Puncture device, surgical robot and method for performing surgery thereon

Abstract

One embodiment of the present application provides a puncture device for puncturing a surgical site on the body, wherein the puncture device is connected to a position sensor, and the position sensor is used to sense and output the position information of the puncture device. Since the puncture device is provided with a position sensor, the position of the puncture device naturally sagging after puncturing the human skin can be obtained. Another embodiment of the present application provides a surgical robot and a method for performing surgery thereon, wherein the position sensor feeds back the acquired puncture device position information to a processor, and the processor outputs a corresponding electrical signal based on the position information and feeds back to the robotic arm, and the robotic arm moves to a position coupled to the puncture device based on the feedback electrical signal so that the end effector of the surgical instrument is at the same horizontal line as the puncture device and passes through the puncture device into the body to perform surgery.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and in particular to a puncture device, a surgical robot, and a method for performing surgery using the same. Background Art

[0002] Minimally invasive surgery refers to a procedure performed inside the human body using modern medical devices such as laparoscopes and thoracoscopes. Compared to traditional surgical methods, minimally invasive surgery offers advantages such as less trauma, less pain, and faster recovery.

[0003] With the advancement of science and technology, minimally invasive surgical robotics have gradually matured and are widely used. Minimally invasive surgical robots typically include a master console and a slave device. The master console is used to send control commands to the slave device based on the doctor's operation to control the slave device. The slave device is used to respond to the control commands sent by the master console and perform the corresponding surgical operation. The surgical instrument is connected to the drive device of the slave device, such as a robotic arm, to perform the surgical operation. The surgical instrument may include an end effector for performing the surgical operation and a puncture device pre-prepared for puncturing the surgical site in the body.

[0004] Because human skin is flexible, the trocar naturally sags after insertion, forming an angle. Existing trocars and the end effector on the robotic arm must be adjusted multiple times before insertion into the body cavity. This results in low surgical efficiency, long patient wait times, and increased burdens on both doctors and patients. Summary of the Invention

[0005] Based on this, in order to solve the above problems, the present application provides a puncture device, a surgical robot and a method for performing surgery therewith.

[0006] A first aspect of an embodiment of the present application provides a puncture device for puncturing a surgical site on the body. The puncture device is connected to a position sensor, which is used to sense and output position information of the puncture device.

[0007] In a specific embodiment, the position sensor is a gyroscope. The gyroscope is an active sensor. In other embodiments, the gyroscope can also be replaced by a magnetic sensor.

[0008] In another specific embodiment, the position sensor is a triboelectric nanogenerator. A triboelectric nanogenerator is a passive sensor, that is, it does not require an external power supply and is a self-powered sensing device.

[0009] A second aspect of an embodiment of the present application also provides a puncture device for puncturing a surgical site on the body. The puncture device is provided with a position sensor, which is used to sense and output position information of the puncture device. The position sensor includes a first friction nanogenerator arranged at a first position of the puncture device, a second friction nanogenerator arranged at a second position of the puncture device, and a sphere that can roll between the first position and the second position to trigger the first and second friction nanogenerators to generate electricity respectively. The time difference between the first and second friction nanogenerators generating electrical energy is used to calibrate the tilt position information of the puncture device.

[0010] In a specific embodiment, a ball falling track is provided between the first triboelectric nanogenerator and the second triboelectric nanogenerator, and when the ball falls, it pushes the first triboelectric nanogenerator and the second triboelectric nanogenerator to generate electricity respectively.

[0011] In a preferred embodiment, a releaser is provided on the outer wall of the puncture body corresponding to the first position, the releaser surrounds the puncture body, and multiple first friction nanogenerators are provided at intervals on the releaser. Multiple second friction nanogenerators are provided on the outer wall of the puncture body corresponding to the second position. The sphere and the sphere falling track each include multiple spheres, wherein one sphere, one falling track, one first friction nanogenerator and one second friction nanogenerator form a working group.

[0012] Preferably, the releaser (first friction nanogenerator) is arranged above the puncture body, and the second friction nanogenerator is arranged below the puncture body. The distance between them, that is, the track length of the sphere falling track, can be between 10-30 mm.

[0013] In a specific embodiment, each of the first and second friction nanogenerators is composed of a first friction pair and a second friction pair, respectively. When the sphere falls along the sphere falling track, each of the first friction pair and the second friction pair generates electrical energy through friction.

