Method for connecting medical device cartridges with device manipulators

Abstract

This invention provides a method for engaging a medical device cartridge and a device manipulator, relating to the field of medical device technology. The method includes the following steps: a drive output component is driven by an actuator; when an adapter is connected to the device manipulator, the drive output component is pressed down and has a springback tendency to press against a connecting component in the adapter until it cannot move upwards; one or more actuators are controlled to rotate along a first direction, causing the corresponding drive output component and connecting component to rotate synchronously; when the medical device cartridge is connected to the adapter, the connecting component receives pressure from the device input shaft in the medical device cartridge, and the connecting component disengages from its rotation limit. This method alleviates the technical problem in the prior art where the movement range of the device manipulator, medical device cartridge, and adapter is unrestricted, resulting in long docking times and low engagement efficiency, thus achieving the technical effect of improving engagement efficiency.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a method for connecting a medical device cartridge with a device manipulator. Background Technology

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

[0003] To provide a sterile operating area during surgical procedures, a sterile barrier can be placed between the non-sterile system and the sterile surgical area. Therefore, a sterile adapter is needed to provide a sterile connection point. During the surgical procedure, this allows surgical instruments to be removed or exchanged with other surgical instruments.

[0004] In some technologies, an adapter is needed to dock the instrument manipulator with the medical device box. However, in existing docking methods, the docking operation takes a long time and has low efficiency because the movement range of the three components is not restricted. Summary of the Invention

[0005] The purpose of this invention is to provide a method for connecting a medical device box and a device manipulator, so as to alleviate the technical problem in the prior art that the movement range of the device manipulator, medical device box and adapter is not restricted, resulting in long docking time and low docking efficiency.

[0006] This invention provides a method for engaging a medical device cartridge with a device manipulator, comprising the following steps: one or more drive outputs are driven by corresponding actuators;

[0007] When the adapter is connected to the machine manipulator, the drive output is pressed down and has a springback tendency to press against the connector in the adapter until it cannot move upward, and at the same time, the adapter engagement procedure is triggered.

[0008] After the adapter engagement procedure is triggered, one or more of the actuators are controlled to rotate along the first direction, so that the corresponding drive output and the connector rotate synchronously until the connector reaches the maximum rotation angle and then undergoes a rotation limit, and the docking operation between the drive output and one end of the connector is completed.

[0009] When the medical device cartridge is connected to the adapter, the connector receives pressure from the device input shaft in the medical device cartridge, and the connector disengages from the rotation limit;

[0010] The actuator is controlled to drive the drive output component and the connecting component to rotate synchronously until the docking operation between the instrument input shaft and the other end of the connecting component is completed;

[0011] The rotation angle of the actuator is greater than the maximum rotation angle of the connecting member.

[0012] Furthermore, prior to the docking operation, the step of determining the initial zero position of the actuator is included:

[0013] The actuator is controlled to rotate along a first direction, and it will touch a first limit in the first direction. The encoder records the first position of the first limit.

[0014] The actuator is controlled to rotate in a second direction opposite to the first direction, and it will touch the second limit in the second direction. The encoder records the second position of the second limit.

[0015] The initial zero position is obtained by finding the midpoint between the first position and the second position;

[0016] After obtaining the initial zero position, the actuator is controlled to move to the second position and stop.

[0017] Once the adapter engagement procedure is triggered, the actuator is controlled to start moving from the second position.

[0018] Furthermore, after completing the docking operation between the drive output component and one end of the connector, the method also includes a step to confirm whether the docking is complete:

[0019] Control the actuator to rotate along the second direction until it moves to the second position;

[0020] The actuator is controlled to rotate along the first direction, and while rotating, the drive output component and the connecting component rotate synchronously until the connecting component reaches the maximum rotation angle and then stops after passing through the rotation limit.

[0021] Furthermore, the periphery of the drive output component is provided with a plurality of movable obstructions that can rotate around the axis of the drive output shaft;

[0022] One of the multiple movable obstructions has the first limit and the second limit.

