Surgical robot and instrument change method

Abstract

The application relates to a surgical robot and an instrument replacement method thereof. The instrument replacement method comprises the following steps: receiving a first instruction for indicating replacement of a surgical instrument; and controlling an electrically-controlled unlocking device to unlock an instrument box of the surgical instrument to be replaced from a power box. In the process of searching for a slave control arm corresponding to the surgical instrument to be replaced by an assistant doctor, the control device can automatically control the electrically-controlled unlocking device to unlock the instrument box of the surgical instrument to be replaced according to the received first instruction, that is, the process of searching for the slave control arm corresponding to the surgical instrument to be replaced and the process of unlocking the surgical instrument to be replaced can be simultaneously performed, so that the time for replacing the instrument can be saved, the speed of replacing the instrument is improved, and the interruption time in surgery is reduced.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to surgical robots and methods for replacing instruments therewith. Background Technology

[0002] When performing surgery using a surgical robot, the surgeon controls the main control arm of the robot to manipulate surgical instruments at its end within the patient's body to perform surgical actions such as clamping and cutting tissues. Different surgical actions require different surgical instruments. For example, forceps such as needle holders and duckbill forceps are used for clamping tissues; scissors such as arc shears and straight shears are used for cutting tissues; and energy-based instruments such as electric hooks and bipolar duckbill electrocautery forceps are used for cauterizing tissues. Therefore, changing instruments is a common procedure during surgery.

[0003] In the existing technology, when it is necessary to change instruments during surgery, the surgeon needs to issue a command to change the instrument. This command needs to include the arm number of the slave control arm corresponding to the instrument to be replaced. Then, the assistant surgeon needs to find the corresponding slave control arm according to the arm number and then pull out the instrument to be replaced in order to install the instrument to be used. The process of changing instruments takes a long time, which leads to a long interruption of the operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a surgical robot and its instrument replacement method to address the problem that the process of changing instruments during surgery is time-consuming in existing technologies, resulting in prolonged surgical interruptions.

[0005] A surgical robot includes: a control device, a main control arm, a slave control arm, a power box, an electrically controlled unlocking device, and surgical instruments; the power box is disposed at the end of the slave control arm; the electrically controlled unlocking device is disposed on the power box, and the control device is used to control the electrically controlled unlocking device to unlock the instrument box of the surgical instruments from the power box.

[0006] In one embodiment, the electronically controlled unlocking device includes a motor and an unlocking component connected to the motor. The unlocking component has a first state and a second state. In the first state, the unlocking component allows the instrument box to lock with the power box. In the second state, the unlocking component unlocks the instrument box from the power box. The motor is used to drive the unlocking component to switch between the first state and the second state.

[0007] In one embodiment, the unlocking member includes a connecting portion and a limiting head. One end of the connecting portion is connected to the motor, and the limiting head is connected to the end of the connecting portion opposite to the motor, with the limiting head protruding radially from the connecting portion. The motor drives the connecting portion to rotate, causing the connecting portion to switch the limiting head between a first angle and a second angle. The instrument box is provided with a limiting through hole. When the unlocking member is in the second state, the limiting head is at the second angle and can pass through the limiting through hole. When the unlocking member is in the first state, the limiting head is at the first angle and is misaligned with the limiting through hole.

[0008] In one embodiment, the power box is provided with a snap-fit ​​hole; the instrument box is provided with a snap-fit ​​member, one end of which has an elastic snap-fit ​​connector that can pass through the snap-fit ​​hole through elastic deformation; the motor is used to drive the unlocking member to switch between a first position and a second position; when the unlocking member is in the first state, it is in the first position and allows the elastic snap-fit ​​connector to pass through the snap-fit ​​hole into the power box; when the unlocking member is in the second state, it is in the second position, and when it moves from the first position to the second position, it can push the elastic snap-fit ​​connector out of the power box through the snap-fit ​​hole.

[0009] In one embodiment, the surgical robot further includes a prompting device for issuing a prompting signal that an instrument needs to be replaced; the prompting device includes a light prompting device disposed on the slave control arm for issuing a light prompting signal that an instrument needs to be replaced; and / or, the prompting device includes an sound prompting device for issuing a sound prompting signal that an instrument needs to be replaced.

[0010] In one embodiment, the electrically controlled unlocking device includes an electromagnet, and the instrument box is provided with an armature. When the electromagnet is energized, it can attract the armature, and when it is de-energized, it can release the armature.

[0011] An instrument replacement method, executed by the control device of the surgical robot described in any of the above embodiments, includes the following steps:

[0012] Receive a first instruction, which is used to instruct the replacement of surgical instruments;

[0013] The electronic unlocking device unlocks the instrument box and power box of the surgical instrument to be replaced.

