Power tool, computer-readable storage medium, and surgical robotic system

Abstract

This invention provides a power tool, a computer-readable storage medium, and a surgical robot system. The power tool is used to load and drive surgical instruments to insert them into a target object. The power tool includes a housing, an information acquisition unit and a power mechanism mounted on the housing. The information acquisition unit includes a force acquisition unit and / or a depth acquisition unit. The force acquisition unit collects feedback forces exerted by the target object on the surgical instrument. The depth acquisition unit collects depth information of the surgical instrument inserted into the target object. The power mechanism is connected to the surgical instrument and applies a driving force to the surgical instrument based on the feedback force and / or the depth information. The power tool can be controlled to execute five levels of control commands, enabling the surgical instrument to enter the target object in a safer manner, reducing damage to the target object, and improving the accuracy of the surgical instrument's insertion position.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a power tool, a computer-readable storage medium, and a surgical robot system. Background Technology

[0002] Kirschner wires are a commonly used internal fixation device in orthopedic surgeries, such as spinal and trauma surgeries. They are inserted into the patient's body to fix the bone. Currently, handheld power tools are mainly used to insert Kirschner wires into the patient's body. However, operators often find it difficult to accurately determine the insertion site and depth. If the insertion depth is too great, it can cause unnecessary damage to the patient. Furthermore, in cases where multiple Kirschner wires need to be inserted at the same site, inconsistent insertion depths can negatively impact the surgical outcome. Summary of the Invention

[0003] The purpose of this invention is to provide a power tool, a computer-readable storage medium, and a surgical robot system, which are designed to accurately control the depth of insertion of surgical instruments into a target object and reduce unnecessary damage to the target object.

[0004] To achieve the above objectives, the present invention provides a power tool for loading and moving surgical instruments to insert them into a target object, characterized in that the power tool comprises:

[0005] case;

[0006] An information collector, disposed on the housing, includes a force collector and / or a depth collector; the force collector is used to collect the feedback force exerted by the target object on the surgical instrument; the depth collector is used to collect the depth information of the surgical instrument inserted into the target object; and,

[0007] A power mechanism, disposed on the housing and used to connect with the surgical instrument, and at least used to apply a driving force to the surgical instrument based on the feedback force and / or the depth information.

[0008] Optionally, the power tool further includes a resistance application mechanism and a tool controller. The resistance application mechanism is disposed on the housing. The tool controller is communicatively connected to the information collector, the power mechanism, and the resistance application mechanism. The tool controller is configured to receive the feedback force and / or the depth information, and to control the power mechanism to apply a driving force to the surgical instrument based on the feedback force and / or the depth information, and to control the resistance application mechanism to apply resistance to the surgical instrument.

[0009] Optionally, the power tool further includes a guide portion disposed within the housing and including a guide groove for receiving the surgical instrument; the resistance application mechanism includes a dielectric elastomer partially disposed within the guide groove and for contacting the surgical instrument.

[0010] The resistance application mechanism is configured such that when a voltage is applied to the dielectric elastomer, the dielectric elastomer deforms and squeezes the surgical instrument to apply resistance to the surgical instrument.

[0011] Optionally, the dielectric elastomer includes a receiving portion and two connecting portions respectively connected to both ends of the receiving portion. The receiving portion is disposed within the guide groove, and the connecting portions are disposed outside the guide groove. The resistance application mechanism further includes a support body and an electrode assembly. There are two supports, each of which is disposed on the side of one of the connecting portions facing the guide portion and is used to connect to the guide portion. The electrode assembly is used to be electrically connected to a power source and includes a positive electrode and a negative electrode. The positive electrode and the negative electrode are respectively disposed on the side of the two connecting portions away from the guide portion.

[0012] To achieve the above objectives, the present invention also provides a computer-readable storage medium having a program stored thereon, which, when executed, performs the following steps:

[0013] Acquire feedback force exerted on a target object by a surgical instrument, the surgical instrument being moved under the drive of a power mechanism to insert into the target object; and / or, acquire depth information of the surgical instrument inserted into the target object; and

[0014] The control commands are executed according to the feedback force and / or the depth information, and the control commands include controlling the power mechanism to apply a driving force to the surgical instrument; the different levels of the control commands control the power mechanism to apply different driving forces to the surgical instrument.

[0015] Optionally, when the program is executed, the following steps are also performed:

[0016] Acquire the real-time motion trajectory of the distal end of the surgical instrument within the target object; and,

[0017] The corresponding level of control command is executed based on the real-time motion trajectory.

[0018] Optionally, the control commands include a first-level control command, a second-level control command, a third-level control command, a fourth-level control command, and a fifth-level control command. The first-level control command includes controlling the power mechanism to apply a first driving force to the surgical instrument; the second-level control command includes controlling the power mechanism to apply a second driving force to the surgical instrument; the third-level control command includes controlling the power mechanism to apply a third driving force to the surgical instrument; the fourth-level control command includes controlling the power mechanism to apply a fourth driving force to the surgical instrument; and the fifth-level control command includes controlling the power mechanism to stop applying driving force to the surgical instrument. The first driving force, the second driving force, the third driving force, and the fourth driving force decrease sequentially.

[0019] Optionally, the step of executing the control command at the corresponding level according to the feedback force includes:

[0020] Determine whether the feedback force is less than a first force threshold. If yes, execute the first-level control command; if no, determine whether the feedback force is less than a second force threshold. If yes, execute the second-level control command; if no, execute the third-level control command; and / or,

[0021] The step of controlling the power mechanism to apply driving force to the surgical instrument based on the depth information includes:

[0022] Determine whether the depth to which the surgical instrument is inserted into the target object is greater than or equal to a depth threshold. If so, determine whether the depth to which the surgical instrument is inserted into the target object is less than a predetermined depth. If so, execute the fourth-level control instruction; otherwise, execute the fifth-level control instruction.

[0023] The priority of the control command is proportional to the level of the control command.

[0024] Optionally, the step of executing the control command at the corresponding level based on the real-time motion trajectory includes:

[0025] The deviation between the real-time motion trajectory of the distal end of the surgical instrument within the target object and the planned motion trajectory of the surgical instrument within the target object is obtained;

[0026] Determine whether the deviation is greater than or equal to a first deviation threshold. If so, determine whether the deviation is less than a second deviation threshold. If so, execute the fourth-level control instruction; otherwise, execute the fifth-level control instruction; and / or,

[0027] The step of executing the corresponding control command based on the real-time motion trajectory includes:

[0028] If the surgical instrument continues to move along the real-time motion trajectory, determine whether the distal end of the surgical instrument has crossed the preset surgical danger zone within the target object. If so, execute the fifth-level control command.

