Surgical robot and surgical robot system

Abstract

The application provides a surgical robot and a surgical robot system, the surgical robot comprising a wireless power supply module, a rotary joint and a control module; the rotary joint comprising a primary structure and a secondary structure relatively rotatable around a rotation axis; the wireless power supply module being arranged on the rotary joint; the wireless power supply module comprising a transmitting unit, a receiving unit, a deviation feedback unit and a dynamic compensation unit; the transmitting unit being arranged on the primary structure, and the receiving unit being arranged on the secondary structure; the transmitting unit and the receiving unit being relatively arranged along the rotation axis, and the transmitting unit being used for supplying power to the receiving unit; the deviation feedback unit being used for obtaining rotation information of the primary structure relative to the secondary structure, and transmitting the rotation information to the control module; and the control module being configured to obtain a deviation angle of the primary structure relative to the secondary structure based on the rotation information obtained by the deviation feedback unit, and control the dynamic compensation unit to adjust the output of the transmitting unit supplying power to the receiving unit according to the deviation angle.

Description

Technical Field

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

[0002] Existing surgical robots typically include several rotary joints, such as between the column and the telescopic beam, and between the adjusting arm and the tool arm. Generally, these rotary joints are driven by motors, with power supply and position feedback transmitted via cables. This leads to frequent cable wear, and due to the complexity of the surgical robot's mechanical structure, replacing cables each time is extremely cumbersome. Furthermore, the rotation of the telescopic beam and other arm segments is restricted by the cables, limiting the surgical space. In some surgical robots that use wireless power, joint movement causes misalignment between the transmitting and receiving coils, resulting in attenuation of wireless transmission power and unstable power delivery. Summary of the Invention

[0003] The purpose of this invention is to provide a surgical robot and surgical robot system to solve the problem of unstable power transmission when existing surgical robots are wirelessly powered.

[0004] To address the aforementioned technical problems, this invention provides a surgical robot comprising a wireless power supply module, a rotary joint, and a control module; the rotary joint includes a primary structure and a secondary structure that can rotate relative to each other around a rotation axis; the wireless power supply module is disposed on the rotary joint; the wireless power supply module includes a transmitting unit, a receiving unit, a deviation feedback unit, and a dynamic compensation unit;

[0005] The transmitting unit is disposed on the primary structure, and the receiving unit is disposed on the secondary structure; the transmitting unit and the receiving unit are arranged opposite to each other along the rotation axis, and the transmitting unit is used to supply power to the receiving unit;

[0006] The deviation feedback unit is used to acquire the rotation information of the primary structure relative to the secondary structure and transmit the rotation information to the control module;

[0007] The control module is configured to obtain the deviation angle information of the primary structure relative to the secondary structure based on the rotation information obtained by the deviation feedback unit, and control the dynamic compensation unit to adjust the output power of the transmitting unit to the receiving unit according to the deviation angle information.

[0008] Optionally, the surgical robot includes multiple wireless power supply modules and multiple rotating joints connected in sequence, with each wireless power supply module corresponding to one of the rotating joints; the wireless power supply modules on the multiple rotating joints connected in sequence transmit power sequentially.

[0009] Optionally, the control module includes a dynamic power distribution unit, and each of the rotary joints has a power detection unit and a drive motor. The power detection unit is used to obtain the real-time power of the corresponding drive motor and transmit it to the dynamic power distribution unit.

[0010] The dynamic power allocation unit is configured to dynamically allocate the transmission power of the wireless power supply module corresponding to each of the rotating joints based on the real-time power of each drive motor obtained by the power detection unit of each of the rotating joints, and the comparison result of the real-time power with the predetermined power requirement of the rotating joint.

[0011] Optionally, the dynamic power distribution unit is configured to detect whether the drive motor of each of the rotary joints is in motion through the power detection unit, and terminate the power supply of the wireless power supply module of the last rotary joint in motion and all the rotary joints located thereafter among all the rotary joints connected in sequence.

[0012] Optionally, the surgical robot further includes a base; among the plurality of sequentially connected rotary joints, the primary structure of the first rotary joint is connected to the base via a cable; in two adjacent rotary joints, the secondary structure of the preceding rotary joint is connected to the primary structure of the following rotary joint via a cable.

[0013] Optionally, the dynamic compensation unit includes an excitation phase adjustment drive source and a power amplifier;

[0014] The control module obtains deviation energy replenishment control information based on the deviation angle information and sends it to the excitation phase adjustment drive source; the excitation phase adjustment drive source is configured to adjust the phase input signal of the power amplifier in real time based on the deviation energy replenishment control information, so as to adjust the output waveform of the transmitting unit.

[0015] Optionally, the power amplifier includes a compensation inductor, the inductance of which is determined according to an offset parameter. The offset parameter is obtained based on the maximum allowable variation range of the mutual inductance between the transmitting unit and the receiving unit when the output gain is within a predetermined fluctuation range.

