Tool assembly, actuator and surgical robot system

Abstract

The present disclosure relates to a tool assembly, an actuator and a surgical robot system. The tool assembly is configured to be connected to and driven by a power unit. The tool assembly comprises a link assembly and a locking assembly. The link assembly has a distal end and a proximal end at two ends, the distal end is configured to be connected to a working unit, and the proximal end is configured to engage with a power output structure of the power unit; wherein the link assembly is telescopic, and the link assembly can transmit axial force and torque when the link assembly is kept in an extended state; the locking assembly is arranged at the proximal end of the link assembly, and the locking assembly is configured to be connected to the power unit and keep the proximal end engaged with the power output structure. The tool assembly provided by the present disclosure comprises a link assembly, and the link assembly is telescopic, so that the link assembly can be shortened without moving the patient and / or the robot arm, so that the locking assembly and the proximal end of the link assembly are disengaged from the axial movement of the power unit.

Description

Technical Field

[0001] This disclosure relates to the technical field of robotic orthopedic surgical tools, and more particularly to a tool assembly, actuator, and surgical robot system. Background Technology

[0002] The acetabular grinding tool kit includes a power unit and a shaping cutter. The shaping cutter consists of a hemispherical file cup and a connecting rod assembly that connects to the file cup. The distal end of the connecting rod assembly is detachably connected to the file cup. The proximal end of the connecting rod assembly is connected to the power unit. In traditional surgery, when the surgeon manually holds the acetabular grinding tool to grind the acetabulum, axial pressure needs to be applied along the connecting rod assembly to allow the file cup, driven by the power unit, to feed axially while rotating. During or after grinding, the surgeon can, as needed, withdraw the connecting rod assembly and file cup axially backward to separate the file cup from the acetabulum.

[0003] In acetabular reconstruction surgery using navigation technology and robot assistance, a robotic arm holds the acetabular grinding tool, and the surgeon pushes the acetabular grinding tool or the robotic arm along the axis of the connecting rod assembly to drive the file cup to feed within the acetabulum. The robotic arm can be set to "linear mode." In "linear mode," the distal segment of the robotic arm can move along a set straight line with very low damping, and with greater damping in the direction perpendicular to the line. This allows the distal segment of the robotic arm to be manually dragged back and forth along a straight line without deviating from the axis or flipping. To obtain the feed depth of the file cup, the connecting rod assembly is generally fixed axially to the robotic arm so that the system can obtain relevant information from the robotic arm control system or from the displacement information of the distal segment of the robotic arm from a tracer fixed to the robotic arm.

[0004] However, the way the connecting rod assembly is axially fixed to the robotic arm can cause surgical inconvenience in certain situations. For example, if the robotic arm malfunctions during acetabular resurfacing, manual intervention is required. If the robotic arm malfunction prevents it from moving, the file cup embedded in the acetabulum cannot be easily withdrawn axially from the acetabulum because the connecting rod assembly is fixed to it. Furthermore, to reduce radial runout during rotation, there is typically a shaft-hole fit between the connecting rod assembly and the rotational output structure of the power unit. This prevents the proximal end of the connecting rod assembly from directly moving radially to disengage from the robotic arm. This may necessitate moving the patient, operating table, or the entire robotic arm to detach the file cup from the patient. Summary of the Invention

[0005] To address, or at least partially address, the aforementioned technical problems, this disclosure provides a tool component, actuator, and surgical robot system.

[0006] In a first aspect, a tool assembly is provided for connection to and being driven by a power unit. The tool assembly includes a connecting rod assembly and a locking assembly. The connecting rod assembly has a distal end and a proximal end located at both ends, the distal end for connecting to a working part, and the proximal end for engaging a power output structure of the power unit; wherein the connecting rod assembly is telescopic, and when held in an extended state, it can transmit axial force and torque; the locking assembly is disposed at the proximal end of the connecting rod assembly, and the locking assembly is used to connect to the power unit and maintain the proximal end engaged with the power output structure.