[0029] The priority of the control command is proportional to the level of the control command.

[0030] Optionally, some of the control commands may also include controlling the resistance applying mechanism to apply resistance to the surgical instrument; different levels of the control commands control the resistance applying mechanism to apply different resistance to the surgical instrument.

[0031] Optionally, the secondary control command further includes controlling the resistance applying mechanism to apply a first resistance to the surgical instrument; the tertiary control command further includes controlling the resistance applying mechanism to apply a second resistance to the surgical instrument; and the quaternary control command further includes controlling the resistance applying mechanism to apply a third resistance to the surgical instrument; the first resistance, the second resistance, and the third resistance increase sequentially.

[0032] Optionally, when the program is executed, the program also performs the following steps:

[0033] Based on the depth information, a prompt message is generated, and the display unit is controlled to display the prompt message.

[0034] To achieve the above objectives, the present invention also provides a surgical robot system, comprising:

[0035] robotic arm;

[0036] A guide is provided at the end of the robotic arm, and the guide is provided with at least one guide hole for inserting a surgical instrument, which is inserted into the target object through the guide hole;

[0037] A power tool includes a housing, an information collector, and a power mechanism; the information collector is disposed on the housing and includes a force collector and / or a depth collector, the force collector being used to collect feedback force exerted by the target object on the surgical instrument, and the depth collector being used to collect depth information of the surgical instrument inserted into the target object; the power mechanism is disposed on the housing, connected to the surgical instrument, and used to apply a driving force to the surgical instrument to move the surgical instrument; and,

[0038] The control unit is communicatively connected to the information collector and the power mechanism and is configured to execute the program stored on the computer-readable storage medium as described above.

[0039] Compared with the prior art, the power tools, computer-readable storage media, and surgical robot system of the present invention have the following advantages:

[0040] The aforementioned power tool is used to load surgical instruments and drive the surgical instruments to move so that the surgical instruments are inserted into a target object; the power tool includes a housing, an information collector, and a power mechanism; the information collector is disposed on the housing and includes a force collector and / or a depth collector; the force collector is used to collect feedback force exerted by the target object on the surgical instrument; the depth collector is used to collect depth information of the distal end of the surgical instrument inserted into the target object; the power mechanism is disposed on the housing and is used to connect to the surgical instrument, and is at least used to apply a driving force to the surgical instrument according to the feedback force and / or the depth information. When the surgical instrument is inserted into different tissues of the target body, the target body will exert different feedback forces on the surgical instrument. In this way, the current tissue into which the surgical instrument is inserted into the target body can be determined based on the feedback force. At the same time, the depth information reflects the current depth of the distal end of the surgical instrument in the target body. The driving force provided by the power mechanism is controlled according to the feedback force and / or the depth information, thereby controlling the moving speed of the surgical instrument. This ensures that the moving speed of the surgical instrument matches the type of tissue inserted or the current depth, reducing unnecessary damage to the target body and ensuring that the distal end of the surgical instrument can accurately reach the predetermined depth. This is beneficial for improving the consistency of the insertion depth of multiple surgical instruments when inserting multiple instruments, thereby improving the surgical effect.

[0041] The computer-readable storage medium stores a program that, when executed, performs the following steps: acquiring feedback force exerted on a surgical instrument by a target object, the surgical instrument being moved and inserted into the target object under the drive of a power mechanism; and / or acquiring depth information of the surgical instrument inserted into the target object; and executing control instructions of a corresponding level based on the feedback force and / or the depth information, the control instructions including controlling the power mechanism to apply a driving force to the surgical instrument; different levels of the control instructions control the power mechanism to apply different driving forces to the surgical instrument. Different tissues of the target object exert different feedback forces on the surgical instrument, thus the tissue into which the surgical instrument is inserted can be determined based on the feedback force, and the driving force provided by the drive mechanism can be controlled according to the corresponding tissue to match the movement speed of the surgical instrument with the tissue. Furthermore, the driving force provided by the drive mechanism can be controlled according to the current insertion depth of the surgical instrument to match the movement speed of the surgical instrument with the current insertion depth. This allows for control of the final insertion depth of the surgical instrument, reduces unnecessary damage to the target object, and improves the consistency of insertion depth when inserting multiple surgical instruments. Attached Figure Description

[0042] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0043] Figure 1 This is a schematic diagram illustrating an application scenario of the surgical robot system provided by the present invention according to an embodiment;

[0044] Figure 2 This is a schematic diagram of an application scenario of the surgical robot system provided by the present invention according to an embodiment, wherein the tracking device of the navigation equipment is not shown in the figure;

[0045] Figure 3 This is a schematic diagram of the structure of the guide of the surgical robot system provided by the present invention according to an embodiment. The guide in the figure is a single-hole guide.

[0046] Figure 4 This is a schematic diagram of the structure of the guide of the surgical robot system provided by the present invention according to an embodiment. The guide in the figure is a multi-hole guide.

[0047] Figure 5 This is a schematic diagram of the structure of the power tool for the surgical robot system provided by the present invention according to an embodiment;

[0048] Figure 6 This is a partial structural schematic diagram of the guide portion of the power tool of the surgical robot system provided according to an embodiment of the present invention;

[0049] Figure 7 This is a partial flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention;

[0050] Figure 8 This is a schematic diagram of the control commands executed by the control unit of the surgical robot system provided according to an embodiment of the present invention;

[0051] Figure 9 This is a partial flowchart of a control method executed by the control unit of a surgical robot system according to an embodiment of the present invention. The flowchart shows the detailed process of executing corresponding control commands based on feedback force and depth information.

[0052] Figure 10 This is a partial flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention. The figure shows the overall process of executing corresponding control commands based on the real-time motion trajectory of the Kirschner wire.

[0053] Figure 11 This is a partial flowchart of the control method executed by the control unit of the surgical robot system provided according to an embodiment of the present invention. The flowchart shows a detailed flowchart of acquiring the real-time motion trajectory of the Kirschner wire and executing the corresponding control instructions according to the real-time motion trajectory of the Kirschner wire.

[0054] Figure 12 This is a flowchart illustrating how the control unit of a surgical robot system, according to an embodiment of the present invention, acquires the planned motion trajectory of a Kirschner wire within a patient's body.

[0055] Figure 13 This is an orthogonal view of the surgical site of a patient displayed by the display device of the surgical robot system provided according to an embodiment of the present invention, showing the planned movement trajectory of the Kirschner wire in the patient's body.