[0016] Optionally, the deviation feedback unit includes a magnetic drum element, a magnetoresistive sensor, and a signal processing circuit;

[0017] The magnetic drum element is disposed on the primary structure, and the magnetic drum element includes a plurality of magnetic poles evenly arranged circumferentially around the rotation axis; the magnetoresistive sensor and the signal processing circuit are disposed on the secondary structure, the magnetoresistive sensor is used to detect the circumferential rotation of the magnetic drum element to obtain a sensing signal; the signal processing circuit obtains the rotation information based on the sensing signal and transmits it to the control module.

[0018] Optionally, the surgical robot further includes a wireless communication module, which is used to transmit communication information between the primary structure and the secondary structure, the communication information including at least the rotation information;

[0019] The wireless communication module includes at least two primary transmitting units, at least two primary receiving units, at least two secondary transmitting units, and at least two secondary receiving units; wherein the primary transmitting units and the primary receiving units are arranged alternately around the rotation axis on the primary structure, and the secondary transmitting units and the secondary receiving units are arranged alternately around the rotation axis on the secondary structure.

[0020] Optionally, the transmitting unit includes a primary coil, which is circumferentially disposed on the primary structure around the rotation axis; the receiving unit includes a secondary coil, which is circumferentially disposed on the secondary structure around the rotation axis.

[0021] To address the aforementioned technical problems, the present invention also provides a surgical robot system, which includes the surgical robot described above.

[0022] In summary, in the surgical robot and surgical robot system provided by the present invention, the surgical robot includes a wireless power supply module, a rotary joint, and a control module; the rotary joint includes a primary structure and a secondary structure that can rotate relative to each other around a rotation axis; the wireless power supply module is disposed on the rotary joint; the wireless power supply module includes a transmitting unit, a receiving unit, a deviation feedback unit, and a dynamic compensation unit; the transmitting unit is disposed on the primary structure, and the receiving unit is disposed on the secondary structure; the transmitting unit and the receiving unit are arranged relative to each other along the rotation axis, and the transmitting unit is used to supply power to the receiving unit; the deviation feedback unit is used to acquire rotation information of the primary structure relative to the secondary structure and transmit the rotation information to the control module; the control module is configured to obtain deviation angle information of the primary structure relative to the secondary structure based on the rotation information acquired by the deviation feedback unit, and control the dynamic compensation unit to adjust the output power of the power supplied by the transmitting unit to the receiving unit according to the deviation angle information.

[0023] With this configuration, thanks to the wireless power supply module, the rotary joint's driving power relies on wireless transmission, avoiding cable wear and tear. This reduces a significant amount of wiring work and frees the joint's rotation from cable constraints, improving the surgical robot's flexibility and accessibility to the surgical space. Furthermore, the inclusion of a deviation feedback unit and a dynamic compensation unit allows for adjustment and compensation of the wireless power supply output when the joint rotates, reducing power attenuation caused by coil rotation misalignment and enhancing the stability of the wireless power supply. Attached Figure Description

[0024] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0025] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot system according to an embodiment of the present invention;

[0026] Figure 2 This is a partial schematic diagram of the surgical robot according to an embodiment of the present invention;

[0027] Figure 3 This is a schematic diagram of the modules of the surgical robot according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of a wireless power supply module according to an embodiment of the present invention;

[0029] Figure 5 This is a schematic diagram of the robotic arm assembly according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the power amplifier topology according to an embodiment of the present invention;

[0031] Figure 7a This is a schematic diagram of the primary voltage source waveform at the input terminal of the transmitting unit in an embodiment of the present invention;

[0032] Figure 7b These are two waveforms on the comparator in this embodiment of the invention;

[0033] Figure 7c This is the PWM signal in this embodiment of the invention;

[0034] Figure 7d This is the voltage waveform recovered after low-pass filtering in an embodiment of the present invention;

[0035] Figure 8 This is a schematic diagram of the deviation feedback unit according to an embodiment of the present invention;

[0036] Figure 9This is a schematic diagram of the output gain Gv as a function of mutual inductance M12 in an embodiment of the present invention.

[0037] Figure 10 This is a schematic diagram of the wireless communication module according to an embodiment of the present invention. Detailed Implementation

[0038] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0039] As used herein, the singular forms “a,” “an,” and “the” include plural objects; the term “or” is generally used to mean “and / or”; the term “a number” is generally used to mean “at least one”; and the term “at least two” is generally used to mean “two or more”. Furthermore, the terms “first,” “second,” and “third” are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as “first,” “second,” or “third” may explicitly or implicitly include one or at least two of that feature; “one end” and “the other end,” and “proximal end” and “distal end” generally refer to two corresponding portions, which include not only endpoints. The terms “proximal end” and “distal end” are defined herein with respect to a surgical robot having an end for approaching or intervening with the patient; the term “proximal end” refers to the position of the element further away from the surgical robot from the end approaching or intervening with the patient; and the term “distal end” refers to the position of the element further closer to the surgical robot from the end approaching or intervening with the patient. Optionally, in applications involving manual or hand-operated manipulation, the terms "proximal" and "distal" are defined herein in relation to the operator, such as a surgeon or clinician. The term "proximal" refers to the position of the element closer to the operator, and the term "distal" refers to the position of the element further away from the operator. Furthermore, as used in this invention, terms such as "mounted," "connected," "attached," and "set" of one element on another should be interpreted broadly, generally indicating only a connection, coupling, mating, or transmission relationship between the two elements, which can be direct or indirect through an intermediate element. This should not be construed as indicating or implying a spatial relationship between the two elements, i.e., one element can be located inside, outside, above, below, or to one side of another element, unless otherwise explicitly stated. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances. Additionally, directional terms such as above, below, up, down, upward, downward, left, right, etc., are used relative to exemplary embodiments as shown in the figures, with upward or up direction pointing towards the top of the corresponding figure, and downward or down direction pointing towards the bottom of the corresponding figure.