[0023] Furthermore, a fixed obstruction is also fixedly provided on the periphery of the drive output component;

[0024] When the actuator touches the first limit in the first direction, if it continues to move in the first direction, it will cause multiple movable blocks to move synchronously, and cause another of the multiple movable blocks to stop when it touches the fixed block.

[0025] Furthermore, in the steps following the triggering of the adapter engagement procedure:

[0026] During the synchronous rotation of the drive output component and the connecting component along the first direction, when the limiting notch on the connecting component moves to align with the stop on the receiving hole of the connecting component, the connecting component moves upward under the rebound action of the drive output component, thereby achieving the rotation limit.

[0027] Furthermore, when the medical device box is connected to the adapter, the first conductive part on the medical device box and the second conductive part on the adapter are connected in communication.

[0028] Furthermore, the first conductive part is a spring probe disposed on the medical device box;

[0029] The second conductive part is a conductive sheet disposed on the adapter.

[0030] Furthermore, when there are multiple actuators, the connecting lines of the multiple actuators are connected through the same circuit board and connected to the control component.

[0031] Furthermore, a housing is provided on the outer side of each of the actuators;

[0032] A cooling fan is provided below the actuator, and the housing is provided with heat dissipation holes for heat dissipation.

[0033] The method for connecting a medical device cartridge and a device manipulator provided by the present invention has at least the following characteristics:

[0034] Beneficial effects:

[0035] When the adapter is connected to the instrument manipulator, the drive output component is pressed down and has a springback tendency to press against the connector in the adapter until it cannot move upward. At this time, the actuator can drive the drive output component to rotate, thereby driving the connector to rotate. During the docking process between the adapter and the instrument manipulator, the actuator rotates along the first direction, causing the corresponding drive output component and connector to rotate synchronously until the connector reaches its maximum rotation angle and then experiences a rotation limit, completing the docking operation between the drive output component and one end of the connector. Since the rotation angle of the actuator is greater than the maximum rotation angle of the connector, that is, the docking range of the adapter is smaller than the movement range of the actuator, the docking can be completed during the rotation of the connector along the first direction, shortening the docking time and improving the docking efficiency.

[0036] When the medical device cartridge is connected to the adapter, the connector receives pressure from the device input shaft in the medical device cartridge. The connector disengages from the rotation limit, which at this time does not restrict the range of motion of the device input shaft. During the synchronous rotation of the actuator, the drive output and the connector, the range of motion of the device input shaft is affected by the range of motion of the device's own joints and the range of motion of the actuator. The docking operation between the device input shaft and the other end of the connector can be completed within the intersection of their ranges of motion. In this process, the reduction in range of motion or the complexity of engagement caused by the superposition of the ranges of motion of the device manipulator, adapter and medical device cartridge is avoided, thus improving the range of motion, engagement efficiency and reliability of the device input shaft. Attached Figure Description

[0037] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 This is a partial structural schematic diagram of a medical device provided in an embodiment of the present invention;

[0039] Figure 2 A breakdown diagram of the instrument manipulator, adapter, and medical device box;

[0040] Figure 3 This is one of the schematic diagrams showing the disassembly of the instrument manipulator and adapter;

[0041] Figure 4 This is the second schematic diagram showing the disassembly of the instrument manipulator and adapter;

[0042] Figure 5 A schematic diagram showing the connection structure between a single actuator, drive output component, and rotating component;

[0043] Figure 6 A top view of the connection structure between a single actuator, drive output component, and rotating component;

[0044] Figure 7 For along Figure 6 Cross-sectional view at point AA shown;

[0045] Figure 8 This is a schematic diagram of the structure of the instrument manipulator, showing a portion of the housing (not shown).