[0056] Figure 14 The present invention provides a lateral view of the surgical site of a patient displayed by a display device of a surgical robot system according to an embodiment, the view showing the planned movement trajectory of the Kirschner wire in the patient's body;

[0057] Figure 15 This is a schematic diagram of the surgical area of ​​the patient and the planned and real-time movement trajectory of the Kirschner wire in the patient's body, displayed by the display device of the surgical robot system provided according to an embodiment of the present invention.

[0058] Figure 16 This is a schematic diagram of the resistance application mechanism of the electric tool in the surgical robot system provided by the present invention according to an embodiment. Detailed Implementation

[0059] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0060] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features in any embodiment, or can only separately implement some or all technical features in different embodiments. In other words, provided it is feasible, those skilled in the art can, based on the disclosure of the present invention and depending on design specifications or implementation requirements, selectively implement some or all technical features in any embodiment, or selectively implement a combination of some or all technical features in multiple embodiments, thereby increasing the flexibility in implementing the present invention.

[0061] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] The terms "proximal" and "distal" used in this article are defined from the position and orientation of the medical device relative to the patient during normal use. Although they are not restrictive, "distal" usually refers to the end of the medical device that first enters the patient's body or is closer to the patient, while "proximal" is the end that is axially opposite to the distal end.

[0063] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0064] Figure 1 and Figure 2 The diagram illustrates an application scenario for a surgical robot system. This system can be used to perform or assist in performing spinal and trauma surgeries, such as implanting surgical instruments into a target body. The surgical instruments may be Kirschner wires, and the target body may be a human.

[0065] When the surgical instrument is a Kirschner wire, in an exemplary embodiment, such as Figure 1 and Figure 2 As shown, the surgical robot system includes a robotic arm 100, a guide 200, and a power tool 300. The robotic arm 100 is mounted on a robotic arm base 400. The guide 200 is connected to the end of the robotic arm 100, and the guide 200 has at least one guide hole 210 for passing a Kirschner wire (e.g., ...). Figure 3 and Figure 4 (As shown), the distal end of the Kirschner wire is used for insertion into the human body after passing through the guide hole 210. Similar to the prior art, the guide 200 can be as follows: Figure 3 The single-hole guide shown (i.e., guide 200 with a guide hole 210) ensures that the Kirschner wire can only be inserted into the human body in a fixed posture, preventing significant deviations between the actual movement trajectory of the Kirschner wire and the pre-planned movement trajectory. Alternatively, guide 200 can also be as follows: Figure 4 The multi-hole guide shown (i.e., guide 200 with multiple guide holes 210) allows the operator to fine-tune the orientation of the Kirschner wire before insertion into the human body. The power tool 300 is a handheld actuator used to load the Kirschner wire and apply driving force to it, causing it to move so that the distal end of the Kirschner wire reaches a predetermined depth within the human body (the process of inserting the Kirschner wire into the human body and reaching a predetermined depth can be called needle insertion).

[0066] The structure of power tool 300 is as follows Figure 5As shown, the device includes a housing 310, an information collector 330, and a power mechanism 340. The information collector 330 is disposed on the housing 310 and includes at least one of a force collector 331 and a depth collector 332, preferably both. The force collector 331 is used to collect the feedback force applied to the Kirschner wire by the human body; the force collector 331 can be a force sensor, such as a strain gauge force sensor. The depth collector 332 is used to collect the depth information of the Kirschner wire inserted into the human body; the depth collector 332 can be a distance sensor. The power mechanism 340 is disposed on the housing 310 and may include a motor. The power mechanism 340 is used to connect to the Kirschner wire and to apply a driving force to the Kirschner wire to move it, so that the distal end of the Kirschner wire can reach a predetermined depth within the human body. The magnitude of the driving force applied to the Kirschner wire by the power mechanism 340 is at least related to the feedback force applied to the Kirschner wire by the human body and / or the depth information of the Kirschner wire inserted into the human body. For ease of description, the depth of Kirschner wire insertion into the human body will be referred to as insertion depth, and the speed at which the Kirschner wire moves will be referred to as insertion speed.

[0067] Optionally, the power tool 300 also includes a guide section 320 for loading Kirschner wires and guiding their movement to maintain stability during movement. The structure of the guide section 320 is as follows: Figure 6 As shown, it includes a plate 321 disposed inside a housing 310, and a guide groove 322 formed on the plate 321. The distal end of the guide groove 322 communicates with the outside of the housing 310, and the diameter of the guide groove 322 is slightly larger than the diameter of the Kirschner wire, for example, 0.1 mm larger. The guide portion 320 also includes a needle insertion slot 323 disposed inside the housing 310 and connected to the distal end of the plate 321, and aligned with the guide groove 322. The Kirschner wire is accommodated in the guide groove 322, and the distal end of the Kirschner wire can extend through the needle insertion slot 323. A force collector 331 is disposed on the guide portion 320, specifically on the needle insertion slot 323.

[0068] Furthermore, the surgical robot system also includes a control unit 500 (such as...). Figure 8 As shown, the control unit 500 is communicatively connected to at least the information acquisition unit 330 and the power mechanism 340 of the power tool 300, and is used to execute a control method during the insertion of the Kirschner wire to control the driving force applied by the power tool 300 to the Kirschner wire, thereby controlling the insertion speed of the Kirschner wire.

[0069] The control methods executed by the control unit 500 include, for example: Figure 7The steps S100 and S200 are shown. Step S100 includes: acquiring the feedback force applied to the Kirschner wire by the human body, and / or acquiring the insertion depth of the Kirschner wire. Step S200 includes executing corresponding control commands based on the feedback force applied to the Kirschner wire by the human body and / or the insertion depth of the Kirschner wire. That is, for different feedback forces applied to the Kirschner wire by the human body and / or different insertion depths of the Kirschner wire, the control unit can execute different levels of control commands.

[0070] Each level of control command includes controlling the power mechanism 340 to apply a driving force to the Kirschner wire, and the driving force applied by the power mechanism 340 to the Kirschner wire differs between different levels of control commands. In other words, for different feedback forces applied to the Kirschner wire by the human body and / or different insertion depths of the Kirschner wire, the control unit controls the power mechanism 340 to apply different driving forces to the Kirschner wire, so that the Kirschner wire has different insertion speeds.

[0071] In embodiments of the present invention, such as Figure 8 As shown, the control commands that the control unit 500 can execute include first-level control commands, second-level control commands, third-level control commands, fourth-level control commands, and fifth-level control commands. Specifically, the first-level control command includes controlling the power mechanism 340 to apply a first driving force to the Kirschner wire; the second-level control command includes controlling the power mechanism 340 to apply a second driving force to the Kirschner wire; the third-level control command includes controlling the power mechanism 340 to apply a third driving force to the Kirschner wire; the fourth-level control command includes controlling the power mechanism 340 to apply a fourth driving force to the Kirschner wire; and the fifth-level control command includes controlling the power mechanism 340 to apply a fifth driving force to the Kirschner wire. The first, second, third, fourth, and fifth driving forces decrease sequentially, and the fifth driving force can actually be zero. In other words, the fifth-level control command includes controlling the power mechanism 340 to stop applying driving force to the Kirschner wire.