[0040] The purpose of this invention is to provide a surgical robot and surgical robot system to solve the problem of unstable power transmission when existing surgical robots are wirelessly powered. The following description refers to the accompanying drawings.

[0041] Figure 1An application scenario of a surgical robot system is illustrated. This surgical robot system is a master-slave teleoperated system, comprising a doctor-side control device 100 (master control), a surgical robot 200 (slave control), a master controller, and a support device 300 (e.g., an operating table) for supporting the surgical object during surgery. It should be noted that in some embodiments, the support device 300 may be replaced with other surgical operating platforms; this invention is not limited to this.

[0042] The surgical robot 200 is the specific execution platform for a teleoperated surgical robot, comprising a base 210, a robotic arm assembly 220, and a surgical end effector 230 mounted on the robotic arm assembly 220. Further, the surgical end effector 230 includes instruments for performing surgical operations (such as a high-frequency electrosurgical unit) and endoscopes for auxiliary observation. In one example, the base 210 includes a column 211, and the robotic arm assembly 220 includes an adjusting arm 221 and a tool arm 222 connected in sequence. The adjusting arm 221 is rotatably mounted on the column 211 via a rotary joint 500, and the tool arm 222 is rotatably mounted on the adjusting arm 221 via a rotary joint 500. Optionally, the tool arm 222 is a mechanical fixed-point mechanism used to drive the surgical end effector 230 to move around a mechanical fixed point to achieve minimally invasive surgical treatment or imaging operations on the patient on the support device 300. Optionally, the tool arm 222 includes several arm segments connected by rotary joints. The adjusting arm 221 is used to adjust the position and orientation of the mechanical fixed point in the workspace. Optionally, the adjusting arm 221 may also include several arm segments connected by rotary joints. The specific structure of the surgical robot 200 can be referenced to the surgical robot terminal disclosed in Chinese patent application CN108056823A, the entire contents of which are incorporated herein by reference. The structure of the surgical robot 200 will not be described in detail here. Of course, those skilled in the art can configure the structure of the surgical robot 200 to other structures based on existing technology; this invention is not limited thereto.

[0043] The doctor-side control device 100 is the operating end of the surgical robot system. Based on the operator's hand and foot movements and according to the master-slave mapping relationship, it drives and adjusts the posture of the robotic arm assembly 220 of the surgical robot 200, and drives the surgical end-effector 230 to perform corresponding operations, such as electrocautery or electrocoagulation.

[0044] It should be noted that the surgical robot system disclosed in the above examples is only an example of an application scenario and not a limitation on the surgical robot system. The surgical robot system is not limited to a master-slave teleoperated surgical robot system, but can also be a single-end surgical robot system in which the operator directly operates the surgical robot to perform surgery. This invention is not limited to this.

[0045] To address the limitations of existing surgical robots that rely on wired transmission, please refer to... Figure 2 and Figure 3 The surgical robot 200 provided in this embodiment of the invention includes a wireless power supply module 400, a rotary joint 500, and a control module 600; the rotary joint 500 includes a primary structure 510 and a secondary structure 520 that are rotatable relative to each other around a rotation axis A; the wireless power supply module 400 is disposed on the rotary joint 500; the wireless power supply module 400 includes a transmitting unit 410, a receiving unit 420, a deviation feedback unit 430, and a dynamic compensation unit 440; the transmitting unit 410 is disposed on the primary structure 510, and the receiving unit 420 is disposed on the secondary structure 520; the transmitting unit 410 and the receiving unit 420... The primary structure 510 and the secondary structure 520 are arranged opposite each other along the rotation axis A. The transmitting unit 410 is used to supply power to the receiving unit 420. The deviation feedback unit 430 is used to acquire the rotation information of the primary structure 510 relative to the secondary structure 520 and transmit the rotation information to the control module 600. The control module 600 is configured to obtain the deviation angle information of the primary structure 510 relative to the secondary structure 520 based on the rotation information acquired by the deviation feedback unit 430, and control the dynamic compensation unit 440 to adjust the output power of the power supplied by the transmitting unit 410 to the receiving unit 420 according to the deviation angle information.