[0046] Figure 9 This is a schematic diagram showing the motion relationship between the first movable barrier, the second movable barrier, the third movable barrier, and the fixed barrier;

[0047] Figure 10 This is a schematic diagram of the back structure of the adapter;

[0048] Figure 11 This is a bottom view of the adapter;

[0049] Figure 12 For along Figure 11 Cross-sectional view at point BB shown;

[0050] Figure 13 This is a structural diagram of a medical device box;

[0051] Figure 14 A flowchart illustrating a first implementation of a method for joining a medical device cartridge with a device manipulator according to an embodiment of the present invention;

[0052] Figure 15 A flowchart illustrating a second implementation of the method for joining a medical device box with a device manipulator according to an embodiment of the present invention;

[0053] Figure 16 A flowchart illustrating a third implementation of the method for joining a medical device cartridge with a device manipulator according to an embodiment of the present invention;

[0054] Figure 17 for Figure 16 The flowchart shows the steps to confirm whether the docking is complete.

[0055] icon:

[0056] 10-Machinery manipulator; 11-Housing; 12-Actuator; 13-Drive output component; 14-Rotating component; 15-Spring; 16-Limit sleeve; 111-Fixed stop; 131-First docking post; 132-Guide post; 141-Guide hole; 142-First movable stop; 161-Second movable stop; 162-Third movable stop;

[0057] 20-Adapter; 21-Connecting plate; 22-Connecting component; 211-Clamping device; 212-Upper connecting plate; 213-Lower connecting plate; 214-Annular boss; 221-First mating hole; 222-Limiting notch; 223-Second mating post;

[0058] 30-Medical device box; 31-Rotating plate; 311-Second docking hole. Detailed Implementation

[0059] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0060] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0062] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention. In addition, the terms "first," "second," "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0063] Furthermore, terms such as "horizontal," "vertical," and "suspended" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but can be slightly tilted.

[0064] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0065] The following detailed description of some embodiments of the present invention is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0066] Figure 1 A medical device is shown, the shaft portion of which is not shown. From right to left, it includes a device manipulator 10, an adapter 20, and a medical device housing 30. The opposing surfaces of the device manipulator 10 and the medical device housing 30 are in close contact with the two surfaces of the adapter 20 to achieve engagement, thereby realizing the axial transmission of force. That is, the torque output by the device manipulator 10 is transmitted to the medical device housing 30 through the adapter 20, and the device input shaft on the medical device housing 30 drives the joint axis of the device itself to achieve multiple degrees of freedom of movement.

[0067] In some embodiments, the instrument input shaft is connected to the instrument's own joint shaft via a steel wire. The instrument's own joint shaft is connected to the end effector, and the movement of the instrument's own joint shaft drives the end effector to perform actions such as rotation, pitch, or opening and closing. Optionally, the end effector can be any of a needle actuator, a cauterization device, an ultrasonic scalpel, or an ultrasonic probe.

[0068] Figure 2 As shown, before the docking operation, the adapter 20 must be detachably connected to the instrument manipulator 10 in the direction of the arrow via a snap-fit ​​assembly and a slot-fitting structure. Then, the medical device box 30 is also detachably connected to the adapter 20 in the direction of the arrow via a snap-fit ​​assembly and a slot-fitting structure to achieve a mechanical connection between the three. After the mechanical connection is completed, the corresponding docking operations are performed in sequence.

[0069] In this embodiment, in order to facilitate the installation between components, slots are provided at corresponding positions on the top and bottom of the adapter 20. At the same time, buckle components that engage with the slots are provided at corresponding positions on the instrument manipulator 10 and the medical device box 30. Of course, any buckle component that can achieve engagement is within the protection scope of this invention.

[0070] The specific docking operation between the instrument manipulator 10 and the adapter 20 will be described in detail below.

[0071] Combination Figure 3 and Figure 5 The instrument manipulator 10 includes a housing 11 and a plurality of actuators 12 installed in the housing 11. The output end of each actuator 12 is connected to a drive output component 13. The top surface of the drive output component 13 is provided with two sets of first docking posts 131, which are arranged opposite each other.