[0014] In a specific embodiment, it further includes a sphere falling plane, the releaser is rotatable, the releaser forms a sphere releasing plane, the sphere falling track connects the sphere releasing plane and the sphere falling plane, when the releaser rotates, the sphere pushes the first friction pair of the first friction nanogenerator to rub against the second friction pair, when the sphere falls to the sphere falling plane, the sphere falling plane pushes the first friction pair of the second friction nanogenerator to rub against the second friction pair through the connecting rod.

[0015] In a preferred embodiment, the ball falling trajectory is in a shape that radiates outward from the ball release plane to the ball falling plane, and the outward radiation angle is an acute angle, preferably between 3-10 degrees.

[0016] In a specific embodiment, the ball falling plane is connected to the outer wall of the puncture device body through a spring.

[0017] In a specific embodiment, each of the first and second friction pairs is composed of a polymer film and a conductive metal layer, respectively. When each first friction pair rubs against the corresponding second friction pair, the polymer film of the first friction pair slides against the polymer film of the corresponding second friction pair. The polymer film is made of a polymer material having a significant difference in electron gain and loss capabilities. The conductive metal layer is made of a metal material. For example, the polymer material is selected from one or a combination of polyimide, polytetrafluoroethylene, polyethylene terephthalate, and polydimethylsiloxane. The conductive metal is selected from one or an alloy of copper or aluminum.

[0018] The second aspect of the present application provides a surgical robot, which includes a robotic arm, a surgical instrument driven by the robotic arm, and a puncture device for puncturing a surgical location on the body. The surgical instrument has an end effector, and the puncture device is connected to a position sensor. The position sensor is used to sense the position of the puncture device and feed back the acquired puncture device position information to a processor. The processor outputs a corresponding electrical signal based on the position information and feeds it back to the robotic arm. The robotic arm moves to a position coupled with the puncture device based on the feedback electrical signal so that the end effector of the surgical instrument is at the same horizontal line as the puncture device and passes through the puncture device to enter the body for surgery.

[0019] A third aspect of the present application provides a method for performing surgery with a surgical robot, comprising:

[0020] Puncture a surgical site in the body using a puncture device connected to a position sensor, wherein the position sensor is used to sense and output position information of the puncture device;

[0021] Using a processor to receive the position information of the puncture device output by the position sensor and output a corresponding electrical signal;

[0022] A method of performing surgery using a robotic arm to drive the end effector of a surgical instrument, wherein the robotic arm receives an electrical signal output by the processor and moves to a position coupled to the puncture device according to the electrical signal, so that the end effector of the surgical instrument is at the same horizontal line as the puncture device and passes through the puncture device into the body to perform surgery.

[0023] The puncture device, surgical robot and method for performing surgery thereof of the present application have at least the following beneficial effects: the puncture device is provided with a position sensor, so that the position where the puncture device naturally droops after puncturing the human skin can be obtained, so that the surgical robot can drive the robotic arm to move to a position coupled with the puncture device, so that the surgical robot robotic arm and the puncture device are easily at the same horizontal line before the surgical instrument is inserted into the human cavity. Then the doctor passes the surgical instrument through the puncture device, and the robotic arm can drive the surgical instrument to perform the operation. The puncture device of the present application shortens the adjustment period of the doctor inserting the instrument, reduces the time spent by the doctor and the patient in the early preparation, and improves the surgical experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of a surgical robot provided in an embodiment of the present application.

[0025] Figure 2 This is a schematic structural diagram of the trocar according to the first embodiment of the present application;

[0026] Figure 3 This is a schematic structural diagram of the trocar according to the second embodiment of the present application;

[0027] Figure 4 for Figure 3 a schematic top view of the interior of the

[0028] Figure 5 for Figure 4 A schematic diagram of the expanded structure of

[0029] Figure 6 for Figure 5 Schematic diagram of the power generation principle of a triboelectric nanogenerator;

[0030] Figure 7 yes Figure 4 A schematic diagram showing the positional relationship between the sphere, the sphere release plane, the sphere falling trajectory and the sphere falling plane when the trocar is in a vertical state;

[0031] Figure 8 yes Figure 4 A schematic diagram of the principle of the positional relationship between the sphere, the sphere release plane, the sphere falling trajectory and the sphere falling plane when the puncture device is in a tilted state.