[0007] In a first possible implementation, the connecting rod assembly includes a coaxially arranged drive shaft and a driven shaft, which are axially movable relative to each other.

[0008] In combination with the above possible implementations, in the second possible implementation, the drive shaft is used to transmit the torque of the power output structure to the driven shaft.

[0009] In combination with the above possible implementations, in the third possible implementation, the connecting rod assembly is configured such that the driven shaft and the driving shaft are coaxially sleeved and connected; when the tool assembly is installed to the power unit, the driven shaft can be axially acted by the power output structure so that the connecting rod assembly is formed and held in an extended state.

[0010] In combination with the above possible implementations, in the fourth possible implementation, an elastic element is provided between the driven shaft and the driving shaft. The elastic element is used to axially press the driven shaft against the power output structure when the tool assembly is installed to the power unit.

[0011] In combination with the above possible implementations, in the fifth possible implementation, the driving shaft is a sleeve structure and is sleeved outside the driven shaft. The sleeve structure has an axially extending long groove on its wall. The driven shaft has a radial pin that extends along the long groove to the outside of the sleeve structure and acts on the elastic element.

[0012] In combination with the above possible implementations, in the sixth possible implementation, the drive shaft is provided with a structure for radial positioning with the power output structure.

[0013] In combination with the above possible implementations, in the seventh possible implementation, the locking component is configured to have a predetermined axial travel relative to the connecting rod assembly.

[0014] In combination with the above possible implementations, in the eighth possible implementation, an axial clamping mechanism is provided between the driven shaft and the driving shaft to keep the connecting rod assembly in an extended state.

[0015] In a second aspect, an end effector is provided, including a power unit and a tool assembly. The power unit is provided with a power output structure; the tool assembly is connected to the power unit and driven by the power output structure; the tool assembly is any of the tool assemblies described in the first aspect.

[0016] Thirdly, a surgical robot system is provided, including a robotic arm, an end effector, and a navigation system. The end effector is connected to the end of the robotic arm; the navigation system is used to acquire the orientation information of the end effector and control the movement of the robotic arm; wherein the end effector is the end effector described in the second aspect.

[0017] Compared with the prior art, the technical solution provided in this disclosure has the following advantages: the tool assembly includes a connecting rod assembly, which is telescopic, so the connecting rod assembly can be shortened without moving the patient and / or the robot arm, so that the locking assembly and the proximal end of the connecting rod assembly can be disengaged from the power unit by axial movement. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 An end effector including a power unit and a tool assembly is shown;

[0021] Figure 2 This is an isometric view of the tool assembly without the power unit connected.

[0022] Figure 3 This is a cross-sectional view of the tool assembly connected to the power unit.

[0023] Figure 4 This is a cross-sectional view of the tool assembly and power unit during disassembly.

[0024] Figure 5 This is a schematic diagram of the drive shaft.

[0025] Figure 6 Exploded view of the tool assembly and power unit;

[0026] Figure 7 This is a schematic diagram of the torque transmission structure in another embodiment of the present disclosure;

[0027] Figure 8 This is a schematic diagram of the torque transmission structure in another embodiment of the present disclosure;

[0028] Figure 9This is a schematic diagram of the torque transmission structure in another embodiment of the present disclosure;

[0029] Figure 10 This is a schematic diagram of the structure of a tool component according to another embodiment of the present disclosure;

[0030] Figure 11 This is a schematic diagram of the surgical robot system provided in this disclosure.