[0046] For further details, please refer to... Figure 4 The transmitting unit 410 includes a primary coil 411, which is circumferentially arranged on the primary structure 510 around the rotation axis A; the receiving unit 420 includes a secondary coil 421, which is circumferentially arranged on the secondary structure 520 around the rotation axis A. Preferably, the wire diameter, size, and number of turns of the primary coil 411 match those of the secondary coil 421, and the axial distance between the primary coil 411 and the secondary coil 421 along the rotation axis A can be set according to actual conditions. Furthermore, the wireless power supply module 400 also includes an inverter circuit 412 and a rectifier circuit 422. The DC input to the input terminal 413 of the transmitting unit 410 is converted into AC by the inverter circuit 412, and then converted into magnetic energy by the primary coil 411 before being transmitted outward. The secondary coil 421 receives the magnetic energy from the primary coil 411 and induces AC, which is then rectified into DC by the rectifier circuit 422 to form the output terminal 423 of the receiving unit 420, used to supply power to the electrical devices after the secondary structure 520. Those skilled in the art can understand and configure the structure and principle of the primary coil 411, secondary coil 421, inverter circuit 412, and rectifier circuit 422 based on the prior art, which will not be elaborated here.

[0047] With this configuration, thanks to the wireless power supply module 400, the drive power of the rotary joint 500 relies on wireless transmission, avoiding the problem of cable wear. This reduces a significant amount of wiring work and also frees the rotation of the rotary joint 500 from the constraints of cables, improving the flexibility of the surgical robot 200 and enhancing the accessibility of the surgical space. Furthermore, due to the inclusion of the deviation feedback unit 430 and the dynamic compensation unit 440, the output power of the wireless power supply can be adjusted and compensated when the rotary joint 500 rotates, reducing the attenuation of wireless transmission power caused by the relative rotational offset between the primary coil 411 and the secondary coil 421, thus improving the stability of the wireless power supply.

[0048] The following is combined with Figure 2 An exemplary description is given of a rotary joint 500 and a wireless power supply module 400 disposed on the rotary joint 500. Figure 2 A partial view of the surgical robot 200 is shown. Specifically, the adjusting arm 221 includes a telescopic beam 2211, which is connected to the column 211 via a rotary joint 500. The rotation axis A of the rotary joint 500 is arranged along the axial direction of the column 211. Figure 2 The middle part refers to the vertical direction. The primary structure 510 of the rotary joint 500 is located at the distal end of the column 211. Figure 2 The middle section is at the top, while the secondary structure 520 is located near the end of the telescopic beam 2211. Figure 2 (The middle is the lower end). Since the transmitting unit 410 is located on the primary structure 510 and the receiving unit 420 is located on the secondary structure 520, the column 211 can wirelessly supply power to the receiving unit 420 located on the telescopic beam 2211 via the transmitting unit 410, thereby supplying power to the electrical equipment on the adjusting arm 221 located after the secondary structure 520. This is understandable. Figure 2 The rotary joint 500 between the telescopic beam 2211 and the column 211, and the wireless power supply module 400 disposed on the rotary joint 500 shown, are not intended to limit the position of the rotary joint 500, but are merely illustrative. In practice, the rotary joint 500 can be disposed in various different parts of the surgical robot 200, and this invention is not limited thereto; please refer to the following description for details.

[0049] Optional, please refer to Figure 5 The surgical robot 200 includes a plurality of wireless power supply modules 400 and a plurality of rotating joints 500 connected in sequence. The wireless power supply modules 400 are configured in a one-to-one correspondence with the rotating joints 500. The wireless power supply modules 400 on the plurality of rotating joints 500 connected in sequence transmit power sequentially. Figure 5In the illustrated example, the adjusting arm 221 includes a telescopic beam 2211 and an adjusting arm segment 2212. The tool arm 222 includes a first arm segment 2221, a second arm segment 2222, a third arm segment 2223, a fourth arm segment 2224, a fifth arm segment 2225, and a sixth arm segment 2226 arranged sequentially from proximal to distal. The telescopic beam 2211 and the adjusting arm segment 2212 are rotatably connected via a rotary joint 500. The first arm segment 2221 of the tool arm 222 is rotatably connected to the adjusting arm segment 2212 via a rotary joint 500. Adjacent arm segments of the tool arm 222 are also connected via rotary joints 500. Optionally, the surgical end-effector 230 is mounted on the sixth arm segment 2226 via a telescopic joint. Thus, Figure 5 The illustrated example includes seven rotary joints. Adding the rotary joint 500 between the telescopic beam 2211 and the column 211, the entire surgical robot 200 includes eight rotary joints 500. The sequential power transmission of the wireless power supply modules 400 on multiple sequentially connected rotary joints 500 means that the power output of the wireless power supply module 400 of any one rotary joint 500 satisfies the total power consumption of all subsequent rotary joints 500 (i.e., those located at the far end of that rotary joint 500). In other words, the power output of the wireless power supply module 400 of the preceding rotary joint 500 (i.e., the rotary joint 500 located relatively close to the proximal end) must not only satisfy the power consumption of the following rotary joint 500 (i.e., the rotary joint 500 located relatively far to the proximal end) but also the power consumption of all other electrical devices further away.