[0072] Those skilled in the art know that the feedback force exerted on the Kirschner wire by different tissues varies when the distal end of the Kirschner wire is inserted into different tissues of the human body. For example, when the distal end of the Kirschner wire is inserted into soft tissues such as epithelial tissue, muscle tissue, and connective tissue, the feedback force exerted by these soft tissues on the Kirschner wire is usually small. However, when the distal end of the Kirschner wire is inserted into hard tissues such as bone tissue, the feedback force exerted by the hard tissue on the Kirschner wire is larger. Therefore, the control unit 500 can determine the current tissue type of the distal end of the Kirschner wire based on the acquired feedback force, and control the driving force provided by the power mechanism 340 according to the tissue type to adjust the insertion speed of the Kirschner wire, avoiding excessive driving force that would cause the Kirschner wire to move too fast and cause unnecessary tissue damage. By acquiring the real-time insertion depth of the Kirschner wire, the insertion process is monitored, and the driving force provided by the power mechanism 340 is controlled according to the insertion depth. For example, when the insertion depth is small, a larger driving force is used to allow the Kirschner wire to enter at a faster speed, while a smaller driving force is used to slow down the insertion speed when the insertion depth is large. This avoids the Kirschner wire entering too quickly and failing to stop in time when the distal end of the Kirschner wire reaches the expected depth, thus preventing unnecessary damage to the human body caused by exceeding the predetermined insertion depth. In other words, this control method can accurately control the insertion depth of the Kirschner wire. For cases where multiple Kirschner wires need to be implanted in the same area, this control method also helps to improve the consistency of the insertion depth of multiple Kirschner wires and improve the surgical outcome.

[0073] In this embodiment of the invention, when the distal end of the Kirschner wire has not yet entered the human body, the human body will not apply a feedback force to the Kirschner wire. However, there may be other reasons that cause the feedback force collected by the force acquisition device 331 to be non-zero. In this case, the feedback force collected by the force acquisition device 331 is usually small, for example, less than 5N. Therefore, when the force collected by the force acquisition device 331 is less than 5N, it is considered that the human body has not applied a feedback force to the Kirschner wire. When the distal end of the Kirschner wire is inserted into soft tissue, the feedback force applied by various soft tissues to the Kirschner wire is within a certain range, for example, 5N-50N. When the distal end of the Kirschner wire is inserted into hard tissue such as bone, the feedback force applied by the hard tissue to the Kirschner wire is generally at least 50N. Based on this, the step of executing the corresponding level of control command according to the feedback force may include Figure 9 Steps S210 and S220 are shown.

[0074] Specifically, step S210 includes: determining whether the feedback force applied by the human body to the Kirschner wire is less than a first force threshold, such as 5N. If yes, then execute a first-level control command; otherwise, execute step S220.

[0075] Step S220 includes: determining whether the feedback force applied by the human body to the Kirschner wire is less than a second force threshold, such as 50N. If yes, then execute the second-level control command; otherwise, execute the third-level control command.

[0076] When the power mechanism 340 provides a first driving force to the Kirschner wire, the Kirschner wire moves at a first speed. When the power mechanism 340 provides a second driving force to the Kirschner wire, the Kirschner wire moves at a second speed. When the power mechanism 340 provides a third driving force to the Kirschner wire, the Kirschner wire moves at a third speed. The first driving force can be the maximum driving force that the power mechanism 340 can provide, so that the Kirschner wire can move at the maximum speed (i.e., the first speed is the maximum speed), allowing the Kirschner wire to quickly enter the human body. The second driving force is smaller than the first driving force, so the second speed is smaller than the first speed, for example, the second speed is 70% of the first speed, allowing the Kirschner wire to pass through soft tissue at a slightly slower speed. The third driving force is smaller than the second driving force, so the third speed is smaller than the second speed, for example, the third speed is 40% of the first speed, meaning the third Kirschner wire passes through hard tissue at an even slower speed. This driving method can reduce the damage of the Kirschner wire to human tissue.

[0077] When the insertion depth of a Kirschner wire is much less than the predetermined depth, the wire can move at a relatively high speed to improve insertion efficiency. However, when the insertion depth approaches the predetermined depth, the wire's moving speed needs to be reduced to prevent it from failing to stop in time due to inertia when the distal end reaches the predetermined depth, resulting in an insertion depth exceeding the predetermined depth. When the distal end of the Kirschner wire reaches the predetermined depth, it must stop moving to prevent the insertion depth from exceeding the predetermined depth. Therefore, the steps for executing corresponding levels of control commands based on the depth information of the Kirschner wire insertion into the human body include, for example: Figure 9 Steps S230 and S240 are shown.

[0078] Step S230 includes: determining whether the insertion depth of the Kirschner wire is greater than or equal to a depth threshold. If so, proceed to step S240.

[0079] Step S240 includes: determining whether the insertion depth of the Kirschner wire is less than a predetermined depth. If yes, then execute the fourth-level control command; otherwise, execute the fifth-level control command.

[0080] When the power mechanism 340 applies a fourth driving force to the Kirschner wire, the Kirschner wire moves at a fourth velocity. This fourth velocity is, for example, 10% of the first velocity. Furthermore, the depth threshold can be 90% of a predetermined depth.

[0081] It should be noted that when the information acquisition unit 330 of the power tool 300 includes both a force acquisition unit 331 and a depth acquisition unit 332, if the control command level determined by the control unit 500 based on the feedback force applied by the human body to the Kirschner wire differs from the control command level determined based on the insertion depth, the control unit 500 should execute the control command determined based on the insertion depth. For example, if the control unit 500 determines that the control command to be executed is a level three control command based on the feedback force applied by the human body to the Kirschner wire, but the control command determined by the control unit 500 based on the insertion depth of the Kirschner wire is a level four control command, the control unit 500 will actually execute the level four control command. That is to say, in this embodiment of the invention, the priority of the control command being executed is proportional to the level of the control command. This can maximize the safety of Kirschner wire insertion and reduce damage to the human body.

