, such as a snap connection. For example, a first protrusion 10111 is provided on the first side of the rotating connector 1011, and the motor shaft connector 1021 is provided with a first slot 10211, and the first protrusion 10111 matches the first slot 10211. Thus, when the first protrusion 10111 is not embedded in the first slot 10211, the motor shaft connector 1021 can be rotated so that the first protrusion 10111 is embedded in the first slot 10211, thereby completing the assembly of the adapter 101 and the motor module 102. In some embodiments, the first protrusion 10111 may also be disposed on the motor shaft connector 1021 , and correspondingly, the first slot 10211 is disposed on the rotating connector 1011 .

[0057] The motor module 102 is also provided with a surgical instrument slot for accommodating an instrument shaft 202 of a surgical instrument (see Figure 8 ), the adapter 101 and the instrument box 201 are also provided with corresponding slots at positions corresponding to the surgical instrument slots.

[0058] like Figure 3 As shown, the position of the rotating connector 1011 on the adapter 101 also corresponds to the position of the docking plate 2011 of the instrument box 201, and the rotating connector 1011 and the docking plate 2011 are connected by a second fixing component, such as a snap connection. For example, a second protrusion 10112 is provided on the second side of the rotating connector 1011, and the docking plate 2011 is provided with a second slot 20111, and the second protrusion 10112 matches the second slot 20111. Therefore, when the second protrusion 10112 is not embedded in the second slot 20111, the rotating connector 1011 can be rotated so that the two protrusions 10212 can be embedded in the second slot 20111, thereby completing the assembly of the adapter 101 and the instrument box 201.

[0059] In some embodiments, the second protrusion 10112 may also be disposed on the docking plate 2011 , and correspondingly, the second slot 20111 is disposed on the rotating connector 1011 .

[0060] In some embodiments, the number of the first protrusions 10111 on each rotating connector 1011 is 2, and the two first protrusions 10111 and the center of the rotating connector are on a straight line, and the distances to the center of the circle are different. Correspondingly, the second protrusions 10112 on each rotating connector 1011, the first slots 10211 on each motor shaft connector 1021, and the second slots 20111 on the docking plate 2011 also adopt the same distribution method.

[0061] The surgical instrument includes an instrument shaft 202, an instrument head 203 (see Figure 8 ) and an instrument box 201. The instrument box 201 and the instrument head 203 are respectively arranged at the two ends of the instrument axis 202, and one end of the instrument axis 202 is installed in the limiter 104 together with the instrument head 203. The height of the limiter 104 needs to ensure that the instrument axis 202 remains parallel to the base plate, so as to accurately measure the offset angle of the instrument head 203. The controller 103 can be installed on the base plate 100 below the instrument axis 202, and is electrically connected to the motor module 102, and is used to control the motor shaft of the motor module 102 to rotate. In order to ensure that the instrument axis 202 is located above the controller 103, a support plate 107 can be provided at the bottom of the motor module 102, and the support plate 107 is installed on the base plate 100, which can be used to support and fix the motor module 102.

[0062] To ensure that the device axis 202 remains parallel to the base plate, the limiter 104 can be fixed to the base plate 100 through the limiter mounting plate 106, and the limiter 104 can be appropriately raised through the limiter mounting plate 106. Figure 1 As shown, the stopper 104 can also be fixed in the fixture 105, and the fixture 105 is mounted on the stopper mounting plate 106. In some embodiments, the stopper 104 can be slidably connected to the base plate 100, and the sliding direction is parallel to the direction of the instrument axis 202 to adapt to instrument axes 202 of different lengths, wherein a locking device, such as a locking screw, is further provided between the stopper 104 and the base plate 100.

[0063] Figure 1 The structure of the limiter 104 can be seen in Figure 4 ,like Figure 4As shown, the stopper 104 may be provided with a first groove 1041 and a second groove 1042, wherein the first groove 1041 may be a circular groove for passing the instrument shaft 202 of the surgical instrument, and the second groove 1042 may be a square groove for fixing the instrument head 203 of the surgical instrument. The second groove 1042 is located inside the first groove 1041, and the inner diameter of the second groove 1042 is smaller than the inner diameter of the first groove 1041. The first groove 1041 and the second groove 1042 as well as the surgical instrument groove 1022 on the motor module 102 are coaxially arranged, so that the instrument shaft 202 can be parallel to the base plate 100.