[0014] In one embodiment, the instrument replacement method further includes: after receiving the first instruction, which is used to instruct the replacement of a surgical instrument, and before the step of controlling the electronic unlocking device to unlock the instrument box and power box of the surgical instrument to be replaced, controlling the surgical instrument to be replaced to release the patient's tissue according to the instrument type of the surgical instrument to be replaced; performing trajectory planning for the surgical instrument to be replaced according to the desired pose, and controlling the surgical instrument to be replaced to move to the desired pose according to the planning result.

[0015] In one embodiment, the instrument replacement method further includes: after receiving the first instruction, which is used to instruct the replacement of surgical instruments, controlling the prompting device to issue a prompt signal indicating that the instrument needs to be replaced.

[0016] In one embodiment, the step of the control prompting device issuing a prompt signal indicating that an instrument needs to be replaced includes: during the step of controlling the surgical instrument to be replaced to release the patient's tissue according to the instrument type of the surgical instrument to be replaced; during the step of planning the trajectory of the surgical instrument to be replaced according to the desired pose and controlling the surgical instrument to be replaced to move to the desired pose according to the planning result; and during the step of controlling the electronic unlocking device to unlock the instrument box and power box of the surgical instrument to be replaced, controlling the prompting device to issue a first prompt signal; the step of the control prompting device issuing the first prompt signal includes: controlling the light prompting device on the slave control arm where the surgical instrument to be replaced is located to issue a first light prompt signal.

[0017] In one embodiment, the step of the control prompting device issuing a prompt signal indicating that an instrument needs to be replaced includes: after the step of the control electronic unlocking device unlocking the instrument box and power box of the surgical instrument to be replaced, controlling the prompting device to issue a second prompt signal; the step of controlling the prompting device to issue the second prompt signal includes: controlling the light prompting device on the control arm where the surgical instrument to be replaced is located to issue a second light prompt signal; and / or, controlling the sound prompting device to issue a sound prompt signal.

[0018] In the aforementioned surgical robot and its instrument replacement method, when the surgeon needs to change instruments during surgery, the assistant surgeon, while locating the corresponding slave control arm of the instrument to be replaced, can have the control device automatically control the electronic unlocking device to unlock the instrument box and power box of the instrument to be replaced based on a received first command. That is, the process of locating the slave control arm of the instrument to be replaced and the process of unlocking the instrument can be performed simultaneously, thus saving time. When the assistant surgeon reaches the slave control arm of the instrument to be replaced, they only need to insert the instrument into the power box. Therefore, the aforementioned surgical robot and its instrument replacement method can save time and increase the speed of instrument replacement, thereby reducing surgical interruption time, and can automatically unlock the instrument box and power box of the instrument to be replaced, which is convenient and quick. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a surgical robot according to one embodiment.

[0020] Figure 2 This is a diagram showing the connection relationship between the power box and the instrument box of the surgical instruments in one embodiment.

[0021] Figure 3 This is a schematic diagram of a power box according to one embodiment.

[0022] Figure 4 This is a schematic diagram of an instrument box according to one embodiment.

[0023] Figure 5 for Figure 3 A schematic diagram showing the connection between the motor driver and the electromagnet in the power box.

[0024] Figure 6 This is a schematic diagram of a power box according to another embodiment.

[0025] Figure 7 This is a schematic diagram of an instrument box according to another embodiment.

[0026] Figure 8 This is a schematic diagram showing the cooperation relationship between the instrument box, the unlocking component, and the motor in another embodiment.

[0027] Figure 9 for Figure 8 A schematic diagram of the output shaft of the motor.

[0028] Figure 10 for Figure 8 A schematic diagram of the connecting part in the middle that is away from the motor.

[0029] Figure 11 This is a schematic diagram of a power box according to yet another embodiment.

[0030] Figure 12 for Figure 11 Partial exploded view of the power box.

[0031] Figure 13 This is a schematic diagram showing the cooperation relationship between the snap-fit ​​component, power box, unlocking component, and motor in another embodiment.

[0032] Figure 14 This is a schematic diagram of an instrument box according to yet another embodiment.

[0033] Figure 15 This is a schematic diagram of the transmission assembly according to another embodiment.

[0034] Figure 16 This is a flowchart of a device replacement method according to one embodiment. Detailed Implementation

[0035] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0036] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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 application.

