Power device, surgical robot, and joining method

Abstract

This invention provides a power unit for a surgical robot, the surgical robot itself, a connection method, and a detection method. The power unit includes: a rotating component, an axial biasing component providing elastic bias for the rotating component, a first detection component, a second detection component, and a controller. Before installing the drive input interface, the controller rotates the rotating component until the target point is detected by the second detection component. Based on the detection result of the first detection component, when the detected part of the rotating component is located on the side opposite to the surgical instrument relative to a preset position, the controller rotates the rotating component in a preset manner to move it axially to the preset position. By using the first detection component to detect the axial position of the rotating component used to output torque, the drive coupling state of the power unit can be accurately determined after the surgical instrument is installed, thereby precisely executing the expected actions according to the surgeon's instructions and avoiding surgical risks caused by unexpected oscillations of the instrument joints.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a power unit, a surgical robot, and a connection method. 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] With the development of minimally invasive surgery and artificial intelligence technologies, surgical robots have advantages such as the ability to perform complex surgeries, high stability of surgical results, precise operation, less bleeding and fewer postoperative complications. Robot-assisted minimally invasive surgery is gradually becoming one of the development trends of minimally invasive surgery.

[0004] Current minimally invasive surgical robots can control the corresponding power unit based on the surgeon's operation, driving the corresponding surgical instruments to perform the surgical procedure. However, considering the need for sterilization of surgical instruments, they are usually detachably installed onto the main body of the device containing the power unit, receiving torque from the power unit. In the current installation process of surgical robots, after installing the surgical instruments or sterile adapters, only the motor rotation angle can be determined using encoders, etc., and it is impossible to determine whether the surgical instruments or sterile adapters are coupled to the power unit. This results in the surgical instruments being unable to accurately complete the predetermined movements according to the surgeon's operation. Unexpected oscillation of the instrument joints during the self-check process when the surgical instruments are not coupled may also pose surgical risks. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the present invention provides a power device, a surgical robot and a connection method, which can accurately identify the drive engagement state of the power device and the surgical instruments, so as to accurately execute the doctor's instructions and avoid unintended swaying of the instrument joints.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A power unit for a surgical robot, comprising:

[0008] First shell;

[0009] A rotating component is rotatably mounted on the first housing and includes an axially coupled end.

[0010] An axial biasing element is configured to provide the rotating element with a resilient bias toward the surgical instrument;

[0011] A first detection component is configured to detect the position of the rotating member in its axial direction;

[0012] The controller is configured as follows:

[0013] When the detected part of the rotating component is located on the side facing away from the surgical instrument relative to the preset position, it is determined that the drive input interface is not coupled to the coupling end of the rotating component, and the drive input interface is configured to provide torque to the surgical instrument.

[0014] In one embodiment, the drive input interface includes a first input disk disposed on the surgical instrument, and the first input disk and the rotating member are coupled by the engagement of concave and convex features facing each other at their end faces.

[0015] The controller is configured to:

[0016] After the surgical instruments are loaded into the power unit, the detection results of the first detection component are used to determine whether the first input disk is coupled to the rotating component.

[0017] In one embodiment, the power unit further includes a transfer assembly, which includes a second housing detachably mounted to the first housing and a second input disk rotatably disposed on the second housing;

[0018] The drive input interface includes a second input disk, which is coupled to the rotating member by the engagement of concave and convex features facing each other at their end faces, so as to transmit torque between the rotating member and the surgical instrument.

[0019] The controller is configured to:

[0020] After the second housing is installed on the power unit, the detection result of the first detection component is used to determine whether the second input disk is coupled to the rotating component.

[0021] In one embodiment, the second input disk is coupled to the first input disk disposed on the surgical instrument by the engagement of concave and convex features facing each other at their end faces, and the second input disk has a degree of freedom along the axial direction of the second housing.

[0022] The controller is configured to:

[0023] After the second input disk is coupled to the rotating component and the surgical instrument is installed on the power device, it is determined whether the first input disk is coupled to the second input disk based on the detection result of the first detection component.

[0024] In one embodiment, the detection end of the first detection component is located on the side facing away from the surgical instrument relative to the rotating member, and there is a gap between the detection end of the first detection component and the rotating member along the axial direction of the rotating member.

[0025] In one embodiment, the first detection component is configured to detect whether the detected part of the rotating member is sensed; the controller is configured to determine that the drive input interface is not coupled to the rotating member when the first detection component senses the detected part of the rotating member.

[0026] In one embodiment, the first detection component is configured to detect the distance between itself and the detected part; the controller is configured to determine that the drive input interface is not coupled to the rotating part when the first detection component detects that the distance between itself and the rotating part is less than a preset distance.