[0050] Furthermore, among the plurality of sequentially connected rotary joints 500, the first rotary joint (i.e., the rotary joint 500 located at the nearest end), Figure 2 and Figure 5In the illustrated example, the primary structure 510 of the rotary joint 500 (between the telescopic beam 2211 and the column 211) is connected to the base 210 via a cable. In two adjacent rotary joints 500, the secondary structure 520 of the preceding rotary joint 500 (i.e., the rotary joint 500 located relatively near the proximal end) is connected to the primary structure 510 of the following rotary joint 500 (i.e., the rotary joint 500 located relatively near the distal end) via a cable. It is understood that since the primary structure 510 of each rotary joint 500 does not rotate relative to the proximal arm segment (or base 210) to which the rotary joint 500 is connected, and the secondary structure 520 of each rotary joint 500 does not rotate relative to the distal arm segment to which the rotary joint 500 is connected, connecting the secondary structure 520 and the primary structure 510 of adjacent rotary joints 500 via a cable effectively improves transmission efficiency and reduces costs. It should be noted that the cable connection here can be used to transmit electrical energy, that is, it can be a power supply cable, or it can be used to transmit communication signals, that is, it can be a communication cable. This embodiment is not limited to this.

[0051] Furthermore, each rotary joint 500 has a drive motor 530, which is preferably disposed on the arm segment (or base 210) located on the proximal side, for example... Figure 2 The rotating joint 500 shown has its drive motor 530 mounted on the base 210 (specifically, on the column 211) located on the proximal side. Therefore, the power requirement of this rotating joint 500 can be directly supplied through the cable mounted on the column 211. Thus, the power output of the wireless power supply module 400 only needs to meet the power requirements of the seven rotating joints 500 located after this one. Similarly, the drive motor 530 of each rotating joint 500 is mounted on the arm segment located on the proximal side, so that the power requirement for each rotating joint 500 to drive its own rotation does not need to be transmitted through the wireless power supply module 400, reducing the load that the wireless power supply module 400 needs to transmit.

[0052] Optional, please refer to Figure 3 The dynamic compensation unit 440 includes an excitation phase adjustment drive source 441 and a power amplifier 442; the control module 600 obtains deviation energy supply control information based on the deviation angle information and sends it to the excitation phase adjustment drive source 441; the excitation phase adjustment drive source 441 is configured to adjust the phase input signal of the power amplifier 442 in real time based on the deviation energy supply control information, so as to adjust the output waveform of the transmitting unit 410.

[0053] Please refer to Figure 6 It exemplifies the topology of the power amplifier 442. Figure 6In this circuit, transistors S1-S4 are MOSFET switches; compensation inductors L1 and L2 are high-frequency choke inductors; capacitors C1 and C2 are bypass parallel capacitors; compensation inductor L3 and capacitor C3 together serve as filters. After obtaining the deviation angle information, the control module 600 sends deviation energy replenishment control information (such as a PWM signal) to the excitation phase adjustment drive source 441. Upon receiving the deviation energy replenishment control information, the excitation phase adjustment drive source 441 sends two complementary pulse signals, Vgs1 and Vgs2, to the power amplifier 442. The power amplifier 442 is a push-pull Class E power amplifier. Two parallel MOSFET switches (S1 and S2 in one path, S3 and S4 in another) share the peak-to-peak value of the AC voltage excited by the circuit, alternately providing high-frequency current. Preferably, two MOSFET switches are connected in parallel for each path to further improve output power. Please refer to [reference needed]. Figures 7a to 7d This illustrates the working principle of the 442 power amplifier. A DC bias is applied to the primary side voltage source and connected to the positive input of the operational amplifier (not shown in the diagram). A triangular wave, generated through self-oscillation, is connected to the negative input of the operational amplifier. When the potential at the positive input of the operational amplifier is higher than the potential of the triangular wave at the negative input, the comparator (not shown in the diagram) outputs a high level; otherwise, it outputs a low level. Figure 7b As shown. Furthermore, L3 and C3 form an LC low-pass filter. When the duty cycle of Vgs1 is greater than 1:1, the charging time of C3 is greater than the discharging time, and the output level rises; when the duty cycle of Vgs1 is less than 1:1, the discharging time of C3 is greater than the charging time, and the output level falls, which exactly matches the amplitude change of the primary voltage source waveform. At this time, the waveform of the primary voltage source is recovered, as shown. Figure 7d As shown.

[0054] Optional, please refer to Figure 8 The deviation feedback unit 430 includes a magnetic drum element 431, a magnetoresistive sensor 432, and a signal processing circuit (not shown). The magnetic drum element 431 is disposed on the primary structure 510 and includes a plurality of magnetic poles evenly arranged circumferentially around the rotation axis A. The magnetoresistive sensor 432 and the signal processing circuit are disposed on the secondary structure 520. The magnetoresistive sensor 432 is used to detect the circumferential rotation of the magnetic drum element 431 to obtain a sensing signal. The signal processing circuit obtains the rotation information based on the sensing signal and transmits it to the control module 600.

[0055] When the magnetic drum element 431 rotates relative to the magnetoresistive sensor 432 around the rotation axis A, it generates a periodically distributed spatial leakage magnetic field. The probe of the magnetoresistive sensor 432 converts the changing magnetic field signal into a change in resistance value through the magnetoresistive effect. After differentiation and integration by the signal processing circuit, it is converted into a digital signal (i.e., rotation information) that the control module 600 can recognize, thereby realizing the coded deviation feedback function. After obtaining this rotation information, the control module 600 can determine the deviation angle information of the primary structure 510 relative to the secondary structure 520, that is, the angle information of their relative rotation.