[0037] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0039] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0041] Please refer to Figure 1 This application provides an embodiment of a surgical robot. The surgical robot includes a main control carriage 10, a patient carriage 20, and an image carriage 30. The main control carriage 10 is equipped with a control device (not shown), a main control arm 12, and a main display (not shown). The image carriage 30 is equipped with an image display 31. The patient carriage 20 is equipped with the control arm 21 and surgical instruments 23. The control device is, for example, a computer device. (Further details omitted) Figure 2 The surgical robot also includes a power unit 22 and an electrically controlled unlocking device. The power unit 22 is located at the end of the control arm 21. The electrically controlled unlocking device is located on the power unit 22. The control device is used to control the electrically controlled unlocking device to unlock the instrument box 231 of the surgical instrument 23 from the power unit 22. The electrically controlled unlocking device can be controlled by the control device in an electrical manner, thereby facilitating the separation of the instrument box 231 from the power unit 22.

[0042] Please refer to Figure 16 One embodiment of this application provides an instrument replacement method, which is performed by the control device of the surgical robot described above. The instrument replacement method includes the following steps:

[0043] S100: Receive the first instruction, which is used to instruct the replacement of surgical instrument 23.

[0044] Specifically, a triggering device can be provided for the surgical robot. The surgeon can input a first command by activating the triggering device, which in turn causes the control device to receive the first command. The triggering device can be, for example, a mechanical button located on the main control arm 12, which is connected to a drive board within the main control arm 12. When the surgeon wants to change the surgical instrument 23, they can activate the mechanical button, which then sends a first command to the control device via the drive board within the main control arm 12. Alternatively, the triggering device can be a voice recognition module, allowing the surgeon to input the first command via voice. The voice recognition module can be located on the main control arm 12 or the control device. Finally, the triggering device can also be a virtual interactive button displayed on the main monitor, allowing the surgeon to input the first command by activating the virtual interactive button.

[0045] S200: Control the electronic unlocking device to unlock the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced.

[0046] After receiving the first instruction in step S100, the control device controls the electronic unlocking device to unlock the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced, thereby separating the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced. After the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced are separated, the assistant doctor can insert the surgical instrument 23 to be used into the power box 22 to replace the surgical instrument 23 to be replaced.

[0047] In the aforementioned surgical robot and its instrument replacement method, when the surgeon needs to replace an instrument during surgery, the assistant surgeon, while locating the slave control arm 21 corresponding to the surgical instrument 23 to be replaced, can automatically control the electronic unlocking device to unlock the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced based on the received first instruction. That is, the process of locating the slave control arm 21 corresponding to the surgical instrument 23 to be replaced and the process of unlocking the surgical instrument 23 to be replaced can be performed simultaneously, thereby saving time in instrument replacement. Thus, when the assistant surgeon reaches the slave control arm 21 corresponding to the surgical instrument 23 to be replaced, they only need to insert the surgical instrument 23 to be used into the power box 22. Therefore, the aforementioned surgical robot and its instrument replacement method can save time in instrument replacement, increase the speed of instrument replacement, thereby reducing surgical interruption time, and can automatically unlock the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced, which is convenient and quick.

[0048] refer to Figure 16 In one embodiment, the electrically controlled unlocking device can lock the instrument case 231 of the surgical instrument 23 to the power box 22. A control device is used to control the electrically controlled unlocking device to lock the instrument case 231 of the surgical instrument 23 to the power box 22. The instrument replacement method further includes a step S300 after step S200: when it is detected that the surgical instrument 23 to be used is inserted into the power box 22, the electrically controlled unlocking device is controlled to lock the instrument case 231 of the surgical instrument 23 to be used to the power box 22.

[0049] The control device can automatically identify when the surgical instrument 23 to be used is inserted into the power box 22. The identification method can refer to the existing technology, which will not be described in detail here.

[0050] When the control device detects that the surgical instrument 23 to be used is inserted into the power box 22, it controls the electronic unlocking device to lock the instrument box 231 of the surgical instrument 23 to be used with the power box 22, thereby installing the instrument box 231 of the surgical instrument 23 to be used on the power box 22, which is convenient and quick to install.

[0051] Please combine Figures 3 to 4 In one embodiment, the electrically controlled unlocking device includes an electromagnet 241 and an armature 242 disposed on the instrument box 231. When the electromagnet 241 is energized, it attracts the armature 242 to lock the instrument box 231. When the electromagnet 241 is de-energized, it releases the armature 242 to release the instrument box 231. When it is necessary to install surgical instruments 23, the control device can control the electromagnet 241 to be energized to attract the armature 242 to lock the instrument box 231. When it is necessary to remove surgical instruments 23, the control device can control the electromagnet 241 to be de-energized to release the armature 242 to release the instrument box 231.