[0082] Therefore, if the insertion depth of the Kirschner wire is less than the depth threshold, the control unit 500 will determine the level of the control command to be executed based on the feedback force applied to the Kirschner wire by the human body. If the insertion depth of the Kirschner wire is greater than or equal to the depth threshold, the control unit 500 will determine the level of the control command to be executed based on the insertion depth of the Kirschner wire. Therefore, when the information acquisition unit 330 includes both the force acquisition unit 331 and the depth acquisition unit 332, the control unit 500 can first determine whether the insertion depth of the Kirschner wire is greater than the depth threshold, that is, the control unit 500 first executes step S230. If the conclusion is no, then step S210 is executed. Furthermore, step S230 is repeated until the insertion depth of the Kirschner wire equals the depth threshold. And, if the insertion depth of the Kirschner wire is greater than the depth threshold but less than the predetermined depth, steps S210 and S220 are no longer executed, but step S240 is repeated until the insertion depth of the Kirschner wire equals the predetermined depth. This reduces the configuration requirements for the control unit 500 and improves its working efficiency.

[0083] For further information, please refer back to the reference section. Figure 1 and Figure 2The surgical robot system also includes a navigation device (not shown in the figure), which can be used to navigate the insertion of Kirschner wires into the human body. Specifically, the navigation device may include a tracking device 510 and markers 520. Optional tracking devices 510 include, but are not limited to, binocular vision cameras, and the corresponding markers 520 are optical targets. Preferably, the markers 520 include a first marker 521, a second marker 522, and a third marker 523. The first marker 521 is disposed on the robotic arm base 400 and used to construct a base coordinate system; the second marker 522 is disposed on the robotic arm end effector; and the third marker 523 is disposed on the power tool 300. By identifying the first marker 521, the second marker 522, and the third marker 523, the tracking device 510 can establish the pose transformation relationship between the first marker 521, the second marker 522, and the third marker 523, thereby obtaining the pose of the robotic arm end effector and the power tool 300 in the base coordinate system. Since the power tool 300 carries the Kirschner wire, the central axis of the Kirschner wire is fixed relative to the power tool 300. Thus, by tracking the load 510 to identify the real-time pose of the third marker 523 in the base coordinate system, the real-time pose of the power tool 300 in the base coordinate system is obtained, which in turn yields the real-time pose of the Kirschner wire in the base coordinate system, and consequently, the real-time insertion trajectory of the Kirschner wire within the human body. Furthermore, those skilled in the art will understand that by tracking the load 510 to identify the second marker 522, the insertion position of the Kirschner wire (i.e., the initial insertion position of the Kirschner wire into the human body) can be located; the specific method is well-known in the art and will not be elaborated here.

[0084] Based on this, the control unit 500 is also communicatively connected to the tracking device 510, and the control method further includes, for example... Figure 10 The steps S300 and S400 shown are described. Step S300 includes: acquiring the real-time motion trajectory M of the distal end of the Kirschner wire within the human body (e.g., ...). Figure 15 (As shown). Step S400 includes: executing corresponding control commands based on the real-time motion trajectory of the distal end of the Kirschner wire.

[0085] like Figure 11 As shown, step S300 may specifically include the following steps S310, S320, S330, and S340. Step S310 includes: establishing a pose transformation relationship between the third marker 523 and the first marker 521 through a navigation device. Step S320 includes tracking the real-time pose of the third marker 523 in the coordinate system of the first marker 521 (i.e., tracking the real-time pose of the third marker 523 in the base coordinate system) through a tracking device 521. Step S330 includes obtaining the real-time pose of the Kirschner wire based on the real-time pose of the third marker 523. Step S340 includes obtaining the real-time motion trajectory M of the distal end of the Kirschner wire within the human body based on the real-time pose of the Kirschner wire.

[0086] Alternatively, please continue to refer to Figure 11 In one optional implementation, step S400 specifically includes steps S410 and S420. Step S410 includes: acquiring the real-time motion trajectory M of the distal end of the Kirschner wire and the planned motion trajectory N of the Kirschner wire within the human body (e.g., ...). Figure 13 and Figure 14 The deviation amount (as shown). Step S420 includes: executing a control command of the corresponding level according to the deviation amount.

[0087] The planned movement trajectory of a Kirschner wire within the human body can be planned before surgery. In one alternative implementation, the planned movement trajectory of the Kirschner wire within the human body can be achieved through methods such as... Figure 12 The method shown yields:

[0088] Execute step S10: Acquire a three-dimensional image of surgical area 1 of the human body, and display an orthogonal view of surgical area 1 (e.g., Figure 13 (as shown) and side view (as shown) Figure 14 (As shown). This step can be performed by scanning the surgical area with a CT scan.

[0089] Then, step S20 is executed: the three-dimensional image of the surgical area is divided into regions. Specifically, the three-dimensional image of the surgical area is compared with pre-stored standard tissue models in the model library to identify the types of various tissues within the surgical area, and soft tissue regions, hard tissue regions, surgically safe regions, and surgically dangerous regions are divided on the three-dimensional image. This step can be executed by the control unit 500 of the surgical robot system, thereby the control unit 500 pre-acquires the three-dimensional image of the surgical area 1. The control unit 500 can communicate with a CT scanner to acquire the three-dimensional image of the surgical area 1 wirelessly, or the control unit 500 can acquire the three-dimensional image of the surgical area 1 through manual input by the operator. In addition, the criteria for dividing the surgically safe region and the surgically dangerous region are set by the operator, and the surgically dangerous region may include bone marrow, nerve tissue, etc.

[0090] Next, step S30 is executed: The first movement trajectory of the distal end of the Kirschner wire within the body is obtained on the anterior view of surgical area 1, and the second movement trajectory of the distal end of the Kirschner wire is obtained on the lateral view of surgical area 1. Specifically, a virtual 3D model of the Kirschner wire is placed on the anterior view of surgical area 1, and the virtual 3D model is dragged and moved within surgical area 1 to simulate needle insertion on the anterior view of the surgical area, thus obtaining the first movement trajectory of the Kirschner wire. Similarly, the virtual 3D model of the Kirschner wire is placed on the lateral view of surgical area 1, and the virtual 3D model is dragged and moved within surgical area 1 to simulate needle insertion on the lateral view of surgical area 1, thus obtaining the appropriate second movement trajectory of the Kirschner wire. The anterior view of surgical area 1 refers to the view of the surgical area on the XOY plane, and the lateral view of surgical area 2 refers to the view of the surgical area on the YOZ plane.

[0091] Then, step S40 is executed: combining the first movement trajectory of the Kirschner wire on the frontal view and the second movement trajectory on the lateral view of the surgical area 1 using the virtual three-dimensional model of the Kirschner wire, the planned movement trajectory N of the Kirschner wire in the human body is automatically generated.