[0032] The components in the figure are numbered as follows:

[0033] From the operating device 10, robotic arm 11, instrument 12, puncture device 13, position sensor 14, processor 15, electrical signal receiving device 16, puncture device body 131, releaser 132, handle 133, wire cover 134, rolling window 140, first friction nanogenerator 141, second friction nanogenerator 142, sphere 143, sphere falling track 144, first friction pair 145, second friction pair 146, sphere falling plane 147, sphere release plane 149, connecting rod 148, spring 150, polymer film 151, conductive metal layer 152. DETAILED DESCRIPTION

[0034] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0035] It should be noted that when an element is referred to as being "disposed on" another element, it may be directly on the other element or there may also be a central element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a central element at the same time. When an element is considered to be "coupled" to another element, it may be directly coupled to the other element or there may be a central element at the same time. The so-called "engagement" herein refers to a connection in which two elements have power transmission. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions used herein are for illustrative purposes only and are not intended to be the only embodiment. It should be understood that these spatially related terms are intended to cover different orientations of the device in use or in operation in addition to the orientations depicted in the accompanying drawings. For example, if the device is flipped in the accompanying drawings, the elements or features described as being "below" or "beneath" other elements or features will be oriented "above" other elements or features. Therefore, the example term "below" can include both above and below orientations.

[0036] The terms "distal end" and "proximal end" as used herein are directional terms commonly used in the field of interventional medical devices, where "distal end" refers to the end away from the operator during surgery, and "proximal end" refers to the end close to the operator during surgery. "Coupled" as used herein can be broadly understood as any event in which two or more objects are connected in a manner that allows the absolutely coupled objects to operate together, such that there is no relative movement between the objects in at least one direction, such as a coupling of a protrusion and a groove, which can move relative to each other in the radial direction but not in the axial direction.

[0037] The term "instrument" is used herein to describe a medical device for insertion into a patient's body and for performing a surgical or diagnostic procedure, the instrument comprising an end effector, which may be a surgical tool for performing a surgical procedure, such as an electrocautery device, a clamp, a stapler, a shears, an imaging device (such as an endoscope or ultrasound probe), and the like. The end effector may also provide an articulated component (such as a joint assembly) so that the position and orientation of the end effector can be manipulated and moved with one or more mechanical degrees of freedom relative to the instrument axis. Further, the end effector includes functional mechanical degrees of freedom, such as opening and closing clamps. The instrument may also include stored information that can be updated by the surgical system, whereby the storage system may provide one-way or two-way communication between the instrument and one or more system components. The surgical instrument of the present application further uses a puncture device for puncturing a body, such as a surgical site on the human body.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The terms "and / or" and "and / or" as used herein include any and all combinations of one or more of the associated listed items.

[0039] The surgical robot of one embodiment of the present application is as follows Figure 1 As shown, the surgical robot includes a slave operating device 10 and a master operating device (not shown in the figure), wherein the slave operating device 10 is located on the patient's side for performing surgical operations, wherein the slave operating device 10 includes a plurality of robotic arms 11 and surgical instruments 12 mounted on the robotic arms 11. The robotic arms 11 are configured to be supported by a plurality of large arms. In some other embodiments, the robotic arms 11 of the slave operating device 10 can also be mounted on a wall or ceiling. The surgical instrument 12 includes an end effector, which can be an electric cauterizer, clamp, stapler, shears, etc. for performing surgical operations, or a camera for acquiring images or other surgical instruments.

[0040] The surgical robot typically also includes an imaging system portion (not shown) that enables the operator to observe the surgical site from outside the patient's body. The imaging system typically includes a surgical instrument 12 with a video image acquisition function (e.g., an image acquisition function) and one or more video display devices for displaying the acquired images. Generally, the surgical instrument 12 with image acquisition function includes an optical device with one or more imaging sensors (e.g., CCD or CMOS sensors) that will acquire images inside the patient's body. The one or more imaging sensors can be placed at the distal end of the surgical instrument 12 with image acquisition function, and the signals generated by the one or more sensors can be transmitted along a cable or wirelessly to be processed and displayed on a video display device.