[0031] Figure label:

[0032] 10 - First paragraph; 20 - Second paragraph;

[0033] 100 - Power unit; 110 - Power output structure; 111 - Slide groove; 112, 112a, 112b - Positioning shafts; 113 - Transmission pin; 120 - Robot arm interface;

[0034] 200-Connector assembly;

[0035] 210b, 210-drive shaft, 211-proximal end, 212-torque receiving part, 213-positioning hole, 214-keyway, 215-flange, 216-first slide groove, 217-second slide groove, 218-annular groove, 219-cylinder body;

[0036] 220a, 220b, 220 - driven shaft, 221 - distal end;

[0037] 300-Locking component, 310-Housing shell, 311-Receiving cavity, 312-First limiting part, 313-Second limiting part;

[0038] 320 - Pin, 330 - First spring, 340 - First spring retaining ring, 350 - Elastic retaining ring, 360 - Second spring retaining ring;

[0039] 400-key;

[0040] 510 - Pin, 520 - Second spring, 530 - Sleeve, 540 - Elastic retaining ring, 550 - Third spring retaining ring;

[0041] 6000 - Articulated actuator, 9000 - Navigation system, 9100 - Robotic arm, 9200 - Control system. Detailed Implementation

[0042] To better understand the above-mentioned objectives, features, and advantages of this disclosure, the solutions disclosed herein will be further described below. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other.

[0043] Numerous specific details are set forth in the following description in order to provide a full understanding of this disclosure, but this disclosure may also be implemented in other ways different from those described herein; obviously, the embodiments in the specification are only some, and not all, of the embodiments of this disclosure.

[0044] This disclosure provides an actuator and a tool assembly. The actuator can be connected to the end effector of a robotic arm in a surgical system, whereby the robotic arm assists in performing surgery. The tool assembly is connected to and driven to rotate by the power unit of the actuator. The tool assembly includes a connecting rod assembly and a locking assembly. The connecting rod assembly has a distal end and a proximal end located at both ends. The distal end is used to connect to a working part, such as an acetabular reamer. The proximal end is used to engage the power output structure of the power unit, thereby driving the working part to rotate. The connecting rod assembly is telescopic, and when held in an extended state, it transmits axial force and torque, allowing the working part, such as an acetabular reamer, to cut bone. The locking assembly is located at the proximal end of the connecting rod assembly and is used to connect to the power unit and maintain engagement of the proximal end with the power output structure. The connecting rod assembly is telescopic, thus allowing it to be shortened without moving the patient and / or the robotic arm, enabling the locking assembly and the proximal end of the connecting rod assembly to move axially away from the power unit. This allows the connecting rod assembly to move radially, dealigning its axis with the power unit, thereby allowing the tool assembly to be retracted axially, ultimately pulling the working part out of the patient's body.

[0045] refer to Figures 1 to 6 . Figure 1 An end effector including a power unit and a tooling assembly is shown. Figure 2 This is an isometric view of the tool assembly and power unit when they are not connected. Figure 3 This is a cross-sectional view of the tool assembly connected to the power unit.

[0046] Figure 4 This is a cross-sectional view of the tool assembly and power unit during disassembly. Figure 5 This is a schematic diagram of the drive shaft. Figure 6 An exploded view of the tool assembly and power unit.

[0047] like Figure 1 and Figure 2 As shown, the tool assembly includes a connecting rod assembly 200 and a locking assembly 300. The connecting rod assembly 200 has a predetermined length, with one end connected to the locking assembly 300 and the other end used to connect to, for example, the working part of an acetabular reamer (not shown). The locking assembly 300 is used to connect the connecting rod assembly 200 to the power unit 100 of the actuator, so that the power output structure 110 of the power unit 100 is engaged with the connecting rod assembly 200 to transmit rotational motion and axial thrust.

[0048] Further reference Figures 3 to 6The connecting rod assembly 200 includes a drive shaft 210, a driven shaft 220, and a key 400. Furthermore, a pin 510, a second spring 520, a sleeve 530, an elastic retaining ring 540, and a third spring retaining ring 550 constitute an axial clamping mechanism.