[0052] After receiving the first command in step S100, the control device de-energizes the electromagnet 241, thereby releasing the armature 242 on the instrument box 231 of the surgical instrument 23 to be replaced, thus unlocking the surgical instrument 23 from the power box 22. After the instrument box 231 of the surgical instrument 23 to be replaced is separated from the power box 22, the assistant doctor inserts the surgical instrument 23 to be used into the power box 22. When the control device detects that the surgical instrument 23 to be used has been inserted into the power box 22, it energizes the electromagnet 241, thereby attracting the armature 242 on the instrument box 231 of the surgical instrument 23 to be used, thus mounting the instrument box 231 of the surgical instrument 23 to be used onto the power box 22.

[0053] like Figure 5 As shown, in one embodiment, the electronically controlled unlocking device includes a motor 243. The pin 2432 of the driver 2431 of the motor 243 is connected to the electromagnet 241, so that the control device can energize or de-energize the electromagnet 241 by controlling the driver 2431 of the motor 243.

[0054] In other embodiments, the electrically controlled unlocking device includes a motor and an unlocking member connected to the motor. The unlocking member has a first state and a second state. In the first state, the unlocking member allows the instrument box 231 to lock with the power box 22. In the second state, the unlocking member can unlock the instrument box 231 from the power box 22. The motor is used to drive the unlocking member to switch between the first and second states. When the instrument box 231 of the surgical instrument 23 needs to be installed on the power box 22, the motor can be controlled to drive the unlocking member to switch to the first state, thereby allowing the instrument box 231 to lock with the power box 22. When the instrument box 231 of the surgical instrument 23 needs to be removed from the power box 22, the motor can be controlled to drive the unlocking member to switch to the second state, then the unlocking member can unlock the instrument box 231 from the power box 22, facilitating the separation of the instrument box 231 of the surgical instrument 23 from the power box 22.

[0055] After receiving the first command in step S100, the control device controls the motor to switch the unlocking mechanism to the second state, thereby unlocking the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced. After the instrument box 231 and power box 22 of the surgical instrument 23 to be replaced are separated, the assistant doctor inserts the surgical instrument 23 to be used into the power box 22. When the control device recognizes that the surgical instrument 23 to be used is inserted into the power box 22, it controls the motor to switch the unlocking mechanism to the first state, thereby allowing the instrument box 231 and power box 22 of the surgical instrument 23 to be used to be locked.

[0056] Please refer to Figures 6 to 8In some embodiments, the unlocking member 244 includes a connecting portion 244a and a limiting head 244b. One end of the connecting portion 244a is connected to a motor 243, and the limiting head 244b is connected to the end of the connecting portion 244a opposite to the motor 243, and the limiting head 244b protrudes radially from the connecting portion 244a. The motor 243 drives the connecting portion 244a to rotate, so that the connecting portion 244a drives the limiting head 244b to switch between a first angle and a second angle. The instrument box 231 is provided with a limiting through hole 245. In the second state, the limiting head 244b of the unlocking member 244 is at the second angle and can pass through the limiting through hole 245. In the first state, the limiting head 244b of the unlocking member 244 is at the first angle and is misaligned with the limiting through hole 245. It can be understood that the limiting head 244b is located within the contour range of the limiting through hole 245 in the second angle, so that it can pass through the limiting through hole 245. At the first angle, the limiting head 244b is misaligned with the limiting through hole 245 and therefore cannot pass through the limiting through hole 245. The first angle can be any angle other than the second angle, as long as it can prevent the limiting head 244b from passing through the limiting through hole 245.

[0057] The instrument case 231 has a first surface and a second surface arranged opposite to each other. The first surface faces the outside of the instrument case 231, and the second surface faces the inside of the instrument case 231. A limiting through hole 245 penetrates through the first surface and the second surface. When the instrument case 231 of the surgical instrument 23 needs to be installed on the power box 22, the limiting head 244b can first be switched to the second angle, so that the limiting head 244b moves from the first surface side through the limiting through hole 245 to the second surface side; then the limiting head 244b is switched to the first angle, so that the limiting head 244b is blocked by the second surface and cannot pass through the limiting through hole 245, thereby locking the instrument case 231 of the surgical instrument 23 onto the power box 22. Conversely, when it is necessary to remove the instrument box 231 of the surgical instrument 23 from the power box 22, the limiting head 244b can be switched to the second angle, so that the limiting head 244b can move from the second surface side through the limiting through hole 245 to the first surface side, that is, move out of the limiting through hole 245, so that the instrument box 231 of the surgical instrument 23 can be separated from the power box 22.