[0041] The master operating device (not shown) is located on the side of the doctor operator. The master operating device is used to send control commands to the slave operating device 10 and display the images obtained from the slave operating device 10 according to the operator's operation. The operator can observe the three-dimensional stereoscopic imaging of the patient's body provided by the imaging system through the master-slave operating device 20. By observing the three-dimensional images inside the patient's body, the operator can control the slave operating device 10 to perform related operations (such as performing surgery or obtaining images inside the patient's body) by operating the master operating device in an immersive way.

[0042] The embodiment of the surgical robot of the present application further uses a puncture device 13 for pre-puncturing the body, such as the surgical site of the human body, and the end effector of the surgical instrument 12 passes through the puncture device 13 to perform the surgery. In particular, the puncture device 13 provided in the embodiment of the present application is connected to a position sensor 14 (see Figure 2-3 ), the position sensor 14 is used to sense and output the position information of the puncture device 13.

[0043] Please refer to Figure 2In the first embodiment of the present application, the position sensor 14 is fixedly connected to the outer wall of the puncture device 13 and is a gyroscope. The gyroscope is an active motion sensor that can be powered by an external power supply. Since human skin is flexible, the puncture device 13 will naturally sag after being inserted into the human body, forming an inclination angle. When the puncture device 13 naturally sags to a certain position after being inserted into the human body, the gyroscope will self-adjust to keep the rotor in the gyroscope in its original balance. Its own angular motion information can reflect the inclination of the puncture device 13. When the puncture device 13 is at a certain angle to the horizontal plane, the gyroscope will sense the inclination of the puncture device 13 and output the obtained inclination position information. In this way, the position information of the puncture device 13 after sagging can be known. The electrical signal output by the position sensor 14 for the position information of the puncture device 13 can be received by a processor 15, or first passed through an electrical signal receiving device 16 and then transmitted to the processor 15, and then processed by the processor 15 and transmitted to the robot's mechanical arm 11. The mechanical arm 11 receives the electrical signal output by the processor 15 and moves to a position coupled with the puncture device 13 according to the electrical signal, so that the end effector of the surgical instrument 12 is at the same horizontal line as the puncture device 13 and passes through the puncture device 13 to enter the body for surgery.

[0044] See also Figure 3 In a second embodiment of the present application, the position sensor 14 is a self-powered sensing device, i.e., not powered by an external power source, and is a triboelectric nanogenerator. Specifically, the puncture device 13 includes a puncture device body 131 and a releaser 132 disposed at a first position within the outer wall of the puncture device body 131. The position sensor 14 includes a first triboelectric nanogenerator 141 and a second triboelectric nanogenerator 142. The first triboelectric nanogenerator 141 is disposed within the releaser 132, and the second triboelectric nanogenerator 142 is disposed at a second position within the outer wall of the puncture device body 131. The position of the releaser 132, i.e., the position of the first triboelectric nanogenerator 141 and the position of the second triboelectric nanogenerator 142, is spaced a certain distance apart. The time difference between the first and second triboelectric nanogenerators 141 and 142 generating electrical energy can be used to calibrate the tilt position information of the puncture device 13.

[0045] Please also refer to Figure 4 and Figure 5 Specifically, the position sensor 14 further includes a sphere 143. A sphere drop track 144 is provided between the first and second triboelectric nanogenerators 141, 142. When the sphere 143 falls, it pushes the first and second triboelectric nanogenerators 141, 142 to generate electricity. In this embodiment, the sphere 143 is an iron sphere.

[0046] In a preferred embodiment, the releaser 132 can surround the upper position of the puncture body 131, and the releaser 132 is provided with multiple first friction nanogenerators 141 at intervals, and the lower position of the puncture body 131 is provided with multiple second friction nanogenerators 142 at intervals. The sphere 143 and the sphere falling track 144 each include multiple, wherein one sphere 143, one falling track 144, one first friction nanogenerator 141 and one second friction nanogenerator 142 form a working group.

[0047] Specifically, each of the first and second friction nanogenerators 141 , 142 is composed of a first friction pair 145 and a second friction pair 146 , respectively. When the sphere 143 falls along the sphere falling track 144 , each of the first friction pair 145 and the second friction pair 146 generates electrical energy through friction.