[0072] Combination Figure 3 and Figure 4The adapter 20 includes a connecting plate 21 and a connecting member 22 that can move and rotate relative to the connecting plate 21. The end of the connecting member 22 facing the drive output member 13 is provided with a first docking hole 221 that cooperates with the first docking post 131. There are two first docking holes 221, which are set at 180 degrees.

[0073] In other embodiments, the top surface of the drive output member 13 can be configured as a mating hole, and correspondingly, the connector 22 has a mating post protruding from one end facing the drive output member 13. As a variation, the number of mating posts and mating holes is not limited to two, but can also be three, four or more, etc.

[0074] In this embodiment, four actuators 12 are provided, and the four actuators 12 are arranged in a square or rectangle; optionally, the actuators 12 can be motors. In the initial state, the first docking post 131 on the top surface of the drive output member 13 protrudes above the top surface of the housing 11.

[0075] like Figure 5 As shown, the drive output component 13 is configured as a disc; a rotating component 14 is also provided below the drive output component 13. The rotating component 14 is fixedly sleeved on the output shaft of the actuator 12 and can rotate synchronously with the output shaft of the actuator 12.

[0076] Combination Figure 6 and Figure 7 The drive output component 13 has a guide post 132 protruding from the side opposite to the first docking post 131. Correspondingly, the rotating component 14 has a guide hole 141 for the guide post 132 to pass through. The length of the guide hole 141 is greater than the length of the guide post 132, so that the guide post 132 can slide up and down within the guide hole 141, thereby limiting the movement of the drive output component 13. The guide post 132 can be set as one or more sets. When the guide post 132 is set as multiple sets, the guide hole 141 is also set as multiple sets, and is arranged one-to-one with the guide post 132.

[0077] Please continue to refer to Figure 7 An elastic element is provided between the drive output component 13 and the rotating component 14. In the initial state, the elastic element provides support for the drive output component 13. When the drive output component 13 is subjected to a downward squeezing force, the elastic element is compressed, causing the drive output component 13 to move downward toward the rotating component 14. When the external force is removed, the elastic element returns to the initial state from the compressed state, and at the same time pushes the drive output component 13 upward toward the direction away from the rotating component 14.

[0078] For example, the elastic element can be a helical spring 15, or other components capable of elastic deformation. In some embodiments, the lower end of the spring 15 is fixedly sleeved on the output shaft of the actuator 12, and the upper end of the spring 15 abuts against the lower surface of the drive output member 13.

[0079] In this embodiment, the lower surface of the drive output component 13 is provided with a groove for accommodating the upper end of the spring 15. This groove not only accommodates the spring 15 but also limits its elastic deformation direction, ensuring that when the drive output component 13 is subjected to downward pressure, the spring 15 is always compressed along its centerline. This design allows for a more uniform elastic support force on the drive output component 13 when it is pressed down or moved up, enabling relatively smooth downward or upward movement. Specifically, the upper end of the spring 15 is located in the central region of the drive output component 13, i.e., the groove is located in the central region of the drive output component 13.

[0080] Combination Figures 6 to 8 The outer periphery of the rotating component 14 is also provided with a limiting sleeve 16. The surfaces of the rotating component 14 and the limiting sleeve 16 facing each other are provided with a first movable block 142 and a second movable block 161, wherein the second movable block 161 is provided on the inner periphery surface of the limiting sleeve 16. The outer periphery surface of the limiting sleeve 16 protrudes towards the top surface of the housing 11 and is provided with a third movable block 162. The third movable block 162 and the second movable block 161 are arranged opposite to each other. The top surface of the housing 11 is also provided with a fixed block 111.

[0081] In specific implementation, such as Figure 9 As shown, during the process from the leftmost diagram to the middle diagram, when the rotating component 14 rotates clockwise by nearly 360 degrees, the first movable block 142 will collide with the second movable block 161 on the limiting sleeve 16; the rotating component 14 will continue to rotate, which will push the limiting sleeve 16 to rotate until the third movable block 162 collides with the fixed block 111 and stops rotating.