[0092] It should be noted that before planning the movement trajectory of the Kirschner wires, the expected implantation positions of the Kirschner wires were marked on the frontal and lateral views of surgical area 1. When multiple Kirschner wires need to be implanted, the implantation positions of each Kirschner wire can be marked with different colors on the three-dimensional image of surgical area 1 for easy differentiation.

[0093] When performing step S410, please return to the reference. Figure 11 First, step S411 is executed: the real-time motion trajectory of the distal end of the Kirschner wire in the base coordinate system is projected onto the three-dimensional image of surgical area 1. Then, step S412 is executed: the normal of the real-time motion trajectory of the distal end of the Kirschner wire and the normal of the planned motion trajectory of the distal end of the Kirschner wire are obtained respectively. Then, step S413 is executed: the deviation between the normal of the real-time motion trajectory of the distal end of the Kirschner wire and the normal of the planned motion trajectory of the distal end of the Kirschner wire is obtained, which is used as the deviation between the real-time motion trajectory and the planned motion trajectory of the distal end of the Kirschner wire.

[0094] Continue to refer to Figure 11 Step S420 specifically includes steps S421 and S422. Step S421 includes: determining whether the deviation between the real-time motion trajectory of the distal end of the Kirschner wire and the planned motion trajectory is greater than or equal to a first deviation threshold; if so, then proceed to step S422. Step S422 includes: determining whether the deviation between the real-time motion trajectory of the Kirschner wire and the planned motion trajectory is less than a second deviation threshold; if so, then execute a level four control command; otherwise, execute a level five control command.

[0095] The first deviation threshold is, for example, 1 mm, and the second deviation threshold is, for example, 2 mm. By executing step S400, when the actual movement trajectory of the Kirschner wire deviates slightly from the planned movement trajectory, the insertion speed of the Kirschner wire can be reduced by decreasing the driving force, so as to prevent the deviation from increasing or to bring the actual movement trajectory back to a state that coincides with the planned movement trajectory. When the actual movement trajectory of the Kirschner wire deviates significantly from the planned movement trajectory, the driving force can be stopped directly to stop the insertion of the Kirschner wire and avoid further harm to the human body.

[0096] Better, such as Figure 11 As shown, step S400 also includes step S430. Step S430 includes: determining whether the distal end of the Kirschner wire will cross the surgical danger zone if the Kirschner wire continues to move along the current real-time motion trajectory; if so, executing a level 5 control command. This directly avoids the distal end of the Kirschner wire inserting into the surgical danger zone, thus preventing unnecessary damage to the patient. It is understood that the navigation device also includes a display device 530, which displays a three-dimensional image of the surgical area 1 and the planned motion trajectory of the distal end of the Kirschner wire. The display device 530 is also communicatively connected to the control unit 500 and receives and displays the real-time motion trajectory of the distal end of the Kirschner wire. Thus, the operator can directly observe from the display device 530 whether the real-time motion trajectory of the distal end of the Kirschner wire deviates from the planned motion estimate, and determine whether the Kirschner wire will cross the surgical danger zone if it continues to move along the real-time motion trajectory.

[0097] Power tool 300 is a handheld device. In practice, the operator wants to understand the type of tissue the Kirschner wire is currently inserted into, the current insertion depth, and whether the real-time movement trajectory of the distal end of the Kirschner wire deviates from the planned trajectory by holding the power tool 300. Therefore, please refer to the reference. Figure 5 The power tool 300 also includes a resistance application mechanism 350, which is disposed on the guide portion 320. In a preferred embodiment, please refer to the reference. Figure 6Multiple resistance application mechanisms 350 are arranged at intervals along the length of the guide groove 322. The resistance application mechanisms 350 are used to apply resistance to the Kirschner wire. The resistance applied to the Kirschner wire by the resistance application mechanisms 350 can be felt by the operator. Therefore, when the control unit 500 controls the resistance application mechanisms 350 to apply corresponding resistance to the Kirschner wire based on the feedback force applied by the human body, the operator can understand the type of tissue into which the Kirschner wire is currently inserted. When the control unit 500 controls the resistance application mechanisms 350 to apply corresponding resistance to the Kirschner wire based on the insertion depth of the Kirschner wire, the operator can understand the current insertion depth. Furthermore, when the control unit 500 controls the resistance application mechanisms 350 to apply corresponding resistance to the Kirschner wire based on the deviation between the real-time movement trajectory of the distal end of the Kirschner wire within the human body and the planned movement trajectory, the operator can understand the deviation between the real-time movement trajectory of the distal end of the Kirschner wire and the planned movement trajectory.

[0098] Accordingly, some levels of control commands also include controlling the resistance application mechanism 350 to apply resistance to the Kirschner wires. For details, please refer to the reference. Figure 8 The secondary control commands also include controlling the resistance application mechanism 350 to apply a first resistance to the Kirschner wire; the tertiary control commands also include controlling the resistance application mechanism 350 to apply a second resistance greater than the first resistance to the Kirschner wire; and the quaternary control commands also include controlling the resistance application mechanism 350 to apply a third resistance greater than the second resistance to the Kirschner wire. In other words, the control unit 500 also controls the resistance application mechanism 350 to apply a first resistance to the Kirschner wire when the feedback force is greater than or equal to a first force threshold and less than a second force threshold; controls the resistance application mechanism 350 to apply a second resistance to the Kirschner wire when the feedback force is greater than or equal to the second force threshold; controls the resistance application mechanism 350 to apply a third resistance to the Kirschner wire when the insertion depth is greater than or equal to a depth threshold; and controls the resistance application mechanism 350 to apply a third resistance to the Kirschner wire when the deviation between the real-time movement trajectory of the distal end of the Kirschner wire within the human body and the planned movement trajectory is greater than or equal to a first deviation threshold.

[0099] In an optional embodiment, such as Figure 16 As shown, the resistance application mechanism 350 includes a dielectric elastic body 351, which is partially disposed within a guide groove 322 and is used to contact the Kirschner wire. The resistance application mechanism 350 is configured such that when a voltage is applied to the dielectric elastic body 351, the dielectric elastic body 351 deforms and compresses the Kirschner wire to apply resistance to it. The greater the deformation of the dielectric elastic body 351, the greater the resistance applied to the Kirschner wire. The degree of deformation of the dielectric elastic body 351 is related to the voltage value.