[0049] The drive shaft 210 is a hollow shaft. The drive shaft 210 includes a shaft body 219, a torque receiving portion 212, a positioning hole 213, a keyway 214, a flange 215, a first sliding groove 216, a second sliding groove 217, and an annular groove 218. The annular groove 218 is used to install an elastic retaining ring 540. The shaft body 219 includes a first shaft segment and a second shaft segment, the diameter of the first shaft segment being smaller than the diameter of the second shaft segment. A radially protruding flange 215 is provided at the junction of the first and second shaft segments. An annular groove 218 is provided on the circumferential surface of the end of the first shaft segment. The end of the second shaft segment is the torque receiving portion 212. The torque receiving portion 212 is an array of protrusions spaced apart around the shaft center on the end face of the second shaft segment. The torque receiving portion 212 forms the proximal end 211 of the connecting rod assembly 200. The central hole of the drive shaft 210 includes a tapered hole segment and a circular hole segment. The tapered hole segment is located in the second shaft segment. The circular hole segment is located in the first shaft segment. The wall of the central hole is also provided with a keyway 214 along the axial direction. The first slide groove 216 and the second slide groove 217 are elongated grooves that extend axially along the shaft 219 and penetrate the cylinder wall radially.

[0050] One end of the driven shaft 220 is used to form a telescopic connection with the drive shaft 210. The other end of the drive shaft 210 is used to form the distal end 221 of the connecting rod assembly 200. One end of the driven shaft 220 is provided with a radial through hole and a mounting groove. The radial through hole is used to install a pin 510. The mounting groove is used to install a key 400.

[0051] Driven shaft 220 is inserted into the center hole of drive shaft 210. Key 400 is fixed in the mounting groove of driven shaft 220 and mates with keyway 214 of drive shaft 210, allowing driven shaft 220 to move axially relative to drive shaft 210, but not to rotate circumferentially. Therefore, torque and axial extension / retraction can be transmitted between them. When the connecting rod assembly 200 is shortened, the entire tool assembly can be shortened. When the tool assembly is shortened, the part connected to the power unit 100 can disengage from the shaft hole of the power unit 100, thereby allowing the entire tool assembly to be offset by a certain angle around the file cup. After the tool assembly is offset, its axis is no longer aligned with the power unit, and it can be moved axially to remove the file cup from the acetabulum.

[0052] An axial clamping mechanism is used to form an elastic axial limiting mechanism between the drive shaft 210 and the driven shaft 220. When the tool assembly is installed to the power unit 100, the axial clamping mechanism keeps the driven shaft 220 and the drive shaft 210 in an extended state. The assembly relationship between the axial clamping mechanism and the drive shaft 210 and the driven shaft 220 is as follows: An elastic retaining ring 540 is fixed on the annular groove 218 of the drive shaft 210. A through sleeve 530 is fitted onto the outside of the drive shaft 210. The lower end of the inner cavity of the sleeve 530 is provided with a radial flange that forms an axial limit with the elastic retaining ring 540. An annular cavity is formed between the inner wall of the sleeve 530 and the outer wall of the drive shaft 210, and the annular cavity houses a second spring 520 and a third spring retaining ring 550. The lower end of the second spring 520 abuts against the flange at the lower end of the sleeve 530, and the upper end is the third spring retaining ring 550. The length of pin 510 is greater than the diameter of driven shaft 220, and its two ends protrude radially from driven shaft 220 and are respectively located in the first groove 216 and the second groove 217, and are located above the third spring retaining ring 550. When driven shaft 220 moves axially relative to drive shaft 210 toward distal end 221, pin 510 pushes the third spring retaining ring 550 and the second spring 520.

[0053] The locking assembly 300 includes a housing 310 and a pin 320. The housing 310 is generally cylindrical in shape, with a central receiving cavity 311. The receiving cavity 311 extends axially and is used to accommodate the drive shaft 210 of the connecting rod assembly 200. Four radial holes are provided on the sidewall of the receiving cavity 311 near the upper opening for mounting the pin 320. A first limiting portion 312 and a second limiting portion 313 are spaced apart at the center of the sidewall of the receiving cavity 311. A retaining ring groove is provided on the sidewall of the receiving cavity 311 near the lower opening. Both the first limiting portion 312 and the second limiting portion 313 are annular flanges protruding radially towards the center of the receiving cavity 311. The first limiting portion 312 is near the upper opening of the receiving cavity 311, and the second limiting portion 313 is near the lower opening of the receiving cavity 311. The diameter of the orifice defined by the first limiting portion 312 is smaller than the diameter of the orifice defined by the second limiting portion 313. The lower opening diameter of the receiving cavity 311 is larger than the diameter of the orifice defined by the second limiting part 313. The pin 320 is fixed in the radial hole of the receiving cavity 311, with one end protruding inward from the wall surface of the receiving cavity 311.