[0048] In this embodiment, the releaser 132 is rotatable relative to the puncture device body 131 and forms a sphere release plane 149. The position sensor 14 further includes a sphere drop plane 147. The sphere drop track 144 connects the sphere release plane 149 and the sphere drop plane 147. When the releaser 132 rotates, the sphere 143 pushes the first friction pair 145 of the first triboelectric nanogenerator 141 to rub against the second friction pair 146. When the sphere 143 falls onto the sphere drop plane 147, the sphere drop plane 147 pushes the first friction pair 145 of the second triboelectric nanogenerator 142 to rub against the second friction pair 146 via the connecting rod 148.

[0049] Specifically, the releaser 132 can be provided with a handle 133 to facilitate the doctor to rotate the releaser 132 by holding the handle 133. Before the releaser 132 rotates, the sphere 143 is in the initial position of the sphere release plane 149. In this initial position, the sphere 143 is located between two adjacent first triboelectric nanogenerators 141. More specifically, the sphere 143 is located between the second friction pair 146 of one first triboelectric nanogenerator 141 and the first friction pair 145 of an adjacent first triboelectric nanogenerator 141.

[0050] When the handle 133 rotates the releaser 132, the ball 143 pushes the first friction pair 145 of the first triboelectric nanogenerator 141 toward the second friction pair 146, generating friction and generating electricity. When the first friction pair 145 of the first triboelectric nanogenerator 141 moves toward the second friction pair 146, a ball 143 rolling window 140 is formed between two adjacent first triboelectric nanogenerators 141. The ball 143 rolls along the ball falling track 144 to the ball falling surface 147. Gravity pushes the ball falling surface 147 downward, pushing the connecting rod 148, which connects to the first friction pair 145 of the second triboelectric nanogenerator 142. This causes the first friction pair 145 of the second triboelectric nanogenerator 142 to move toward the second friction pair 146, generating friction and generating electricity. As the ball 143 rolls from the upper position of the puncture device 13 to the lower position along the ball falling track 144, the mechanical energy of the falling process is converted into electrical energy. The first and second triboelectric nanogenerators 141 and 142 generate electrical energy at different times. This time difference can be used to calibrate the tilt angle information of the puncture device 13. The track length of the ball falling track can be 10-30 mm, for example, 15 mm.

[0051] Please refer again Figure 4 During implementation, the number of first and second triboelectric nanogenerators 141, 142 can be selected based on the outer diameter of the puncture device 13. A greater number of first and second triboelectric nanogenerators 141, 142 provide more accurate measurement results. Fewer first and second triboelectric nanogenerators 141, 142 provide a larger area per unit, generating greater charge and facilitating signal reception. Since the space within the puncture device 13 is constant, the number of first and second triboelectric nanogenerators 141, 142 must strike a balance between monitoring accuracy and signal reception. For a puncture device with a diameter of 26 mm, for example, twelve first triboelectric nanogenerators 141 can be evenly spaced along the upper circumference, while twelve second triboelectric nanogenerators 142 can be evenly spaced along the lower circumference. This ensures both relatively accurate positioning and high signal reception.

[0052] Please also refer to Figure 7 and Figure 8 Preferably, the ball falling track 144 is in an outward radiating shape from the ball release plane 149 to the ball falling plane 147, and the outward radiating angle θ (i.e. the angle θ between the ball falling track 144 and the vertical line) is an acute angle, preferably between 3-10 degrees. Due to the different angles θ, the ball 143 falls (see Figure 7 and Figure 8The time for the sphere 143 to contact the different sphere falling planes 147 can be different according to the order of the electrical signal feedback of the friction pairs of different second friction nanogenerators 142. The relative vertical state of the puncture device 13 after insertion into the surgical site of the body or the tilt angle relative to the surgical site of the body can be calibrated by the difference between the falling time and the release time. In specific implementation, all spheres 143 can have exactly the same mass. The more perpendicular the angle of the sphere falling track 144 is to the belly of the surgical body, the greater the gravitational potential energy in the vertical direction and the faster the falling speed. Specifically, if the signal interval between a pair of first and second friction nanogenerators 141, 142 is shorter, it means that the sphere falling track 144 corresponding to the sphere 143 is more perpendicular to the ground (belly) (such as Figure 7 If the signal interval between the first and second triboelectric nanogenerators 141 and 142 is longer, the falling trajectory 144 of the sphere 143 tends to be parallel to the ground (e.g. Figure 8 if that set of friction nanogenerators does not generate a signal, it means that the puncture device 13 is parallel to the ground, or inverted, thus generating a signal representing the position information of the posture of the puncture device 13.