[0082] It should be noted that by appropriately selecting the position of the fixed obstruction 111 and removing the space occupied by the obstruction, the range of motion of the rotating component 14 can reach close to 720 degrees.

[0083] Combination Figures 10 to 12 The connecting plate 21 includes an upper connecting plate 212 and a lower connecting plate 213 that are detachably connected. The upper connecting plate 212 and the lower connecting plate 213 are provided with a receiving hole that passes through both of them, namely a connecting member receiving hole, for installing the connecting member 22. The connecting member 22 can be a wheel-shaped structure. There is a movable space between the upper wheel and the lower wheel of the wheel-shaped structure. The receiving hole is provided with an annular boss 214 at the lower connecting plate 213. The annular boss 214 can slide up and down in the movable space, so that the connecting member 22 can move up and down.

[0084] like Figure 10 As shown, the bottom surface of the annular boss 214 is provided with a retaining element 211. The bottom surface of the retaining element 211 can be a sloping plane, a concave arc, or a convex arc. Two sets of limiting notches 222 are provided on the bottom flange of the connector 22. When the limiting notch 222 is aligned with the retaining element 211 and is rotated and limited, the limiting notch 222 is misaligned and separated from the retaining element 211 and the rotation restriction is released.

[0085] In this embodiment, the locking elements 211 are configured in two sets, which are centrally symmetrical. In this case, the locking angle range of the connecting member 22 when rotating clockwise to the maximum angle is 0 to 180°, which can shorten the engagement time. Optionally, the locking elements 211 can also be configured in four sets, which are centrally symmetrical. In this case, the locking angle range of the connecting member 22 when rotating clockwise to the maximum angle is 0 to 90°, which can further shorten the engagement time.

[0086] It should be noted that when the lock is achieved, the drive output component 13 cannot continue to drive the connecting component 22 to rotate clockwise, but it can rotate counterclockwise; at the same time as the lock is achieved, or before the lock is achieved, the drive output component 13 and one end of the connecting component 22 are docked, that is, the first docking post 131 is inserted into the first docking hole 221.

[0087] The specific operation of connecting the instrument manipulator 10 and the adapter 20 has been described above. Next, the docking operation between the adapter 20 and the medical device box 30 will be described.

[0088] like Figure 3 As shown, the upper surface of the connector 22 has two sets of second docking posts 223 protruding out, and the two sets of second docking posts 223 are arranged opposite each other.

[0089] like Figure 13 As shown, the medical device box 30 is provided with four instrument input shafts (not shown in the attached figure), and the positions of the four instrument input shafts correspond one-to-one with the four sets of adapter 20 connectors 22; the bottom end of the instrument input shaft is fixedly connected to a rotating plate 31, and the rotating plate 31 is provided with a second docking hole 311 that cooperates with the second docking post 223.

[0090] In other embodiments, the second docking post 223 provided on the upper surface of the connector 22 can be configured as a docking hole, and correspondingly, the second docking hole 311 on the rotating piece 31 can be configured as a docking post.

[0091] Please continue to refer to Figure 13The second docking hole 311 on the rotating plate 31 can be an elliptical hole or a U-shaped hole. This design makes it easier for the second docking post 223 to be inserted into the second docking hole 311 to achieve docking operation.

[0092] Based on the above-mentioned mechanical connection, when the adapter 20 is connected to the instrument manipulator 10, the switch on the housing 11 can be triggered to start the adapter 20 engagement procedure; when the medical device box 30 is connected to the adapter 20, the first conductive part on the medical device box 30 and the second conductive part on the adapter 20 achieve communication connection; optionally, the first conductive part is a spring 15 probe provided on the medical device box 30; the second conductive part is a conductive sheet provided on the adapter 20.

[0093] In this embodiment, there are multiple actuators 12. The connection lines of the multiple actuators 12 are connected through the same circuit board and connected to the control component. Optionally, the control component can be a controller or a control board, and its specific type can be selected or obtained by those skilled in the art.