[0056] Furthermore, the power amplifier 442 includes compensation inductors (L1, L2, L3), the inductance of which is determined based on an offset parameter. This offset parameter is obtained by maximizing the allowable variation range of the mutual inductance between the primary winding 411 and the secondary winding 421 when the output gain is within a predetermined fluctuation range. Understandably, based on... Figure 6 In the illustrated topology, the inductance values ​​of the compensation inductors L1, L2, and L3 are related to the output gain of the receiving unit 420 and the mutual inductance between the primary coil 411 and the secondary coil 421. When the output gain fluctuates within a predetermined range, a larger allowable range of variation in the mutual inductance results in higher stability and reliability of the wireless power supply module 400. Optimizing the selection of the offset parameters can improve the output smoothness of the transmitting unit 410 and the receiving unit 420 under different offset conditions.

[0057] The following example illustrates the selection of the offset parameter 'a'. First, define L1, L2, and L3 as the inductances of the compensation inductors L1 to L3, respectively; M12 as the mutual inductance of the primary coil 411; M45 as the mutual inductance of the secondary coil 421; the output gain of the receiving unit 420 as Gv; the gain coefficient as c; and the coupling coefficient as b. Then:

[0058]

[0059] Let M45 = bM45 + c, then the expression for the output gain Gv is:

[0060]

[0061] To analyze the changing trend of the coil offset difference, the derivative of mutual inductance M12 is calculated as follows, and its derivative is 0, that is, the limit point M120 of mutual inductance M12 is:

[0062]

[0063] The monotonicity of the output gain Gv is further analyzed as follows:

[0064]

[0065] From the above formula, we can see that the output gain Gv increases with the mutual inductance M12 when it is less than M120, and then decreases with the mutual inductance M12, reaching its maximum value at M120. Utilizing this characteristic, setting the variation range of the mutual inductance M12 around M120 can make the change in output gain Gv relatively gradual. The curve of output gain Gv versus mutual inductance M12 is shown below. Figure 9 As shown. With M12 set as the reference inductance value X, and the compensation inductors L1 and L3 being of equal magnitude, then L1, L3, and M12 are respectively expressed as:

[0066]

[0067]

[0068] By enumerating the offset parameter a, the output gain Gv is made to fluctuate within a predetermined fluctuation range. If the fluctuation of the output gain Gv is set to not exceed ±e%, then the allowable variation range ΔX[Xmin, Xmax] of the mutual inductance M12 reaches its maximum, and the corresponding fluctuation range of the output gain Gv [Gv1, Gv2] is the optimal predetermined fluctuation range.

[0069]

[0070] Enumerate the offset parameter a, calculate the interval [Gv1, Gv2] where the gain does not exceed ±e%, and record the corresponding ΔX and a. Compare the ΔX obtained for each group to obtain the global maximum value max(ΔX). Then, the offset parameter a corresponding to this time is the optimal parameter. When the inductance of the compensation inductors L1 and L3 is determined according to the optimal offset parameter a, the allowable variation interval ΔX of the mutual inductance between the primary coil 411 and the secondary coil 421 reaches the maximum range when the output gain Gv is within the predetermined fluctuation range [Gv1, Gv2].

[0071] Optionally, the control module 600 includes a dynamic power allocation unit (not shown), and each of the rotating joints 500 has a power detection unit (not shown). The power detection unit is used to acquire the real-time power of the corresponding drive motor 530 and transmit it to the dynamic power allocation unit. The dynamic power allocation unit is configured to dynamically allocate the transmission power of the wireless power supply module 400 corresponding to each of the rotating joints 500 based on the real-time power of each drive motor 530 acquired by the power detection unit of each of the rotating joints 500 and the comparison result of the real-time power with the predetermined power requirement of the rotating joint 500.

[0072] When the rotary joint 500 moves, the power detection unit on the rotary joint 500 can collect the real-time power of the drive motor 530 of the rotary joint 500 and transmit it to the dynamic power allocation unit of the control module 600. The dynamic power allocation unit can determine whether the real-time power of the drive motor 530 meets the power requirement of driving the rotary joint 500. If it does, the power transmitted to the drive motor 530 is maintained. If it does not, the power transmitted to the drive motor 530 is adjusted until the power requirement of the drive motor 530 is met. For example, the control module 600 can achieve this by increasing the output of the power amplifier 442 by exciting the phase adjustment drive source 441.

[0073] Furthermore, the dynamic power distribution unit is configured to detect whether the drive motor 530 of each of the rotating joints 500 is in motion through the power detection unit, and terminate the power supply to the wireless power supply module 400 of the last rotating joint 500 in motion and all subsequent rotating joints 500 among all the sequentially connected rotating joints 500. Another function of the dynamic power distribution unit is to monitor whether the drive motor 530 of each rotating joint 500 is in motion.