[0053] For example, at time a, the operator rotates the release ring 132, and the electrical signal receiving device 16 records the time. The sphere 132 falls from the first triboelectric nanogenerator 141. At time b1, it reaches the sphere's falling plane 147 closest to 90 degrees relative to the ground (i.e., the angle θ between the sphere's falling trajectory 144 and the vertical is closest to 0 degrees), triggering the first triboelectric nanogenerator 142 to generate electricity. At time b2, it reaches the sphere's falling plane 147 closest to 90 degrees relative to the ground, and so on. Subtracting a from b1 yields the total sphere's falling time, H1. Since each sphere's falling trajectory has the same operating conditions and mass, differing only in its angle relative to the ground (belly), H1 can be calibrated with the trajectory angle using previous data to determine the trajectory's angle relative to the ground. Subtracting a from b2 yields H2, and the calculation method for the times and corresponding angles for the spheres H3 and other trajectories is the same as above. After calculating the angles for each trajectory, a computer fit can be used to determine the overall angle of the puncture device. That is, in an actual robot application, the processor 15 can set a judgment table, and the data in the table can be statistically obtained through the previous drop tests at various angles, for example, how long the interval represents a specific tilt angle value.

[0054] In a possible variant embodiment, the number of the first friction nanogenerator 141 can also be only one. Because when the releaser 132 releases the ball 143, multiple first friction nanogenerators 141 also work simultaneously. Therefore, the number of the first friction nanogenerator 141 can also be only one. The one first friction nanogenerator 141 can be arranged in a ring shape, and multiple balls 143 trigger the first friction nanogenerator 141 to generate electricity. In this case, multiple second friction nanogenerators 142 can be retained.

[0055] In another possible variant embodiment, the number of the first and second triboelectric nanogenerators 141 and 142 can also be set to one. In this case, the ball falling plane 147 can be set to a ring-shaped channel for the ball to roll. The time it takes for the ball 143 to roll to the second triboelectric nanogenerator 142 can be mapped to the tilt posture or specific angle information from the table.

[0056] After the electrical signals from the first and second triboelectric nanogenerators 141 and 142 are transmitted to the electrical signal receiving device 16, the device records them as the start and end times, respectively. The electrical signal receiving device 16 then transmits the time of signal reception to the processor 15. By calculating the difference between the start and end times, the processor 15 can calibrate the position of the puncture device 13. After the processor 15 feeds this position information back to the controller of the robotic arm 11, the robotic arm 11 can synchronously move the surgical instrument 12 to a plane coaxial with the puncture device 13. The surgeon only needs to push the end effector of the surgical instrument 12 forward to insert it through the puncture device 13 into the human body.

[0057] Please refer again Figure 5 and Figure 6 The ball-falling surface 147 can be connected to the outer wall of the trocar 13 via a spring 150. As the ball 143 rolls down, it pushes down on the ball-falling surface 147, and the spring 150 helps the ball-falling surface 147 return to its original position. After the procedure is completed, the trocar 13 is removed from the body and disconnected from the electrical signal receiving device 16. The trocar 13 is shaken to return the ball 143 to its original position, and the release mechanism 132 is rotated. The spring 150 pushes the ball-falling surface 147 back to its original position, allowing the trocar to be reused for the next procedure.

[0058] The first friction pair 145 of each first and second triboelectric nanogenerators 141, 142 is formed by stacking a polymer film 151 and a conductive metal layer 152. The second friction pair 146 of each first and second triboelectric nanogenerators 141, 142 is formed by stacking a polymer film 153 and a conductive metal layer 154. When the first and second friction pairs 145, 146 rub against each other, sliding friction occurs between the polymer film 151 of the first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146. In relatively small spaces, the polymer film 151 of each first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146 can be positioned adjacent to each other. Alternatively, before the releaser 132 rotates, the polymer film 151 of each first friction pair 145 and the polymer film 151 of the corresponding second friction pair 146 can be close to each other but not in contact, or only slightly in contact. During friction, the two polymer films 151 fully contact, generating sliding friction.