[0064] The limit member 104 can be a circular member with a flat bottom f. The clamp 105 is provided with a limit groove for fixing the limit member 104. The bottom surface of the limit groove is a flat surface and the side surface is an arc surface, so that it can fit tightly with the limit member 104 to avoid relative rotation between the limit member 104 and the clamp 105, so as to ensure the accuracy of the offset angle measurement of the instrument head 203.

[0065] In some embodiments, the stopper 104 may further be provided with a symmetrical third groove 1043 in the horizontal direction, and a threaded hole 1044 penetrating the third groove 1043 in the vertical direction. Figure 4 As shown, the third groove 1043 is located outside the first groove 1041 , and a locking screw can be inserted into the threaded hole 1044 to fine-tune the inner diameter of the first groove 1041 , thereby locking the instrument shaft 202 of the surgical instrument in the first groove 1041 .

[0066] The limiting mounting plate 106 includes a top plate, a side plate and a fixed plate, wherein the top plate is parallel to the bottom plate 100, the clamp 105 and the limiting member 104 are both arranged on the top plate, two side plates perpendicular to the bottom plate 100 are symmetrically arranged below the top plate, the side plates support the top plate, and a fixed plate parallel to the bottom plate 100 is arranged at the bottom of the side plates, and the limiting mounting plate 106 is installed on the bottom plate 100 through the fixed plate.

[0067] In some embodiments, a slide groove 1061 parallel to the instrument axis 202 is provided on the fixed plate of the limit mounting plate 106, and a distance adjusting screw 1062 is passed through the slide groove 1061. The limit mounting plate 106 is fixed to the base plate 100 by the distance adjusting screw 1062. By adjusting the position of the distance adjusting screw 1062 in the slide groove 1061, surgical instruments of different lengths can be fixed.

[0068] Using the surgical instrument alignment tooling platform provided in the embodiment of the present application, the method for measuring the offset angle of the surgical instrument can be found in Figure 5 , including the following steps:

[0069] Step S101: dock the motor module with the adapter and rotate to zero position.

[0070] In some embodiments, after the motor module and the adapter are docked, the first slot on the motor shaft connector of the motor module and the first protrusion on the rotating connector of the adapter are exactly engaged with each other, and the motor module and the adapter are assembled. The motor module can be directly rotated to the zero position, and the adapter follows the motor module to rotate to the zero position.

[0071] In some embodiments, after the adapter is installed on the motor module, the first slot on the motor shaft connector of the motor module and the first protrusion on the rotating connector of the adapter may not be correspondingly engaged. Figure 6 The steps shown in the figure, rotating the motor module and the adapter to zero position, include steps S201-S203:

[0072] Step S201: Install the adapter on the motor module, and control the motor shaft of the motor module to rotate.

[0073] In some embodiments, the rotating connector on the adapter may be driven to move by controlling the motor shaft of the motor module to rotate.

[0074] Step S202: monitor whether the motor torque of the motor module increases.

[0075] In some embodiments, see Figure 7 When the adapter is installed on the motor module, the first slot on the motor shaft connector is located at position A, and the first protrusion on the rotating connector on the adapter may be located at position B. Since the rotating connector on the adapter is provided with an extreme position L, when the rotating connector moves to the extreme position L where the first protrusion is located, the rotating connector stops rotating, while the motor shaft continues to rotate. The first protrusion can be embedded into the first slot through the spring connected to the motor shaft connector. At this time, the motor shaft connector can drive the rotating connector of the adapter to move synchronously. Since the rotating connector has moved to the extreme position L, the motor shaft will be blocked at this time, that is, the torque of the motor increases. Therefore, the successful docking of the motor module and the adapter can be determined based on whether the motor torque increases.

[0076] Step S203: If the motor torque increases, control the motor shaft of the motor module to drive the adapter to rotate to zero position.