[0058] After receiving the first command in step S100, the control device controls the motor 243 to drive the connecting part 244a to rotate, causing the limiting head 244b to switch to the second angle. At this time, the limiting head 244b can pass through the limiting through hole 245 on the instrument box 231 of the surgical instrument 23 to be replaced, thereby allowing the instrument box 231 of the surgical instrument 23 to be replaced to separate from the power box 22, i.e., unlocking the surgical instrument 23 to be replaced. After the instrument box 231 of the surgical instrument 23 to be replaced separates from the power box 22, the assistant doctor inserts the surgical instrument 23 to be used into the power box 22. At the same time, the limiting head 244b, which is at the second angle, passes through the limiting through hole 245 on the instrument box 231 of the surgical instrument 23 to be used and enters the power box 22. When the control device detects that the surgical instrument 23 to be used is inserted into the power box 22, it controls the motor 243 to drive the connecting part 244a to rotate, so that the limiting head 244b switches to the first angle, thereby locking the instrument box 231 of the surgical instrument 23 to be used onto the power box 22.

[0059] Please refer to Figure 9 and Figure 10 In one embodiment, the output shaft 243b of the motor 243 is provided with a connecting hole 243b. The end of the connecting part 244a facing away from the limiting head 244b is inserted into the connecting hole 243b. The connecting hole 243b is non-circular, and the shape of the end of the connecting part 244a facing away from the limiting head 244b is adapted to the connecting hole 243b, so that the connecting part 244a can rotate synchronously with the output shaft 243b.

[0060] Specifically, the shape of the connecting hole 243b can be as follows: Figure 10 The cross shape shown can also be a hexagon, quadrilateral, or other shapes.

[0061] Please combine Figures 11 to 14 In another embodiment, the power box 22 is provided with a snap-fit ​​hole 246, and the instrument box 231 is provided with a snap-fit ​​member 247. One end of the snap-fit ​​member 247 has an elastic snap-fit ​​connector 2471, which can pass through the snap-fit ​​hole 246 through elastic deformation. A motor is used to drive the unlocking member 249 to switch between a first position and a second position. In the first state, the unlocking member 249 is in the first position and allows the elastic snap-fit ​​connector 2471 to pass through the snap-fit ​​hole 246 into the power box 22. In the second state, the unlocking member 249 is in the second position, and when the unlocking member 249 moves from the first position to the second position, it can push the elastic snap-fit ​​connector 2471 out of the power box 22 through the snap-fit ​​hole 246.

[0062] The power box 22 has a first surface and a second surface arranged opposite to each other. The first surface faces the outside of the power box 22, and the second surface faces the inside of the power box 22. A locking hole 246 penetrates through the first surface and the second surface. When the elastic locking connector 2471 is in its natural state without elastic deformation, it cannot pass through the locking hole 246. When the instrument box 231 of the surgical instrument 23 needs to be installed on the power box 22, the unlocking member 249 is in the first position. By pressing the elastic locking connector 2471 into the locking hole 246, the elastic locking connector 2471 undergoes elastic deformation, thus moving from the first surface side through the locking hole 246 to the second surface side. At this time, the elastic locking connector 2471 returns to its original shape and cannot pass through the locking hole 246, thereby locking the instrument box 231 of the surgical instrument 23 onto the power box 22. When it is necessary to separate the instrument box 231 of the surgical instrument 23 from the power box 22, the motor 243 can be controlled by the control device to drive the unlocking member 249 from the first position to the second position. The unlocking member 249 pushes the elastic locking connector 2471, causing the elastic locking connector 2471 to undergo elastic deformation again and move from the second surface side through the locking hole 246 to the first surface side, that is, the instrument box 231 of the surgical instrument 23 is separated from the power box 22.

[0063] After receiving the first instruction in step S100, the control device controls the motor 243 to drive the unlocking member 249 to move from the first position to the second position. As a result, the unlocking member 249 pushes the elastic locking connector 2471 of the locking member 247 on the instrument box 231 of the surgical instrument 23 to be replaced. This causes the elastic locking connector 2471 to be pushed out of the power box 22 through the locking hole 246 by elastic deformation, thereby causing the instrument box 231 of the surgical instrument 23 to be replaced to separate from the power box 22. After the instrument box 231 of the surgical instrument 23 to be replaced is separated from the power box 22, the assistant doctor inserts the surgical instrument 23 to be used into the power box 22. When the control device recognizes that the surgical instrument 23 to be used is inserted into the power box 22, it controls the motor 243 to drive the unlocking member 249 to move from the second position to the first position, so that the unlocking member 249 makes room for the elastic locking connector 2471. At this time, the elastic locking connector 2471 of the locking member 247 of the instrument box 231 of the surgical instrument 23 to be used passes through the locking hole 246 through elastic deformation, enters the power box 22 and restores its deformation, so that the instrument box 231 of the surgical instrument 23 to be used is locked on the power box 22.