[0059] The polymer film comprises a polymer material with a significant difference in its ability to gain or lose electrons, enabling a higher voltage to be generated after friction, facilitating electrical signal acquisition. The conductive metal layer is made of a metal material. The polymer material is preferably selected from one or a combination of polyimide (KAPTON), polytetrafluoroethylene (PTFE), polyethylene terephthalate (PET), and polydimethylsiloxane (PDMS). The conductive metal is preferably selected from copper or aluminum, or their alloys. These materials offer rapid charge transfer, are cost-effective, and also facilitate electrical signal acquisition. In other embodiments, the polymer film 151 may also be made of commonly used insulating materials, such as aniline formaldehyde resin, polyoxymethylene, ethyl cellulose, polyamide nylon 11, polyamide nylon 66, wool and its fabrics, silk and its fabrics, paper, and polyethylene glycol succinate. The two polymer films 151 and 153 may be made of the same material or different materials. The two conductive metal layers 152 and 154 may also be made of the same material or different materials.

[0060] The surface of the polymer film of this friction nanogenerator can be modified, for example, by processing nano-scale pyramid structures, grooves, etc., to increase the power generation. It can be understood that the friction nanogenerator used in the puncture device 13 of this embodiment only needs to ensure that the sensitivity of the electrical signal receiving device 16, or the processor 15 integrated with the electrical signal receiving device 16, can ensure signal reception.

[0061] Please refer again Figure 3A wire cover 134 can be positioned on the puncture body 131 at the location corresponding to the second triboelectric nanogenerator 142 to house the wires of the electrical signal receiving device and / or processor. This wire cover 134 can also serve to identify the location of the second triboelectric nanogenerator 142, thereby providing a corresponding identifier with the releaser 132. The second triboelectric nanogenerator 142 can be positioned between the outer wall of the puncture body 131 and the wire cover 134. Alternatively, a circular cavity with a cover can be defined on the outer wall of the puncture body 131. After the second triboelectric nanogenerator 142 is installed in the circular cavity, a cover can be placed on the outer periphery of the cover. Signal transmission between the first and second triboelectric nanogenerators 141, 142 and the electrical signal receiving device and / or processor can also be wireless, eliminating the need for individual wires.

[0062] The method of performing surgery using a surgical robot using the puncture device 13 of the two embodiments of the present application includes:

[0063] Using a puncture device 13 connected to a position sensor 14 to puncture the surgical site of the body, the position sensor 14 is used to sense and output the position information of the puncture device 13;

[0064] Using a processor 15 to receive the position information of the puncture device 13 output by the position sensor 14 and output a corresponding electrical signal; and

[0065] The method of performing surgery is to use a robotic arm 11 to drive the end effector of the surgical instrument 12, and the robotic arm 11 receives the electrical signal output by the processor 15 and moves to a position coupled with the puncture device 13 according to the electrical signal, so that the end effector of the surgical instrument 12 is at the same horizontal line as the puncture device 13 and passes through the puncture device 13 to enter the body for surgery.

[0066] The puncture device 13 of the embodiment of the present application is equipped with a position sensor 14, so the naturally sagging position of the puncture device 13 after puncturing the human skin can be obtained, so the surgical robot can drive the robotic arm 11 to move to a position coupled with the puncture device 13, so that the surgical robot robotic arm 11 and the puncture device 13 are easily at the same horizontal line before the surgical instrument 12 is inserted into the human cavity. Then the doctor passes the surgical instrument 12 through the puncture device 13, and the robotic arm 13 can drive the surgical instrument 12 to perform the operation. The puncture device 13 of the present application shortens the adjustment period of the doctor inserting the surgical instrument 12, reduces the time spent by the doctor and the patient in the early preparation, and improves the surgical experience.

[0067] The surgical robot involved in this application can be a single-port surgical robot for single-port surgery or a multi-port surgical robot for opening multiple surgical sites on the body. With respect to the trocars used in this application, the difference between single-port and multi-port surgical robots lies in the way they couple with the trocars. For example, after the robotic arm of a single-port surgical robot moves to a position ready for coupling with the trocar based on the position feedback signal of the trocar in this application, a snap-fit ​​structure on the surgical instrument manipulator of the robotic arm engages the trocar, which has been pre-inserted into the surgical site. For another example, after the robotic arm of a multi-port surgical robot moves to a position ready for coupling with the trocar based on the position feedback signal of the trocar in this application, a clamp on the surgical instrument manipulator of the robotic arm engages the trocar, which has been pre-inserted into the surgical site. A multi-port surgical robot has multiple such robotic arms and surgical instrument manipulators thereon, and therefore requires multiple trocars. Ultimately, the surgical instruments are all passed through the trocars to perform the surgery.