[0077] In some embodiments, after the motor module is successfully docked with the adapter, the motor module can drive the adapter to rotate to the zero position to facilitate the measurement of the offset angle of the surgical instrument. The zero position can be the middle position between the left and right extreme positions L of the rotating connector of the adapter, or it can also be the initial position of the motor shaft connector before docking with the adapter. When the rotating connector of the adapter is at the zero position, the position of the motor at this time is recorded as its zero position.

[0078] Step S102: fix the end of the surgical instrument to the surgical instrument alignment tooling platform, and dock the instrument box for mounting the surgical instrument with the adapter.

[0079] In some embodiments, see Figure 8 When the docking plate of the instrument box is at zero position, the offset angle of the end of the surgical instrument is θ, and the end of the surgical instrument is fixed in the limiter so that the end of the surgical instrument is constrained to zero position. The zero position state is as follows: Fig. 9 shown.

[0080] The zero position of the docking tray of the instrument box is the position of the instrument box when the line connecting the two second slots on the docking tray is parallel to the width direction of the instrument box, wherein, see Figure 1 to Figure 3 The instrument box, the adapter and the motor module have the same width direction, which is parallel to the base plate and perpendicular to the instrument axis. The instrument box, the adapter and the motor module have the same length direction, which is perpendicular to the base plate. Figure 3 In the figure, the docking plates at the center and lower right positions of the instrument box are at zero position, and the docking plates at the upper left, lower left and upper right positions of the instrument box are not at zero position.

[0081] Step S103: controlling the motor shaft of the motor module to rotate along a first direction.

[0082] In some embodiments, since the joint between the docking plate of the instrument box and the instrument head is directly driven, when the end of the surgical instrument is constrained to the zero position, the offset angle of the docking plate of the instrument box relative to the zero position is -θ. To measure the offset angle θ, the motor shaft of the motor module can be controlled to rotate in a first direction. The first direction can be counterclockwise and set to a positive direction.

[0083] Step S104: monitoring whether the motor torque of the motor module increases.

[0084] In some embodiments, the motor module rotates along a first direction starting from a zero position (Zero_Pos), and before the second protrusion is embedded in the second slot, since the adapter has not been properly matched with the instrument box, the motor module can only drive the adapter to rotate, but cannot drive the instrument box to rotate, and the motor torque remains constant. At this time, since the joint between the instrument head and the instrument shaft of the surgical instrument cannot move, accordingly, the docking plate of the instrument box is in a locked state; and when the second protrusion is embedded in the second slot, that is, the adapter and the instrument box are matched in place, the motor module will drive the adapter and the instrument box to rotate; since the docking plate of the instrument box is still in a locked state, at this time, the torque of the motor shaft of the motor module will increase.

[0085] Step S105: If the motor torque increases, the surgical instrument offset angle is obtained according to the rotation angle of the motor module.

[0086] In some embodiments, if the motor torque increases, it indicates that the adapter and the instrument box are properly matched. At this time, the rotation angle OffSet1 of the motor shaft along the first direction relative to the zero position can be obtained by obtaining the encoder reading Add_Pos1 of the motor. This rotation angle can be called the first rotation angle.

[0087] If: Add_Pos1<π, then: OffSet1=Add_Pos1; if: Add_Pos1≥π, then: OffSet1=-(2π-Add_Pos1).

[0088] In some embodiments, the first rotation angle can be quickly determined as an offset angle of the surgical instrument.

[0089] In some embodiments, since the joints of the surgical instrument are driven by ropes, and the transmission ropes, such as tungsten wire ropes, have certain elasticity and flexibility, there is a certain transmission error between the first rotation angle and the offset angle of the surgical instrument. A more accurate offset angle of the surgical instrument can be obtained based on the first rotation angle and the transmission error.

[0090] In some embodiments, methods for improving the accuracy of the offset angle can be found in Fig.10 , Fig.11 , including the following steps:

[0091] Step S301: controlling the motor shaft of the motor module to rotate along a second direction.