[0054] The drive shaft 210 is disposed within the receiving cavity 311 of the housing 310. The drive shaft 210 is axially movable within the receiving cavity 311, meaning the housing 310 can move axially along the drive shaft 210. Two axial limiting structures are provided in the receiving cavity 311 to limit the axial movement of the drive shaft 210 and to maintain its connection with the locking assembly 300 without disengaging. The axial movement between the housing 310 and the drive shaft 210 increases the overall telescopic capability of the tool assembly and reduces the required telescopic stroke between the drive shaft 210 and the driven shaft 220.

[0055] In this embodiment, the structure limiting the axial travel of the drive shaft 210 is a first limiting part 312 and an elastic limiting assembly. The elastic limiting assembly is disposed between the second limiting part 313 and the lower opening of the receiving cavity 311. The elastic limiting assembly includes an elastic retaining ring 350, a first spring retaining ring 340, a first spring 330, and a second spring retaining ring 360 arranged from bottom to top. The elastic retaining ring 350 and the first spring retaining ring 340 together limit the lower end of the first spring 330, and the second spring retaining ring 360 and the second limiting part 313 together limit the upper end of the first spring 330, thus keeping the first spring 330 in a compressed state. There are two second spring retaining rings 360, which can be made of a low-friction coefficient material such as Teflon.

[0056] Further reference Figure 3 The power output structure 110 of the power unit 100 includes a positioning shaft 112 and a transmission pin 113. The positioning shaft 112 is a tapered shaft. The transmission pin 113 is radially disposed at the bottom of the tapered shaft, with both ends protruding beyond the tapered surface. When the connecting rod assembly 200 is installed in the power unit 100, the locking assembly 300 is connected to the power unit 100, and the positioning shaft 112 is inserted into the positioning hole 213 of the drive shaft 210. The first spring 330 and the second spring retainer ring 360 in the locking assembly 300 together press upward against the flange 215 of the drive shaft 210, so that the drive shaft 210 and the positioning shaft 112 are tightly inserted. Furthermore, the lower end of the positioning shaft 112 abuts against the upper end of the driven shaft 220, while the pin 510 at the upper end of the driven shaft 220 is kept axially pressed against the positioning shaft 112 under the elastic force of the third spring retainer ring 550 and the second spring 520. The two ends of the drive pin 113 are inserted between the axial protrusions of the torque receiving part 212. When the positioning shaft 112 rotates, the drive pin 113 can drive the drive shaft 210 to rotate. The drive shaft 210 drives the driven shaft 220 to rotate via the key 400. The end face of the positioning shaft 112 transmits axial pressure to the upper end face of the driven shaft 220.

[0057] The power output structure 110 for connecting the locking assembly 300 consists of a column fixed to the power unit 100 and a set of grooves 111 provided on the circumferential surface of the column. Each groove 111 includes a helical section and an axial section. The helical section extends spirally upward from the bottom of the column. The axial section communicates with the upper end of the helical section and extends axially downward. The end of the pin 320 of the locking assembly 300 can slide from the helical section to the axial section. The downward reaction force of the first spring 330 forces the housing 310 to press the pin 320 against the lower end of the axial groove, preventing the pin 320 from circumferentially dislodging from the groove 111. Optionally, the power output structure 110 is fixed to the positioning shaft 112 and can rotate with the positioning shaft 112. Correspondingly, the locking assembly 300 of the connecting rod assembly 200 also rotates with the positioning shaft 112.