[0100] For details, please refer to Figure 16The dielectric elastomer 351 includes a receiving portion 351a and two connecting portions 351b. The receiving portion 351a is U-shaped and disposed within a guide groove 322, serving to contact a Kirschner wire. The two connecting portions 351b are respectively connected to both ends of the receiving portion 351a and located outside the guide groove 322. The resistance application mechanism 350 also includes a support body 352 and an electrode assembly 353. There are two supports 352, each corresponding to one of the two connecting portions 351b, with the supports 352 positioned on the side of the corresponding connecting portion 351b facing the guide portion 320. The electrode assembly 353 is used for electrical connection to a power source (not shown) and includes a positive electrode and a negative electrode. The positive electrode is disposed on the side of one connecting portion 351b facing away from the guide portion 320, and the negative electrode is disposed on the side of the other connecting portion 351b facing away from the guide portion 320. The dielectric elastomer 351 is made of acrylic dielectric elastomer film, which has excellent electrical deformation capability. The deformation is directly proportional to the voltage applied to it; that is, the greater the voltage applied to the dielectric elastomer 351, the greater its deformation, and the greater the resistance applied to the Kirschner wire. The support 352 is made of polyethylene terephthalate, which supports the deformation of the dielectric elastomer 351 while also providing a certain degree of rigidity, ensuring that the entire resistance application mechanism 350 is held on the guide portion 320. The electrode assembly is made of carbon paste, which covers the joint portion 351b. This provides the electrode assembly 353 with good conductivity and also makes the resistance application mechanism 350 compact, lightweight, and easy to install and use.

[0101] Thus, the control unit 500 is connected to the power supply and controls the voltage applied by the power supply to the dielectric elastomer 351 to control the resistance applied by the resistance application mechanism 350 to the Kirschner wire.

[0102] It should be noted that the resistance applied to the Kirschner wire by the resistance application mechanism 350 will impede the movement speed of the Kirschner wire. Therefore, when the control unit 500 controls the power mechanism 340 to apply driving force to the Kirschner wire, it needs to take into account the resistance provided by the resistance application mechanism 350. That is to say, the driving force provided by the power mechanism 340 to the Kirschner wire is calculated based on the feedback force applied to the Kirschner wire by the human body and the resistance applied to the Kirschner wire by the resistance application mechanism 350. Since the resistance applied to the Kirschner wire by the resistance application mechanism 350 is determined based on the feedback force applied to the Kirschner wire by the human body or the insertion depth of the Kirschner wire, it can still be considered that the control unit 500 controls the drive mechanism 340 to apply driving force to the Kirschner wire based on the feedback force applied to the Kirschner wire by the human body or the insertion depth of the Kirschner wire.

[0103] The resistance applied to the Kirschner wire by the resistance application mechanism 350 can be calculated using the following formulas (1) to (5):

[0104] dR / R=dl / l-dS / S+dp / p (1),

[0105]

[0106] In the formula, R is the resistance of the dielectric elastomer 351, dR / R is the resistance change of the dielectric elastomer 351, l is the length of the dielectric elastomer 351, dl / l is the length change of the dielectric elastomer 351, S is the cross-sectional area of ​​the dielectric elastomer 351, dS / S is the cross-sectional area change of the dielectric elastomer 351, p is the resistivity of the dielectric elastomer 351, dp / p is the resistivity change of the dielectric elastomer 351. k0 is the strain sensitivity of the Kirschner wire, u is Poisson's ratio, ε is the normal strain of the Kirschner wire (in actual calculations, (dp / p) / ε can be ignored), σ is the normal stress of the Kirschner wire, F n The resistance applied to the Kirschner wire by the resistance application mechanism is E, the elastic modulus of the Kirschner wire, and k1 is the coefficient of friction of the Kirschner wire surface. Both E and k1 are inherent properties of the Kirschner wire and are determined when the Kirschner wire leaves the factory. Those skilled in the art know how to obtain the specific values ​​of E and k1, so they will not be elaborated here.

[0107] In a further improvement, the control method also includes step S500 (not shown in the figure): generating prompt information based on the insertion depth of the Kirschner wire, and controlling a display unit to display the prompt information. The display unit can be a display device 530, and when the insertion depth of the Kirschner wire is less than a depth threshold, the real-time movement trajectory of the Kirschner wire is displayed in green; when the insertion depth of the Kirschner wire is greater than or equal to the depth threshold but less than a predetermined depth, the real-time movement trajectory of the Kirschner wire can be displayed in yellow; and when the insertion depth of the Kirschner wire reaches the predetermined depth, the real-time movement trajectory of the Kirschner wire can be displayed in red. In other implementations, the prompt information can also be displayed in other forms such as sound or text. In addition, the control method also includes step S600: generating prompt information based on the real-time movement trajectory of the distal end of the Kirschner wire in the human body, and controlling a display unit to display it. For example, when the real-time motion trajectory of the Kirschner wire does not deviate from the planned motion trajectory, the real-time motion trajectory is displayed in green; when the real-time motion trajectory deviates from the planned motion trajectory but the deviation is less than the first offset threshold, the real-time motion trajectory is displayed in yellow; and when the deviation between the real-time motion trajectory and the planned motion trajectory is greater than or equal to the second offset, the real-time motion trajectory is displayed in red.

[0108] Furthermore, the present invention does not limit the location of the control unit 500. In some embodiments, the control unit 500 is at least partially disposed on the power tool 300. For example, the control unit 500 includes a tool controller 360, which is communicatively connected to a force sensor 331 and configured to receive feedback force and execute control commands of a corresponding level based on the feedback force. The tool controller 360 is also communicatively connected to a depth sensor 332 and configured to receive depth information and control commands of a corresponding level based on the depth information. In other embodiments, the control unit 500 may be independent of the power tool.

[0109] The invention has been described above using Kirschner wires as the surgical instrument and a human as the target object, but this should not be considered a limitation. Those skilled in the art can modify the above description to adapt it to situations where the surgical instrument is another device or the target object is another object, such as a human model or animal.

[0110] This invention also provides a computer-readable storage medium storing a program thereon, which, when executed, performs the control method executed by the aforementioned control unit. This computer-readable storage medium can be applied to an electronic device, which further includes a processor for executing the program stored on the computer-readable storage medium.

[0111] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. A power tool for loading and moving surgical instruments to insert them into a target object, the power tool being a handheld operator, characterized in that... The power tool includes: case; An information collector, disposed on the housing, includes a force collector and / or a depth collector; the force collector is used to collect feedback force exerted by the target object on the surgical instrument, the value of which is related to the type of tissue currently inserted by the surgical instrument into the target object; the depth collector is used to collect depth information of the surgical instrument inserted into the target object. A guide portion is disposed within the housing and includes a guide groove for accommodating the surgical instrument; A resistance application mechanism, disposed within the housing, is at least used to apply resistance to the surgical instrument based on the feedback force and / or the depth information; the resistance application mechanism includes a dielectric elastomer partially disposed within the guide groove and used to contact the surgical instrument; the resistance applied to the surgical instrument by the resistance application mechanism is perceptible to an operator holding the power tool, enabling the operator to obtain information about the tissue type into which the surgical instrument is inserted, and / or, to obtain information about the depth of insertion of the surgical instrument into the target object; and... A power mechanism, disposed on the housing and used to connect with the surgical instrument, and at least used to apply a driving force to the surgical instrument based on the feedback force and / or the depth information.