[0092] In some embodiments, since the joints of the surgical instrument are driven by ropes, the transmission ropes, such as tungsten wire ropes, have a certain elasticity and flexibility, and the motor of the motor module is reversely driven to rotate the motor shaft in the second direction. The motor shaft will move a relatively small angle, and the offset angle of the joints of the surgical instrument will still not change. However, since the docking plate of the instrument box is still in a locked state, the motor shaft cannot rotate after moving a small angle, and the motor torque will increase at this time. The second direction is clockwise and is set to the negative direction.

[0093] Step S302: Determine whether the motor torque of the motor module increases.

[0094] In some embodiments, during the process of the motor shaft of the motor module rotating along the second direction, the motor torque can be monitored to determine whether the motor torque increases.

[0095] Step S303: If the motor torque increases, obtain a second rotation angle of the motor module.

[0096] In some embodiments, if the motor torque increases, the encoder value Add_Pos2 may be recorded to obtain a rotation angle OffSet2 of the motor shaft relative to the zero position along the first direction, which may be referred to as a second rotation angle.

[0097] Similarly, if: Add_Pos2<π, then: OffSet2=Add_Pos2; if: Add_Pos2≥π, then: OffSet2=-(2π-Add_Pos2).

[0098] Step S304: obtaining the offset angle of the surgical instrument according to the average value of the first rotation angle and the second rotation angle.

[0099] In some embodiments, the average of the first rotation angle and the second rotation angle may be determined as the offset angle θ of the surgical instrument:

[0100] θ=(OffSet1+OffSet2) / 2

[0101] The offset angle takes into account the transmission error of the transmission rope and is more accurate than the first rotation angle.

[0102] In some embodiments, the offset angle may be obtained by other calculation methods based on the first rotation angle and the second rotation angle, such as obtaining the offset angle by weighted calculation.

[0103] As can be seen from the above embodiments, the surgical instrument alignment tooling platform provided by the present application has a rotating connector and a motor shaft connector at corresponding positions of the adapter and the motor module, and matching clamping components are respectively provided on both sides of the rotating connector and the motor shaft connector and the docking plate of the instrument box of the surgical instrument, so that the adapter, the motor module and the instrument box can both perform relative movement and synchronous movement, and the limit member includes a first groove and a second groove, which can constrain the joint of the surgical instrument to a zero position state, and the surgical instrument is installed on the instrument box and synchronously drives with the docking plate in the instrument box. After the joint of the surgical instrument is constrained to the zero position state, the rotation angle of the docking plate in the instrument box is the same as the offset angle of the joint of the surgical instrument before being constrained to the zero position state, and the direction is opposite, and the offset angle can be measured by controlling the motor module to rotate so that the adapter and the instrument box are clamped and connected; the surgical instrument provided by the present application The positioning tooling platform, the limit piece can adjust the locking force of the instrument axis of the surgical instrument through the locking screw, and the limit mounting plate can adjust the position with the motor module through the distance adjusting screw, which can adapt to the measurement of the offset angle of surgical instruments of different types, systematize the offset angle detection of surgical instruments, realize the collaborative detection of multiple instruments, and have high detection efficiency; the surgical instrument offset angle measurement method provided in the present application docks the motor module with the adapter and rotates them to the zero position, so that the zero position of the motor module is consistent with the zero position of the adapter, and after the end of the surgical instrument, that is, the joint of the surgical instrument, is fixed to the zero position, the offset angle of the surgical instrument joint can be preliminarily measured by rotating the motor module forward, and the offset angle can be corrected based on the transmission error, thereby improving the accuracy of the offset angle measurement; it is beneficial for the surgical instrument to ensure the standard position state before the operation, and provides an important guarantee for the precise operation of multi-joint instruments during the operation.

[0104] Since the above embodiments are all described by citing and combining with other embodiments, different embodiments have the same parts, and the same and similar parts between the embodiments in this specification can be referred to each other. No further detailed description is given here.

[0105] The above implementation modes of the present application do not constitute a limitation on the protection scope of the present application.