[0094] Furthermore, a cooling fan is provided below the actuator 12, and one or more heat dissipation holes are provided on the housing 11 to facilitate the dissipation of heat and to ensure that the actuator 12 will not become unstable due to excessive local temperature.

[0095] like Figure 14 As shown, this embodiment provides a method for engaging a medical device cartridge 30 with a device manipulator 10, comprising the following steps:

[0096] S101, when the adapter 20 is connected to the machine manipulator 10, the drive output 13 is pressed down and has a springback tendency to press the connector 22 in the adapter 20 so that it cannot move up, and at the same time, the adapter 20 engagement procedure is triggered.

[0097] S102, after the adapter 20 engagement procedure is triggered, it controls one or more actuators 12 to rotate in the first direction (such as clockwise), so that the corresponding drive output 13 and connector 22 rotate synchronously until the connector 22 reaches the maximum rotation angle and then undergoes rotation limit, and completes the docking operation between the drive output 13 and one end of the connector 22.

[0098] S103, when the medical device box 30 is connected to the adapter 20, the connector 22 receives pressure from the device input shaft in the medical device box 30, and the connector 22 disengages from the rotation limit;

[0099] S104, control the actuator 12 to drive the drive output 13 and the connector 22 to rotate synchronously until the docking operation between the instrument input shaft and the other end of the connector 22 is completed;

[0100] The rotation angle of the actuator 12 is greater than the maximum rotation angle of the connecting member 22.

[0101] With the aforementioned configuration, on the one hand, since the rotation angle of the actuator 12 is greater than the maximum rotation angle of the connector 22, meaning the docking range of the adapter 20 is smaller than the movement range of the actuator 12, docking can be completed during the clockwise rotation of the connector 22, shortening the docking time and improving docking efficiency. On the other hand, the movement range of the instrument input shaft is affected by the movement range of the instrument's own joints and the movement range of the actuator 12. The docking operation between the instrument input shaft and the other end of the connector 22 can be completed within the intersection of their movement ranges. In this process, the reduction in movement range or the complexity of engagement caused by the superposition of the movement ranges of the three components—the instrument manipulator 10, the adapter 20, and the medical device box 30—is avoided, thus improving the movement range, engagement efficiency, and reliability of the instrument input shaft.

[0102] In step S101, when the adapter 20 is connected to the instrument manipulator 10, that is, after the connecting plate 21 and the housing 11 are detachably connected through the snap-fit ​​assembly and the slot engagement structure, the drive output member 13 is subjected to downward pressing force from the connecting member 22 on the adapter 20, which will move down and press down the spring 15. At this time, the drive output member 13 has a springback tendency to press the connecting member 22 in the adapter 20 until it cannot move up. At the same time, the adapter 20 engagement procedure can be triggered by the switch provided on the housing 11.

[0103] In step S102, after the adapter 20 engagement procedure is triggered, the corresponding actuator 12 rotates clockwise, causing the corresponding drive output 13 and connector 22 to rotate synchronously until the two sets of limiting notches 222 on the bottom flange of connector 22 are aligned with the corresponding stop 211 to achieve engagement. At this point, the rotation of connector 22 is restricted. That is, connector 22 experiences rotation limitation after reaching the maximum rotation angle. In this embodiment, since the limiting notches 222 are set to two sets, the maximum rotation angle of connector 22 is between 0 and 180 degrees. During this process, the docking operation between the first docking post 131 and the first docking hole 221 is completed.

[0104] In step S103, when the medical device box 30 is connected to the adapter 20, the rotating piece 31 at the lower end of the device input shaft will press down on the connector 22, causing the connector 22 to slide downward and disengage from the limit. At this time, the limit notch 222 disengages from the stop 211, so the rotation of the connector 22 will no longer be controlled.