[0064] In one embodiment, the second position is closer to the outer side of the power box 22 than the first position. Therefore, when the unlocking member 249 moves from the second position to the first position, it can push the elastic snap-fit ​​connector 2471 out of the power box 22 through the snap-fit ​​hole 246. When the unlocking member 249 moves from the second position to the first position, it can make room for the elastic snap-fit ​​connector 2471, so that the elastic snap-fit ​​connector 2471 can pass through the snap-fit ​​hole 246, enter the power box 22, and return to its original shape.

[0065] Please combine Figures 11 to 14 In one embodiment, the electronically controlled unlocking device includes a transmission assembly 248 connected between the motor 243 and the unlocking member 249. The transmission assembly 248 is used to convert the rotational motion output by the motor 243 into translational motion, so as to drive the unlocking member 249 to switch between a first position and a second position.

[0066] Please refer to Figure 15 In one embodiment, the transmission assembly 248 includes a gear 2481, a lead screw 2482, and a slider 2483. The gear 2481 rotates coaxially with the output shaft of the motor 243. The gear 2481 meshes with the lead screw 2482, and the lead screw 2482 is threadedly engaged with the slider 2483. The slider 2483 is fixedly connected to the unlocking member 249. When the motor 243 rotates, it drives the gear 2481 to rotate synchronously, thereby causing the gear 2481 to drive the lead screw 2482 to rotate. The rotation of the lead screw 2482 causes the slider 2483 to translate, which in turn causes the unlocking member 249 to translate.

[0067] Please refer to Figure 13 In one embodiment, the resilient snap-fit ​​connector 2471 has a first inclined surface 2472, and the unlocking member 249 has a second inclined surface 2491 opposite to the first inclined surface 2472. The first inclined surface 2472 is parallel to the second inclined surface 2491 and is inclined in the direction of the depth of the snap-fit ​​hole 246. When the unlocking member 249 pushes the resilient snap-fit ​​connector 2471, the second inclined surface 2491 presses against the first inclined surface 2472, which facilitates the elastic deformation of the resilient snap-fit ​​connector 2471 in the radial direction of the snap-fit ​​hole 246, thereby facilitating the resilient snap-fit ​​connector 2471 to be squeezed into and through the snap-fit ​​hole 246 and squeezed out of the snap-fit ​​hole 246.

[0068] Please refer to Figure 13 and Figure 14 In one embodiment, the resilient snap-fit ​​connector 247 protrudes radially from the snap-fit ​​member 247. The instrument box 231 has two snap-fit ​​members 247. The power box 22 has two snap-fit ​​through-holes 246, each corresponding to one of the two snap-fit ​​members 247 on the instrument box 231. The protruding directions of the resilient snap-fit ​​connectors 247 of the two snap-fit ​​members 247 on the instrument box 231 are opposite, thus, when the two snap-fit ​​members 247 engage with their corresponding snap-fit ​​through-holes 246, the connection between the instrument box 231 and the power box 22 can be made more secure.

[0069] Please refer to Figure 11 In one embodiment, the power box 22 is provided with an elastic element 221. When the instrument box 231 is locked to the power box 22, the elastic element 221 is in an energy-storing state between the power box 22 and the instrument box 231. When the electronically controlled unlocking device unlocks the instrument box 231 from the power box 22, the elastic element 221 releases energy, which can pop the instrument box 231 out, thereby facilitating the quick separation of the instrument box 231 from the power box 22. The elastic element 221 is, for example, a spring or a spring pin.

[0070] Please refer to Figure 11 and Figure 12 In one embodiment, a connecting plate 222 is provided on the power box 22. An elastic element 221 is provided on the connecting plate 222.

[0071] Please refer to Figure 11 and Figure 12 In one embodiment, the card access hole 246 is provided on the connecting plate 222.

[0072] In one embodiment, the instrument replacement method further includes: after step S100 and before step S200, controlling the surgical instrument 23 to be replaced to release the patient's tissue according to the instrument type of the surgical instrument 23 to be replaced. In this embodiment, because the surgical instrument 23 to be replaced is controlled to release the patient's tissue before step S200, damage to the tissue can be minimized when the instrument box 231 of the surgical instrument 23 to be replaced separates from the power box 22.

[0073] The control device can automatically identify the type of surgical instrument 23. The identification method can refer to the existing technology, and will not be described in detail here.

[0074] The action of releasing the patient's tissue varies depending on the type of device. For example, for energy-type devices, releasing the patient's tissue means stopping the energy output to the tissue. For clamping devices, releasing the patient's tissue means controlling the device to open and release the tissue. For shearing devices, releasing the patient's tissue means controlling the device to open to avoid cutting the tissue.