Claims

1. A surgical instrument alignment tooling platform, characterized in that: The surgical instrument comprises an instrument shaft, and an instrument head and an instrument box located at both ends of the instrument shaft. A docking plate is arranged in the instrument box. The docking plate and the instrument head are directly driven. The surgical instrument alignment tooling platform comprises an adapter, a motor module, a controller and a limiter, wherein: The upper and lower surfaces of the adapter are respectively engaged with the motor module and the instrument box, and the lower surface of the adapter is provided with a rotating connector for clamping with the docking plate; The limiting member is provided with a first groove and a second groove, the second groove is located inside the first groove, the inner diameter of the second groove is smaller than the inner diameter of the first groove, the first groove and the second groove are coaxially arranged, one end of the instrument shaft together with the instrument head is installed in the limiting member, and the instrument shaft is inserted in the first groove, and the instrument head is fixed at zero position in the second groove, so that the docking plate of the instrument box is in a locked state; The controller is electrically connected to the motor module, and is configured to: control the rotation of the motor module, and when an increase in the motor torque of the motor module is detected, it indicates that the rotating connector and the docking plate are matched in place, and obtain the surgical instrument offset angle according to the rotation angle of the motor module.

2. The surgical instrument alignment tooling platform according to claim 1, characterized in that: The motor module is provided with a motor shaft connecting piece, the positions of the motor shaft connecting piece and the rotating connecting piece correspond to each other, the first side of the rotating connecting piece and the motor shaft connecting piece are provided with a matching first clamping component, and the second side of the rotating connecting piece and the docking plate in the instrument box of the surgical instrument are provided with a matching second clamping component.

3. The surgical instrument alignment tooling platform according to claim 2, characterized in that: The first fixing component includes a first protrusion and a first slot. The first side of the rotating connector is provided with the first protrusion, and the motor shaft connector of the motor module is provided with the first slot.

4. The surgical instrument alignment tooling platform according to claim 2, characterized in that: The second fastening assembly includes a second protrusion and a second slot. The second side of the rotating connector is provided with the second protrusion, and the docking plate is provided with the second slot.

5. The surgical instrument alignment tooling platform according to claim 1, characterized in that: It also includes a limit installation plate, and the limit member is fixed above the limit installation plate.

6. The surgical instrument alignment tooling platform according to claim 5, characterized in that: The limiting member is provided with a symmetrical third groove in the horizontal direction outside the first groove, and the limiting member is provided with a threaded hole penetrating the third groove in the vertical direction, and a locking screw is passed through the threaded hole.

7. The surgical instrument alignment tooling platform according to claim 5, characterized in that: It also includes a clamp, which has a limiting groove, the bottom surface of the limiting groove is a plane, and the side surface is an arc surface. The limiting member is a circular member with a flat bottom. The limiting member is arranged in the limiting groove, and the clamp is fixedly mounted on the limiting mounting plate.

8. The surgical instrument alignment tooling platform according to claim 5, characterized in that: It also includes a base plate, and the motor module, controller and limit mounting plate are mounted on the base plate, wherein a slide groove is provided at the bottom of the limit mounting plate, and an adjusting screw is passed through the slide groove, and the limit mounting plate is fixed to the base plate through the adjusting screw.

9. The surgical instrument alignment tooling platform according to claim 8, characterized in that: It also includes a support plate, which is fixed to the base plate. The motor module is arranged above the support plate. The controller is located between the motor module and the limiter and has a height lower than the surgical instrument slot of the motor module and the first groove of the limiter.

10. A method for measuring the offset angle of a surgical instrument, characterized in that: The surgical instrument alignment tooling platform used in any one of claims 1 to 9 comprises: Connect the motor module to the adapter and rotate it to zero position; Fixing the end of the surgical instrument to the surgical instrument alignment tooling platform, and docking the instrument box of the surgical instrument with the adapter; Controlling the motor shaft of the motor module to rotate along a first direction; Monitoring whether the motor torque of the motor module increases; If the motor torque increases, the surgical instrument offset angle is obtained according to the rotation angle of the motor module along the first direction.

11. The method for measuring the offset angle of a surgical instrument according to claim 10, characterized in that: The step of docking the motor module with the adapter and rotating them to zero position includes: Installing the adapter on the motor module and controlling the motor shaft of the motor module to rotate; Monitoring whether the motor torque of the motor module increases; If the motor torque increases, the motor shaft of the motor module is controlled to drive the adapter to rotate to the zero position.

Images