[0105] In step S104, the actuator 12 is controlled to drive the drive output 13 and the connector 22 to rotate synchronously. At this time, since the instrument input shaft is connected to the joint shaft of the instrument itself, the rotation range of the instrument input shaft is limited by the movement range of the joint shaft of the instrument itself. On the other hand, the instrument input shaft is indirectly driven by the actuator 12. Therefore, the movement range of the instrument input shaft is affected by the movement range of the joint shaft of the instrument itself and the movement range of the drive output 13 (i.e., the movement range of the actuator 12). The docking operation between the instrument input shaft and the other end of the connector 22 can be completed within the intersection range of the two movement ranges.

[0106] like Figure 15 As shown, prior to the docking operation, a step is also included to determine the initial zero position of the actuator 12:

[0107] The actuator 12 is controlled to rotate in the first direction, and it will touch the first limit in the first direction. The encoder records the first position of the first limit.

[0108] The actuator 12 is controlled to rotate in a second direction opposite to the first direction, and it will touch the second limit in the second direction. The encoder records the second position of the second limit.

[0109] The initial zero position is obtained by finding the midpoint between the first and second positions;

[0110] After obtaining the initial zero position, control the actuator 12 to move to the second position and stop;

[0111] After the adapter 20 engagement procedure is triggered, the control actuator 12 starts moving from the second position.

[0112] Specifically, the actuator 12 is controlled to rotate clockwise, and it will touch the first limit in the clockwise direction, and the encoder records the first position of the first limit; the actuator 12 is controlled to rotate counterclockwise, and it will touch the second limit in the counterclockwise direction, and the encoder records the second position of the second limit.

[0113] Furthermore, in combination Figure 16 and Figure 17 After completing the docking operation steps of the drive output component 13 and one end of the connector 22, the process also includes a step to confirm whether the docking is completed. Specifically, the actuator 12 is controlled to rotate counterclockwise until it moves to the second position; the actuator 12 is controlled to rotate clockwise, and while rotating, the drive output component 13 and the connector 22 rotate synchronously until the connector 22 reaches the maximum rotation angle and stops after passing the rotation limit.

[0114] In summary, a specific method for connecting the medical device box 30 and the device manipulator 10 is as follows:

[0115] The adapter 20 is connected to the instrument manipulator 10 via a snap-fit ​​assembly and a slot structure;

[0116] The motor moves clockwise from its initial state (any position) until it touches the first limit (first position), and the encoder records the first position. Then it moves counterclockwise from the first position until it touches the second limit (second position) on the other side, and the encoder records the second position. The midpoint between the first position and the second position is calculated, and this midpoint is the initial zero position of the motor.

[0117] After the motor finds the initial zero position, it moves to the second position and stops;

[0118] After the adapter 20 engagement program is triggered, the motor starts moving from the second position, driving the drive output component 13 and the rotating component 14 to rotate. The drive output component 13 abuts against the connector 22 under the action of the spring 15. There is friction between the drive output component 13 and the connector 22. Under the action of friction, the connector 22 rotates accordingly. When the limiting notch 222 of the connector 22 moves to the stop 211 of the adapter 20, the connector 22 moves upward under the action of the spring 15 below the drive output component 13, realizing the locking of the connector 22 and the stop 211, and achieving docking within 0 to 180°.

[0119] Since the previous step has completed the docking, the motor rotates counterclockwise, which will drive the drive output component 13 and the connecting component 22 to rotate counterclockwise together until the actuator 12 moves to the second position;

[0120] The motor drives the drive output component 13 and the connecting component 22 to rotate clockwise. If the rotation is 150°, it will touch the stop block 211 on the adapter 20 and be stopped. The docking operation between the adapter 20 and the machine manipulator 10 is completed.

[0121] The adapter 20 is connected to the medical device box 30 through another snap-fit ​​assembly and slot structure. At this time, the rotating plate 31 presses down on the connector 22, and the connector 22 is pushed downward. At this time, the limiting notch 222 on the connector 22 is completely disengaged from the limiting of the blocking object 211, and the blocking object 211 no longer plays a role in the rotation of the connector 22.