[0074] Since the wireless power supply of the surgical robot 200 provided in this embodiment is transmitted sequentially, that is, power is transmitted to the remote end level by level, the power transmission of the previous level needs to include the sum of the power consumption of all subsequent levels. Because in most application scenarios, the various rotary joints 500 do not operate simultaneously, the dynamic power allocation unit can dynamically allocate the power transmission of the wireless power supply module 400 of each rotary joint 500 according to the actual power consumption of each rotary joint 500, terminating the power transmission of rotary joints 500 that are in a stopped state, thus reducing unnecessary power output. It should be understood that since the wireless power supply modules 400 of each rotary joint 500 transmit power sequentially, if the drive motor 530 of one rotary joint 500 is in a stopped state, but the drive motor 530 of the subsequent rotary joint 500 is in a moving state, the wireless power supply module 400 of the preceding rotary joint 500 still needs to transmit power and cannot be turned off. Therefore, only the power supply module 400 of the last rotating joint 500 in motion and all subsequent rotating joints 500 can be terminated.

[0075] Optional, please refer to Figure 5 and Figure 10The surgical robot 200 further includes a wireless communication module 700, which is used to transmit communication information between the primary structure 510 and the secondary structure 520. The communication information includes at least the rotation information. The wireless communication module 700 includes at least two primary transmitting units 710, at least two primary receiving units 720, at least two secondary transmitting units 730, and at least two secondary receiving units 740. The primary transmitting units 710 and the primary receiving units 720 are arranged alternately around the rotation axis A on the primary structure 510, and the secondary transmitting units 730 and the secondary receiving units 740 are arranged alternately around the rotation axis A on the secondary structure 520. The communication transmission between the primary structure 510 and the secondary structure 520 is generally bidirectional. The primary transmitting units 710 and the secondary receiving units 740 are paired to form a communication group, and the communication transmission direction is from the primary structure 510 to the secondary structure 520. The secondary transmitting unit 730 and the primary receiving unit 720 are paired to form another group, with the communication transmission direction from the secondary structure 520 to the primary structure 510. Furthermore, since there will be relative rotation between the primary structure 510 and the secondary structure 520, if only one transmitting and receiving unit is provided, it may cause undesirable situations such as signal transmission being blocked and communication interruption to occur. Therefore, preferably, at least two primary transmitting units 710, at least two primary receiving units 720, at least two secondary transmitting units 730, and at least two secondary receiving units 740 are provided on a rotating joint 500. The primary transmitting units 710 and primary receiving units 720 are arranged alternately around the rotation axis A on the primary structure 510, and the secondary transmitting units 730 and secondary receiving units 740 are arranged alternately around the rotation axis A on the secondary structure 520. This improves the reliability of communication transmission and reduces signal attenuation caused by relative rotation between the primary structure 510 and the secondary structure 520. Furthermore, it fully utilizes the space between the primary structure 510 and the secondary structure 520, resulting in a cleverly designed and space-saving structure that helps reduce volume. (Refer to reference...) Figure 10 In an alternative example, the primary transmitting unit 710, the primary receiving unit 720, the secondary transmitting unit 730, and the secondary receiving unit 740 are all millimeter-wave units, which transmit and receive via millimeter waves. Millimeter waves are electromagnetic waves between microwaves and light waves, and the millimeter-wave frequency band typically refers to 30 GHz to 300 GHz, with corresponding wavelengths of 1 mm to 10 mm.

[0076] The primary uses of communication information include issuing action commands and providing status feedback. Understandably, in the surgical robot 200, in addition to power supply, communication information needs to be transmitted between the base 210, the robotic arm assembly 220 and the surgical end effector 230, between the segments of the adjusting arm 221, and between the segments of the tool arm 222. This communication information may include, for example, pose adjustment information and instrument execution information from the doctor's control device 100, as well as feedback information, video information, and other information from the surgical end effector 230. Furthermore, the communication information also includes rotation information acquired by the deviation feedback unit 430, deviation energy replenishment control information issued by the control module 600, and real-time power information of the drive motor 530 acquired by the power detection unit. Understandably, corresponding to the multiple rotary joints 500, the surgical robot 200 includes multiple wireless communication modules 700, with each wireless communication module 700 corresponding to one of the rotary joints 500. In conjunction with the wireless power supply module 400, the wireless communication module 700 enables wireless communication between the primary structure 510 and the secondary structure 520 of the rotary joint 500, overcoming the shortcomings of communication via cables.

[0077] Based on the surgical robot 200 described above, this embodiment of the invention also provides a surgical robot system, which includes the surgical robot 200 described above. For the structure and principles of other components of the surgical robot system, please refer to the prior art, and will not be repeated here.

[0078] In summary, in the surgical robot and surgical robot system provided by the present invention, the surgical robot includes a wireless power supply module, a rotary joint, and a control module; the rotary joint includes a primary structure and a secondary structure that can rotate relative to each other around a rotation axis; the wireless power supply module is disposed on the rotary joint; the wireless power supply module includes a transmitting unit, a receiving unit, a deviation feedback unit, and a dynamic compensation unit; the transmitting unit is disposed on the primary structure, and the receiving unit is disposed on the secondary structure; the transmitting unit and the receiving unit are arranged relative to each other along the rotation axis, and the transmitting unit is used to supply power to the receiving unit; the deviation feedback unit is used to acquire rotation information of the primary structure relative to the secondary structure and transmit the rotation information to the control module; the control module is configured to obtain deviation angle information of the primary structure relative to the secondary structure based on the rotation information acquired by the deviation feedback unit, and control the dynamic compensation unit to adjust the output power of the power supplied by the transmitting unit to the receiving unit according to the deviation angle information. With this configuration, thanks to the wireless power supply module, the rotary joint's driving power relies on wireless transmission, avoiding cable wear and tear. This reduces a significant amount of wiring work and frees the joint's rotation from cable constraints, improving the surgical robot's flexibility and accessibility to the surgical space. Furthermore, the inclusion of a deviation feedback unit and a dynamic compensation unit allows for adjustment and compensation of the wireless power supply output when the joint rotates, reducing power attenuation caused by coil rotation misalignment and enhancing the stability of the wireless power supply.