[0075] Specifically, for clamping and cutting instruments, the desired opening angle can be pre-stored in the control device. Controlling the release of the patient's tissue by the surgical instrument 23 to be replaced includes: planning the trajectory of the surgical instrument 23 to be replaced according to the desired opening angle, and controlling the surgical instrument 23 to be replaced to open to the desired opening angle based on the planning results.

[0076] In one embodiment, the instrument replacement method further includes: after the step of controlling the surgical instrument 23 to be replaced to release the patient's tissue, and before step S200, performing trajectory planning for the surgical instrument 23 to be replaced according to the desired pose, and controlling the surgical instrument 23 to be replaced to move to the desired pose according to the planning result.

[0077] For different instrument types, their desired positions can be pre-stored in the control device. The desired positions include desired locations and desired orientations. A desired orientation is when the pitch angle and yaw angle of the surgical instrument 23 are both zero. The power unit 22 is connected to the end of the control arm 21 via a telescopic joint. A desired location, for example, is the position of the surgical instrument 23 when the telescopic joint moves the power unit 22 to its highest point. The surgical instrument 23 to be replaced is controlled to move to the desired orientation and desired location, and then separated from the power unit 22. The current orientation of the power unit 22 facilitates the insertion of the surgical instrument 23 to be used.

[0078] In one embodiment, the instrument replacement method further includes: after step S300, controlling the surgical instrument 23 to be used to move to the planned pre-position. The planned pre-position is the position of the surgical instrument 23 before trajectory planning is performed. Thus, after the surgical instrument 23 is installed on the power box 22, it automatically returns to the surgical position and posture, facilitating the continuation of the surgery.

[0079] In one embodiment, the surgical robot further includes a prompting device for issuing a prompting signal indicating that an instrument needs to be replaced. The instrument replacement method further includes: after step S100, controlling the prompting device to issue a prompting signal indicating that an instrument needs to be replaced, thereby facilitating the assistant physician to promptly locate the slave control arm 21 where the surgical instrument 23 to be replaced is located.

[0080] In one embodiment, the step of the control prompting device issuing a prompt signal indicating the need to replace an instrument includes: during the step of controlling the surgical instrument 23 to release the patient's tissue according to the instrument type of the surgical instrument 23 to be replaced; during the step of planning the trajectory of the surgical instrument 23 to be replaced according to the desired pose and controlling the surgical instrument 23 to be replaced to move to the desired pose according to the planning result; and during the step of controlling the electronic unlocking device to unlock the instrument box 231 and the power box 22 of the surgical instrument 23, the control prompting device issues a first prompt signal. Thus, the first prompt signal can be used to inform the assistant physician that the surgical robot is controlling the surgical instrument 23 to release the patient's tissue, is planning the trajectory of the surgical instrument 23 to be replaced, and is unlocking the instrument box 231 of the surgical instrument 23 to be replaced, thereby allowing the assistant physician to monitor the disassembly progress of the surgical instrument 23 to be replaced based on the prompt signal.

[0081] In one embodiment, the prompting device includes a light prompting device disposed on the slave control arm 21, used to emit a light prompting signal indicating that an instrument needs to be replaced. The light prompting device is, for example, a warning light. The step of controlling the prompting device to emit the first prompting signal includes: controlling the light prompting device on the slave control arm 21, where the surgical instrument 23 to be replaced is located, to emit the first light prompting signal. Because the light prompting device on the slave control arm 21, where the surgical instrument 23 to be replaced is located, emits the first light prompting signal, the assistant physician can quickly locate the slave control arm 21 where the surgical instrument 23 to be replaced is located based on the first light prompting signal, reducing the assistant physician's learning and familiarization time with the surgical robot.

[0082] In one embodiment, the step of controlling the prompting device to issue a prompting signal that an instrument needs to be replaced includes: after step S200, controlling the prompting device on the control arm 21 where the surgical instrument 23 to be replaced is located to issue a second prompting signal, so that the second prompting signal can be used to prompt the assistant doctor that the surgical instrument 23 to be replaced has been unlocked and can be inserted into the surgical instrument 23 to be used in a timely manner.

[0083] In one embodiment, the prompting device includes a light prompting device disposed on the control arm 21 for emitting a light prompt signal indicating that an instrument needs to be replaced. The light prompting device is, for example, an indicator light. The step of controlling the prompting device on the control arm 21 containing the surgical instrument 23 to be replaced to emit a second prompt signal includes: controlling the light prompting device on the control arm 21 containing the surgical instrument 23 to emit a second light prompt signal. The second light prompt signal can be different from the first light prompt signal to distinguish between the two types of light prompt signals. The first light prompt signal is, for example, continuously flashing, and the second light prompt signal is, for example, constantly lit.