[0068] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0069] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A trocar for puncturing a surgical site in the body, characterized in that: The puncture device is provided with a position sensor, which is used to sense and output the position information of the puncture device. The position sensor includes a first friction nanogenerator arranged at a first position of the puncture device, a second friction nanogenerator arranged at a second position of the puncture device, and a sphere that can roll between the first position and the second position to trigger the first and second friction nanogenerators to generate electricity respectively. The time difference between the first and second friction nanogenerators generating electrical energy is used to calibrate the tilt position information of the puncture device.

2. The trocar according to claim 1, wherein: A ball falling track is provided between the first position and the second position. When the ball falls along the ball falling track, it pushes the first friction nanogenerator and the second friction nanogenerator to generate electricity respectively.

3. The trocar according to claim 2, wherein: A releaser is provided on the puncture device corresponding to the first position, the first and second friction nanogenerators respectively include a plurality, the plurality of first friction nanogenerators are arranged at intervals in the releaser, the plurality of second friction nanogenerators are arranged at intervals corresponding to the second position of the puncture device, the spheres and the sphere falling tracks respectively include a plurality, one of the spheres, a falling track, a first friction nanogenerator and a second friction nanogenerator form a working group.

4. The trocar according to claim 3, wherein: Each of the first and second friction nanogenerators is composed of a first friction pair and a second friction pair, respectively. When the sphere falls along the sphere falling track, each of the first friction pair and the corresponding second friction pair generates electrical energy through friction.

5. The trocar according to claim 4, wherein: The device further includes a sphere falling plane, the releaser is rotatable, the releaser forms a sphere releasing plane, the sphere falling track connects the sphere releasing plane and the sphere falling plane, and when the releaser rotates, the sphere pushes the first friction pair of the first friction nanogenerator to rub against the second friction pair. When the sphere falls onto the sphere falling plane, the sphere falling plane pushes the first friction pair of the second friction nanogenerator to rub against the second friction pair through the connecting rod.

6. The trocar according to claim 5, wherein: The ball falling trajectory is in a shape that radiates outward from the ball releasing plane to the ball falling plane, and the angle θ of the outward radiation is an acute angle.

7. The trocar according to claim 6, wherein: The outward radiation angle of the sphere falling track is between 3 and 10 degrees.

8. The trocar according to claim 5, wherein: The ball falling plane is connected to the outer wall of the puncture device body through a spring.

9. The trocar according to claim 5, wherein: Each of the first friction pair and the second friction pair is respectively composed of a polymer film and a conductive metal layer. When each of the first friction pair and the corresponding second friction pair rubs against each other, the polymer film of the first friction pair and the polymer film of the corresponding second friction pair slide in friction.

10. The trocar according to claim 9, wherein: The material of the polymer film includes a polymer material having a large difference in the ability to gain and lose electrons, and the material of the conductive metal layer is selected from metal materials.

11. The trocar according to claim 10, wherein: The polymer material is selected from one or more of imide, polytetrafluoroethylene, polyethylene terephthalate and polydimethylsiloxane, and the metal of the conductive metal layer is selected from copper or aluminum or an alloy thereof.

12. A surgical robot comprising a robotic arm, a surgical instrument driven by the robotic arm, and the puncture device according to any one of claims 1 to 11, wherein the surgical instrument has an end effector, characterized in that: The position sensor feeds back the acquired puncture point position information to a processor, and the processor outputs a corresponding electrical signal based on the position information and feeds back to the robotic arm. The robotic arm moves to a position coupled with the puncture point based on the feedback electrical signal so that the end effector of the surgical instrument is at the same horizontal line as the puncture point and passes through the puncture point into the body to perform surgery.

13. A surgical robot control method for controlling the surgical robot according to claim 12, characterized in that: The method comprises: The position sensor is used to sense and output the position information of the trocar; The processor receives the position information of the puncture device output by the position sensor and outputs a corresponding electrical signal; The robotic arm receives the electrical signal output by the processor and moves to a position coupled with the puncture device according to the electrical signal, so that the end effector of the surgical instrument passes through the puncture device at a position on the same horizontal line as the puncture device.

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