[0122] The motor simultaneously drives the drive output component 13 and the connecting component 22 to rotate clockwise, and within the intersection range of the movement of the joint of the instrument itself and the actuator 12, the second docking post 223 on the connecting component 22 and the second docking hole 311 on the rotating plate 31 are docked.

[0123] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for connecting a medical device cartridge to a device manipulator, characterized in that, Includes the following steps: One or more drive outputs are driven by corresponding actuators; When the adapter is connected to the machine manipulator, the drive output is pressed down and has a springback tendency to press against the connector in the adapter until it cannot move upward, and at the same time, the adapter engagement procedure is triggered. After the adapter engagement procedure is triggered, one or more of the actuators are controlled to rotate along the first direction, so that the corresponding drive output and the connector rotate synchronously until the connector reaches the maximum rotation angle and then undergoes a rotation limit, and the docking operation between the drive output and one end of the connector is completed. When the medical device cartridge is connected to the adapter, the connector receives pressure from the device input shaft in the medical device cartridge, and the connector disengages from the rotation limit; The actuator is controlled to drive the drive output component and the connecting component to rotate synchronously until the docking operation between the instrument input shaft and the other end of the connecting component is completed; Wherein, the rotation angle of the actuator is greater than the maximum rotation angle of the connecting member; It also includes the step of determining the initial zero position of the actuator: The actuator is controlled to rotate along a first direction, and it will touch a first limit in the first direction. The encoder records the first position of the first limit. The actuator is controlled to rotate in a second direction opposite to the first direction, and it will touch the second limit in the second direction. The encoder records the second position of the second limit. The initial zero position is obtained by finding the midpoint between the first position and the second position; After obtaining the initial zero position, the actuator is controlled to move to the second position and stop. After the adapter engagement procedure is triggered, the actuator is controlled to start moving from the second position; The actuator moves approximately 720 degrees from the second position along the first direction.

2. The method according to claim 1, characterized in that, After completing the docking operation between the drive output component and one end of the connector, the process also includes a step to confirm whether the docking is complete. Control the actuator to rotate along the second direction until it moves to the second position; The actuator is controlled to rotate along the first direction, and while rotating, the drive output component and the connecting component rotate synchronously until the connecting component reaches the maximum rotation angle and then stops after passing through the rotation limit.

3. The method according to claim 1, characterized in that, The drive output component is surrounded by a plurality of movable obstructions that can rotate around the axis of the drive output component. One of the multiple movable obstructions has the first limit and the second limit.

4. The method according to claim 3, characterized in that, A fixed obstruction is also fixedly provided around the drive output component; When the actuator touches the first limit in the first direction, if it continues to move in the first direction, it will cause multiple movable blocks to move synchronously, and cause another of the multiple movable blocks to stop when it touches the fixed block.

5. The method according to claim 1, characterized in that, In the steps following the triggering of the adapter engagement procedure: During the synchronous rotation of the drive output component and the connecting component along the first direction, when the limiting notch on the connecting component moves to align with the stop on the receiving hole of the connecting component, the connecting component moves upward under the rebound action of the drive output component, thereby achieving the rotation limiting.

6. The method according to any one of claims 1-5, characterized in that, When the medical device box is connected to the adapter, the first conductive part on the medical device box and the second conductive part on the adapter establish a communication connection.

7. The method according to claim 6, characterized in that, The first conductive part is a spring probe disposed on the medical device box; The second conductive part is a conductive sheet disposed on the adapter.

8. The method according to any one of claims 1-5, characterized in that, When there are multiple actuators, the connecting lines of the multiple actuators are connected through the same circuit board and connected to the control component.

9. The method according to claim 8, characterized in that, The outer side of each of the actuators is provided with a housing; A cooling fan is provided below the actuator, and the housing is provided with heat dissipation holes for heat dissipation.

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