[0058] Thus, when the robotic arm malfunctions during surgery and the acetabular reamer needs to be withdrawn from the patient's acetabulum, such as... Figure 4 As shown. The locking assembly 300 first disengages from the power unit 100. That is, by rotating the locking assembly 300, the pin 320 is unscrewed from the slide groove 111. Since the acetabular file cup and connecting rod assembly 200 cannot move axially, the positioning shaft 112 remains in contact with one end of the driven shaft. At this time, the locking assembly 300 and the driving shaft 210 can slide away from the power unit relative to the driven shaft 220, the connecting rod assembly 200 retracts, and the tool assembly composed of the connecting rod assembly 200 and the locking assembly 300 retracts, causing the contact area between the positioning shaft 112 and the driven shaft 220 to disengage from the shaft hole fit. This allows the entire tool assembly to be offset by a certain angle around the working part (file cup). After the tool assembly is offset, its axis is no longer aligned with the power unit, the positioning shaft 112 disengages from the driven shaft 220, and the tool assembly can then move axially to remove the file cup from the acetabulum.

[0059] Figure 7 This is a schematic diagram of the torque transmission structure in another embodiment of the present disclosure. Figure 8 This is a schematic diagram of the torque transmission structure in another embodiment of this disclosure. Figure 7 and Figure 8 As shown, in some embodiments, the torque transmission structure with key 400 and keyway 214 as described in the previous embodiments may not be provided between the drive shaft and the driven shaft 220a. Instead, a torque transmission structure is provided between the end faces of the positioning shaft 112a and the driven shaft 220a. Specifically, the torque transmission structure is an insertion structure provided on the adjacent end faces of the two shafts, where a strip-shaped, columnar, or other protrusion on one end face is embedded in a corresponding recess on the other end face. The drive shaft serves as a positioning element.

[0060] Figure 9 This is a schematic diagram of the torque transmission structure in another embodiment of this disclosure. Figure 9As shown, in some embodiments, the positioning shaft 112b and the driving shaft 210b may have a circular hole fit, and / or the driven shaft 220b and the driving shaft 210b may have a tapered hole fit. Optionally, a key, spline, tenon, or friction drive structure may be provided between the driving shaft 210b and the driven shaft 220b to transmit torque.

[0061] In some alternative embodiments, the locking component 300 and the power unit 100 may be connected by means of threaded connection, magnetic connection, hook connection, etc.

[0062] In some alternative embodiments, the second spring retaining ring 360 may also be replaced by an end face bearing.

[0063] In some alternative embodiments, the sleeve 530 can be fixedly connected to the housing 310, so that the reaction force of the second spring 520 can be directly transmitted to the housing 310, assisting the first spring 330 in causing the housing 310 to drive the pin 320 to press against the bottom of the axial section of the slide groove 111.

[0064] refer to Figure 10 , Figure 10 This is a schematic diagram of the tool assembly according to another embodiment of the present disclosure. In some optional embodiments, the tool assembly may also be configured as a segmented structure, including a detachably connected first segment 10 and second segment 20. At least one of the first segment 10 and the second segment 20 is a telescopic structure, with the first segment 10 connected to the power unit 100 and the second segment 20 connected to the working unit. During disassembly, the first segment 10 and / or the second segment 20 are first shortened to disengage the first segment 10 from the power unit 100, and then the first segment 10 is separated from the second segment 20. At this time, the second segment 20 can be directly withdrawn from the human body axially without having to shift to one side to make way for the power unit 100 before withdrawal. In this optional embodiment, the connection between the first segment 10 and the second segment 20 is the same as the connection between the locking component 300 and the power unit 100.

[0065] like Figure 1 As shown, this disclosure also provides an end effector, including a robot arm interface 120, a power unit 100, and a tool assembly. The power unit is provided with a power output structure 110; the tool assembly is connected to the power unit and driven by the power output structure 110; the tool assembly is any of the tool assemblies described in the foregoing embodiments. The distal end of the tool assembly can be connected to an acetabular file for grinding the acetabulum. The end effector can be connected to the end of a surgical robot arm via the robot arm interface 120.