[0084] In one embodiment, the prompting device includes an audible prompting device for issuing an audible prompt signal indicating that an instrument needs to be replaced. The audible prompting device is, for example, a buzzer. The audible prompting device may be located on the image display 31. The step of controlling the prompting device on the control arm 21 to issue a second prompt signal for the surgical instrument 23 to be replaced includes: controlling the audible prompting device to issue the audible prompt signal.

[0085] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0086] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A surgical robot, characterized in that, The surgical robot includes: a control device, a main control arm, a slave control arm, a power box, an electrically controlled unlocking device, a prompting device, and surgical instruments; the power box is located at the end of the slave control arm; the electrically controlled unlocking device is located on the power box; The control device is configured to: in response to a first command for indicating the replacement of surgical instruments, control the electronic unlocking device to unlock the instrument case of the surgical instruments from the power case, and control the prompting device to issue a prompt signal indicating that the instruments need to be replaced; The electronically controlled unlocking device includes a motor and an unlocking component connected to the motor. The unlocking component has a first state and a second state. In the first state, the unlocking component allows the instrument box to lock with the power box. In the second state, the unlocking component unlocks the instrument box from the power box. The motor is used to drive the unlocking component to switch between the first state and the second state. The power box is provided with a snap-fit ​​hole; the instrument box is provided with a snap-fit ​​component, one end of which has an elastic snap-fit ​​connector that can pass through the snap-fit ​​hole through elastic deformation; the motor is used to drive the unlocking component to switch between a first position and a second position; when the unlocking component is in the first state, it is in the first position and allows the elastic snap-fit ​​connector to pass through the snap-fit ​​hole into the power box; when the unlocking component is in the second state, it is in the second position, and when it moves from the first position to the second position, it can push the elastic snap-fit ​​connector out of the power box through the snap-fit ​​hole. The elastic snap-fit ​​connector has a first inclined surface, and the unlocking member has a second inclined surface opposite to the first inclined surface. The first inclined surface is parallel to the second inclined surface and is inclined in the direction of the depth of the snap-fit ​​hole. When the unlocking member pushes the elastic snap-fit ​​connector, the second inclined surface squeezes the first inclined surface, so that the elastic snap-fit ​​connector undergoes elastic deformation in the radial direction of the snap-fit ​​hole.

2. The surgical robot according to claim 1, characterized in that, The unlocking component includes a connecting part and a limiting head. One end of the connecting part is connected to the motor, and the limiting head is connected to the end of the connecting part opposite to the motor, with the limiting head protruding radially from the connecting part. The motor drives the connecting part to rotate, causing the connecting part to switch the limiting head between a first angle and a second angle. The instrument box is provided with a limiting through hole. In the second state, the limiting head is at the second angle and can pass through the limiting through hole. In the first state, the limiting head is at the first angle and is misaligned with the limiting through hole.

3. The surgical robot according to claim 1, characterized in that, The prompting device includes a light prompting device disposed on the control arm for emitting a light prompting signal indicating that the instrument needs to be replaced; and / or, the prompting device includes an sound prompting device for emitting a sound prompting signal indicating that the instrument needs to be replaced.

4. The surgical robot according to claim 1, characterized in that, The electrically controlled unlocking device includes an electromagnet, and the instrument box is provided with an armature. When the electromagnet is energized, it can attract the armature, and when it is de-energized, it can release the armature.

5. A method for replacing an instrument, characterized in that, Performed by the surgical robot according to any one of claims 1 to 4, the instrument replacement method includes the following steps: Receive a first instruction, which is used to instruct the replacement of surgical instruments; The controllable electronic unlocking device unlocks the instrument box and power box of the surgical instrument to be replaced, and the control prompting device sends a prompt signal that the instrument needs to be replaced.

6. The instrument replacement method according to claim 5, characterized in that, The step of the control prompting device issuing a prompt signal indicating that an instrument needs to be replaced includes: during the step of the control electronic unlocking device unlocking the instrument box and power box of the surgical instrument to be replaced, controlling the prompting device to issue a first prompt signal; the step of the control prompting device issuing the first prompt signal includes: controlling the light prompting device on the slave control arm where the surgical instrument to be replaced is located to issue a first light prompt signal.

7. The instrument replacement method according to claim 5, characterized in that, The step of the control prompting device issuing a prompt signal indicating that an instrument needs to be replaced includes: after the step of the control electronic unlocking device unlocking the instrument box and power box of the surgical instrument to be replaced, controlling the prompting device to issue a second prompt signal; the step of controlling the prompting device to issue the second prompt signal includes: controlling the light prompting device on the control arm where the surgical instrument to be replaced is located to issue a second light prompt signal; and / or, controlling the sound prompting device to issue a sound prompt signal.

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