[0027] In one embodiment, the power unit further includes a first signal terminal disposed on the first housing;

[0028] The controller is configured to:

[0029] Based on the signal indicating that the first signal terminal and the signal terminal of the drive input interface are connected, it is determined that the drive input interface is equipped with the power device.

[0030] In one embodiment, the power unit further includes a transfer assembly configured to transmit torque between the rotating member and the surgical instrument, the transfer assembly including a second signal terminal.

[0031] The controller is configured to: determine that the adapter assembly is installed in the first housing based on a signal indicating that the second signal terminal is connected to the first signal terminal; and / or, after the adapter assembly is installed in the first housing, determine that the surgical instrument is installed in the adapter assembly based on a signal indicating that the third signal terminal of the surgical instrument is connected to the first signal terminal.

[0032] In one embodiment, the power unit further includes a second detection component, and the rotating component is provided with a target point.

[0033] The controller is configured to:

[0034] When the target point rotates with the rotating member until it is detected by the second detection component, it is determined that the rotating member has rotated to the zero position.

[0035] In one embodiment, the power unit further includes a transfer assembly detachably mounted to the first housing, the transfer assembly being configured to transmit torque between the rotating member and the surgical instrument.

[0036] The controller is configured to:

[0037] After the adapter assembly is installed into the first housing, and the first detection component detects that the adapter assembly is driven to engage with the rotating component, the rotating component is controlled to rotate until the target point is detected by the second detection component.

[0038] In one embodiment, the power unit further includes a converter assembly, which includes a second input disk and a surgical instrument includes a first input disk, the first input disk being coupled to the rotating member via the second input disk;

[0039] The controller is configured to:

[0040] After the second input disk is installed onto the rotating component and is not coupled to the rotating component, the rotating component is controlled to rotate in a preset first manner, and when the rotating component rotates to the point of coupling with the second input disk, the preset rotation of the rotating component is interrupted; and / or,

[0041] When the rotating component is coupled to the second input disk, and the first input disk is installed on the second input disk but not coupled to the rotating component, the rotating component is controlled to rotate in a preset second manner, and when the rotating component rotates to the point of being coupled to the first input disk, the preset rotation of the rotating component is interrupted.

[0042] In one embodiment, the rotating component includes a first rotating component and a second rotating component, each of the rotating components corresponding to a second input disk and a first input disk respectively;

[0043] The controller is configured to:

[0044] When the first rotating member is coupled to a second input disk, and the corresponding first input disk is not coupled to the first rotating member after being installed on the corresponding second input disk, the first rotating member is controlled to rotate in a preset third manner. When the first rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the first rotating member is interrupted, and the first rotating member is controlled to rotate until the target point is detected by the second detection component.

[0045] When the second rotating member is coupled to another second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the second rotating member, the second rotating member is controlled to rotate in a preset fourth manner. When the second rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled to rotate until the target point is located within a preset angle range.

[0046] In one embodiment, the rotating component includes a first rotating component and a second rotating component, each of the rotating components corresponding to a second input disk and a first input disk, respectively;

[0047] The controller is configured to:

[0048] When the first rotating member is coupled to a second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the first rotating member, the first rotating member is controlled to rotate in a preset third manner, and when the first rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the first rotating member is interrupted and the rotation of the first rotating member is stopped.

[0049] When the second rotating member is coupled to another second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the second rotating member, the second rotating member is controlled to rotate in a preset fourth manner. When the second rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the second rotating member is interrupted, and the target point of the second rotating member is controlled to rotate to a preset angle range.

[0050] In one implementation, both the first method and the second method include scanning by rotating in the forward and reverse directions. In the first method, the angle of unidirectional scanning does not exceed a first angle threshold, and in the second method, the angle of unidirectional scanning does not exceed a second angle threshold. The first angle threshold is greater than the second angle threshold.

[0051] In one embodiment, the power unit further includes an indicating device, the first housing is provided with a first signal terminal, the adapter assembly includes a second signal terminal, the surgical instrument includes a third signal terminal, and the indicating device is disposed on the adapter assembly and electrically connected to the second signal terminal;

[0052] The second signal terminal can be connected to the first signal terminal after the adapter assembly is installed into the first housing, and can be connected to the third signal terminal after the surgical instrument is installed into the adapter assembly;

[0053] The controller is configured to:

[0054] After the adapter assembly is installed into the first housing, and / or after the surgical instrument is installed into the adapter assembly, the indication state of the indicator device is switched according to the detection result of the first detection component.

[0055] Another object of the present invention is to provide a surgical robot, including surgical instruments and any of the above-described power devices, wherein the surgical instruments are configured to perform corresponding actions under the drive of the power device.