[0079] It should be noted that the above embodiments can be combined with each other. The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A surgical robot, characterized in that, It includes a wireless power supply module, a rotary joint, and a control module; the rotary joint includes a primary structure and a secondary structure that can rotate relative to each other around a rotation axis; the wireless power supply module is disposed on the rotary joint; the wireless power supply module includes a transmitting unit, a receiving unit, a deviation feedback unit, and a dynamic compensation unit; The transmitting unit is disposed on the primary structure, and the receiving unit is disposed on the secondary structure; the transmitting unit and the receiving unit are arranged opposite to each other along the rotation axis, and the transmitting unit is used to supply power to the receiving unit; The deviation feedback unit is used to acquire the rotation information of the primary structure relative to the secondary structure and transmit the rotation information to the control module; The control module is configured to obtain the deviation angle information of the primary structure relative to the secondary structure based on the rotation information obtained by the deviation feedback unit, and control the dynamic compensation unit to adjust the output power of the transmitting unit to the receiving unit according to the deviation angle information. The dynamic compensation unit includes an excitation phase adjustment drive source and a power amplifier; the control module obtains deviation energy supply control information based on the deviation angle information and sends it to the excitation phase adjustment drive source; the excitation phase adjustment drive source is configured to adjust the phase input signal of the power amplifier in real time based on the deviation energy supply control information, so as to adjust the output waveform of the transmitting unit.

2. The surgical robot according to claim 1, characterized in that, The surgical robot includes multiple wireless power supply modules and multiple rotating joints connected in sequence, with each wireless power supply module corresponding to one of the rotating joints; the wireless power supply modules on the multiple rotating joints connected in sequence transmit power sequentially.

3. The surgical robot according to claim 2, characterized in that, The control module includes a dynamic power distribution unit. Each of the rotary joints has a power detection unit and a drive motor. The power detection unit is used to obtain the real-time power of the corresponding drive motor and transmit it to the dynamic power distribution unit. The dynamic power allocation unit is configured to dynamically allocate the transmission power of the wireless power supply module corresponding to each of the rotating joints based on the real-time power of each drive motor obtained by the power detection unit of each of the rotating joints, and the comparison result of the real-time power with the predetermined power requirement of the rotating joint.

4. The surgical robot according to claim 3, characterized in that, The dynamic power distribution unit is configured to detect whether the drive motor of each of the rotary joints is in motion through the power detection unit, and terminate the power supply of the wireless power supply module of the last rotary joint in motion and all the rotary joints located thereafter among all the rotary joints connected in sequence.

5. The surgical robot according to claim 2, characterized in that, The surgical robot also includes a base; among the multiple sequentially connected rotary joints, the primary structure of the first rotary joint is connected to the base via a cable; In two adjacent rotary joints, the secondary structure of the preceding rotary joint and the primary structure of the following rotary joint are connected by a cable.

6. The surgical robot according to claim 1, characterized in that, The power amplifier includes a compensation inductor, the inductance of which is determined according to an offset parameter. The offset parameter is obtained based on the maximum allowable range of mutual inductance between the transmitting unit and the receiving unit when the output gain is within a predetermined fluctuation range.

7. The surgical robot according to claim 1, characterized in that, The deviation feedback unit includes a magnetic drum element, a magnetoresistive sensor, and a signal processing circuit. The magnetic drum element is disposed on the primary structure, and the magnetic drum element includes a plurality of magnetic poles evenly arranged circumferentially around the rotation axis; the magnetoresistive sensor and the signal processing circuit are disposed on the secondary structure, the magnetoresistive sensor is used to detect the circumferential rotation of the magnetic drum element to obtain a sensing signal; the signal processing circuit obtains the rotation information based on the sensing signal and transmits it to the control module.

8. The surgical robot according to claim 1, characterized in that, The surgical robot also includes a wireless communication module, which is used to transmit communication information between the primary structure and the secondary structure, the communication information including at least the rotation information; The wireless communication module includes at least two primary transmitting units, at least two primary receiving units, at least two secondary transmitting units, and at least two secondary receiving units; wherein the primary transmitting units and the primary receiving units are arranged alternately around the rotation axis on the primary structure, and the secondary transmitting units and the secondary receiving units are arranged alternately around the rotation axis on the secondary structure.

9. The surgical robot according to claim 1, characterized in that, The transmitting unit includes a primary coil, which is circumferentially disposed on the primary structure around the rotation axis; the receiving unit includes a secondary coil, which is circumferentially disposed on the secondary structure around the rotation axis.

10. A surgical robot system, characterized in that, Including the surgical robot according to any one of claims 1 to 9.

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