[0066] like Figure 11As shown, this disclosure provides a surgical robot system, which includes a robotic arm 9100, a navigation system 9000, an articulation actuator 6000, and a control system 9200. The articulation actuator 6000, also known as an end effector, is connected to the end of the robotic arm. In this embodiment, the articulation actuator 6000 includes a power unit 100 and the tool assembly described in the previous embodiment. The robotic arm 9100 is equivalent to the surgeon's arm, capable of holding surgical tools and positioning them with high precision. The navigation system 9000 is equivalent to the surgeon's eyes, working in conjunction with tracers connected to the surgical tools and patient tissue to measure the positions of the surgical tools and patient tissue in real time. The navigation system 9000 can be based on optical or electromagnetic signals. The control system 9200 is equivalent to the surgeon's brain, internally storing surgical plans. The control system 9200 calculates the route and / or the position to be reached of the robot arm based on the information obtained by the navigation system 9000 during the operation. It can actively control the movement of the robot arm 9100, or manually push the robot arm 9100 to move along the route, surface or volume defined by the virtual boundary after setting the virtual boundary through the force feedback mode.

[0067] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0068] The above are merely specific embodiments of this disclosure, enabling those skilled in the art to understand or implement this disclosure. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this disclosure. Therefore, this disclosure is not to be limited to these embodiments, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A tool assembly for connection to and driven by a power unit, characterised in that, Comprising: a connecting rod assembly having a distal end and a proximal end at two ends, the distal end being configured to connect to a working part, the proximal end being configured to engage with a power output structure of a power part; wherein the connecting rod assembly is extendable and is configured to transmit axial force and torque when the connecting rod assembly is held in an extended state; the connecting rod assembly comprises a driving shaft and a driven shaft coaxially arranged, the driving shaft and the driven shaft being axially movable relative to each other; the driven shaft and the driving shaft are coaxially sleeved and connected; when the tool assembly is mounted to the power part, the driven shaft can be axially acted on by the power output structure to form and maintain the connecting rod assembly in an extended state; a locking assembly arranged at the proximal end of the connecting rod assembly, the locking assembly being configured to be connected to the power part and to maintain the proximal end in engagement with the power output structure.

2. The tool assembly of claim 1, wherein, the driving shaft is configured to transmit torque of the power output structure to the driven shaft.

3. The tool assembly of claim 1, wherein, an elastic member is arranged between the driving shaft and the driven shaft, the elastic member being configured to axially compress the driven shaft to the power output structure when the tool assembly is mounted to the power part.

4. The tool assembly of claim 3, wherein, the driving shaft is a sleeve structure and is sleeved outside the driven shaft, a cylinder wall of the sleeve structure is provided with a long slot extending in the axial direction, the driven shaft is provided with a radial pin, the radial pin extends out of the sleeve structure along the long slot and acts on the elastic member.

5. The tool assembly of claim 1, wherein, the driving shaft is provided with a structure for radial positioning with the power output structure.

6. The tool assembly of claim 1, wherein, the locking assembly is configured to have a predetermined axial movement stroke relative to the connecting rod assembly.

7. The tool assembly of claim 1, wherein, an axial compression mechanism is arranged between the driven shaft and the driving shaft to maintain the connecting rod assembly in an extended state.

8. An end effector, characterized by, Comprising: a power part, the power part being provided with a power output structure; and a tool assembly connected to the power part and driven by the power output structure; the tool assembly is any one of the tool assemblies according to claims 1 to 7.

9. A surgical robotic system, characterized by, Comprising: a robot arm; an end effector connected at the end of the robot arm; and a navigation system for obtaining position information of the end effector and controlling movement of the robot arm; wherein the end effector is the end effector according to claim 8.

Images