2. The power tool according to claim 1, characterized in that, The power tool further includes a tool controller; the tool controller is communicatively connected to the information collector, the power mechanism, and the resistance application mechanism, and is configured to receive the feedback force and / or the depth information, and to control the power mechanism to apply a driving force to the surgical instrument based on the feedback force and / or the depth information, and to control the resistance application mechanism to apply resistance to the surgical instrument.

3. The power tool according to claim 1, characterized in that, The resistance application mechanism is configured such that when a voltage is applied to the dielectric elastomer, the dielectric elastomer deforms and squeezes the surgical instrument to apply resistance to the surgical instrument.

4. The power tool according to claim 3, characterized in that, The dielectric elastomer includes a receiving portion and two connecting portions respectively connected to both ends of the receiving portion. The receiving portion is disposed within the guide groove, and the connecting portions are disposed outside the guide groove. The resistance application mechanism further includes a support body and an electrode assembly. There are two supports, each of which is disposed on the side of one of the connecting portions facing the guide portion and is used to connect to the guide portion. The electrode assembly is used to be electrically connected to a power source and includes a positive electrode and a negative electrode. The positive electrode and the negative electrode are respectively disposed on the side of the two connecting portions away from the guide portion.

5. A surgical robot system, characterized in that, include: robotic arm; A guide is provided at the end of the robotic arm, and the guide is provided with at least one guide hole for inserting a surgical instrument, which is inserted into the target object through the guide hole; A power tool, a handheld operator, includes a housing, an information collector, a resistance application mechanism, and a power mechanism. The information collector is disposed on the housing and includes a force collector and / or a depth collector. The force collector is used to collect feedback force applied by the surgical instrument to a target object, and the depth collector is used to collect depth information of the surgical instrument inserted into the target object. The resistance application mechanism is disposed on the housing and is used at least to apply resistance to the surgical instrument based on the feedback force and / or the depth information. The resistance application mechanism includes a dielectric elastomer, which is partially disposed within a guide groove and used to contact the surgical instrument. The resistance applied to the surgical instrument by the resistance application mechanism is perceptible to the operator holding the power tool, allowing the operator to obtain the tissue type of the surgical instrument inserted into the target object, and / or, to obtain depth information of the surgical instrument inserted into the target object. The power mechanism is disposed on the housing, connected to the surgical instrument, and used to apply a driving force to the surgical instrument to move it. The control unit, which is communicatively connected to the information collector and the power mechanism, is configured to perform the following steps: Acquire feedback force exerted on a target object by a surgical instrument, the surgical instrument being moved under the drive of a power mechanism to insert into the target object; and / or, acquire depth information of the surgical instrument inserted into the target object; and The control commands at corresponding levels are executed based on the feedback force and / or the depth information. The control commands include controlling the power mechanism to apply a driving force to the surgical instrument and controlling the resistance application mechanism to apply resistance to the surgical instrument. Different levels of the control commands control the power mechanism to apply different driving forces to the surgical instrument, and different levels of the control commands control the resistance application mechanism to apply different resistances to the surgical instrument.

6. The surgical robot system according to claim 5, characterized in that, The control unit also performs the following steps: Acquire the real-time motion trajectory of the distal end of the surgical instrument within the target object; and, The corresponding level of control command is executed based on the real-time motion trajectory.

7. The surgical robot system according to claim 6, characterized in that, The control commands include a first-level control command, a second-level control command, a third-level control command, a fourth-level control command, and a fifth-level control command. The first-level control command includes controlling the power mechanism to apply a first driving force to the surgical instrument. The second-level control command includes controlling the power mechanism to apply a second driving force to the surgical instrument. The third-level control command includes controlling the power mechanism to apply a third driving force to the surgical instrument. The fourth-level control command includes controlling the power mechanism to apply a fourth driving force to the surgical instrument. The fifth-level control command includes controlling the power mechanism to stop applying driving force to the surgical instrument. The first driving force, the second driving force, the third driving force, and the fourth driving force decrease sequentially.

8. The surgical robot system according to claim 7, characterized in that, The steps of executing the corresponding level of control command based on the feedback force include: Determine whether the feedback force is less than a first force threshold. If yes, execute the first-level control command; if no, determine whether the feedback force is less than a second force threshold. If yes, execute the second-level control command; if no, execute the third-level control command; and / or, The step of controlling the power mechanism to apply driving force to the surgical instrument based on the depth information includes: Determine whether the depth to which the surgical instrument is inserted into the target object is greater than or equal to a depth threshold. If so, determine whether the depth to which the surgical instrument is inserted into the target object is less than a predetermined depth. If so, execute the fourth-level control instruction; otherwise, execute the fifth-level control instruction. The priority of the control command is proportional to the level of the control command.

9. The surgical robot system according to claim 7, characterized in that, The step of executing the control command at the corresponding level based on the real-time motion trajectory includes: The deviation between the real-time motion trajectory of the distal end of the surgical instrument within the target object and the planned motion trajectory of the surgical instrument within the target object is obtained; Determine whether the deviation is greater than or equal to a first deviation threshold. If so, determine whether the deviation is less than a second deviation threshold. If so, execute the fourth-level control instruction; otherwise, execute the fifth-level control instruction; and / or, The step of executing the corresponding control command based on the real-time motion trajectory includes: If the surgical instrument continues to move along the real-time motion trajectory, determine whether the distal end of the surgical instrument has crossed the preset surgical danger zone within the target object. If so, execute the fifth-level control command. The priority of the control command is proportional to the level of the control command.

10. The surgical robot system according to claim 7, characterized in that, The secondary control command further includes controlling the resistance applying mechanism to apply a first resistance to the surgical instrument; the tertiary control command further includes controlling the resistance applying mechanism to apply a second resistance to the surgical instrument; and the quaternary control command further includes controlling the resistance applying mechanism to apply a third resistance to the surgical instrument; the first resistance, the second resistance, and the third resistance increase sequentially.

11. The surgical robot system according to claim 5, characterized in that, The control unit also performs the following steps: Based on the depth information, a prompt message is generated, and the display unit is controlled to display the prompt message.

Images