[0056] Another object of the present invention is to provide a method for detecting the engagement state of a power unit of a surgical robot, the power unit comprising:

[0057] Rotating component, including an axially coupled end;

[0058] An axial biasing element is configured to provide the rotating element with a resilient bias toward the surgical instrument;

[0059] A first detection component is configured to detect the position of the rotating member in its axial direction;

[0060] The method includes:

[0061] Based on the detection result of the first detection component, it is determined whether the drive input interface is coupled to the rotating component. The drive input interface is configured to provide torque to the surgical instrument when coupled to the rotating component, thereby increasing the deformation of the axial offset component.

[0062] Specifically, when the detected part of the rotating component is located on the side facing away from the surgical instrument relative to the preset position, it is determined that the drive input interface is not coupled to the rotating component.

[0063] In one embodiment, the drive input interface includes a first input disk disposed on the surgical instrument, and the first input disk and the rotating member are coupled by the engagement of concave and convex features facing each other at their end faces.

[0064] The method includes:

[0065] After the surgical instruments are loaded into the power unit, the detection results of the first detection component are used to determine whether the first input disk is coupled to the rotating component.

[0066] In one embodiment, the power unit further includes a transfer assembly, which includes a second input disk having axial and circumferential degrees of freedom. The second input disk and the rotating member are coupled by the engagement of concave and convex features facing each other at their end faces. The first input disk and the second input disk, which are mounted on the surgical instrument, are coupled by the engagement of concave and convex features facing each other at their end faces.

[0067] The method includes:

[0068] After the adapter assembly is installed on the power unit, the detection result of the first detection component is used to determine whether the second input disk is coupled to the rotating component.

[0069] After the second input disk is coupled to the rotating component and the surgical instrument is installed into the adapter assembly, the first input disk is determined to be coupled to the second input disk based on the detection result of the first detection component.

[0070] In one embodiment, the first detection component is configured to detect whether the detected part of the rotating member is sensed;

[0071] The method includes: when the first detection component senses the detected part of the rotating component, determining that the drive input interface is not coupled to the rotating component.

[0072] In one embodiment, the first detection component is configured to detect the distance between itself and the detected part;

[0073] The method includes: when the first detection component detects that the distance between itself and the rotating component is less than a preset distance, determining that the drive input interface is not coupled to the rotating component.

[0074] In one embodiment, the power unit further includes a first signal terminal;

[0075] The method includes: determining that the power device is installed in the drive input interface based on the signal that the first signal terminal and the signal terminal of the drive input interface are connected.

[0076] In one embodiment, the power unit further includes a transfer assembly configured to transmit torque between the rotating member and the surgical instrument, the transfer assembly including a second signal terminal.

[0077] The method includes: determining that the adapter assembly is installed on the power device based on a signal indicating that the second signal terminal is connected to the first signal terminal; and / or, after the adapter assembly is installed on the power device, determining that the surgical instrument is installed on the adapter assembly based on a signal indicating that the third signal terminal of the surgical instrument is connected to the first signal terminal.

[0078] In one embodiment, the power unit further includes an indicating device and a first signal terminal, the adapter includes a second signal terminal, the surgical instrument includes a third signal terminal, and the indicating device is disposed on the adapter and electrically connected to the second signal terminal.

[0079] The second signal terminal can be connected to the first signal terminal after the adapter assembly is installed to the power device, and can be connected to the third signal terminal after the surgical instrument is installed to the adapter assembly;

[0080] The method includes:

[0081] After the adapter assembly is installed on the power unit, and / or after the surgical instrument is installed on the adapter assembly, the indication state of the indicator device is switched according to the detection result of the first detection component.

[0082] Another object of the present invention is to provide a method for engaging the power unit of a surgical robot, comprising:

[0083] After the drive input interface is installed at the coupling end of the rotating part of the power unit, the position of the rotating part in its axial direction is detected; wherein, the drive input interface is configured to provide torque to the surgical instrument, the rotating part elastically abuts against the drive input interface under the action of the axial offset member, the axial offset member is configured to provide elastic offset of the rotating part toward the surgical instrument, and the deformation increases when the drive input interface providing torque to the surgical instrument is coupled to the rotating part;

[0084] When the detected part of the rotating member is located on the side opposite to the surgical instrument relative to the preset position, the rotating member is rotated in a preset manner in the forward and / or reverse direction so that the rotating member moves along its axial direction to the preset position.

[0085] In one embodiment, the drive input interface includes a first input disk disposed on the surgical instrument, the first input disk and the rotating member being coupled by the engagement of concave and convex features facing each other at their end faces.

[0086] In one embodiment, the power unit further includes a transfer assembly, which includes a second input disk having axial and circumferential degrees of freedom. The second input disk and the rotating member are coupled by the engagement of concave and convex features facing each other at their end faces. The first input disk and the second input disk, which are mounted on the surgical instrument, are coupled by the engagement of concave and convex features facing each other at their end faces.

[0087] The joining method includes:

[0088] Install the adapter assembly onto the power unit;

[0089] Detect the position of the rotating component in its axial direction;

[0090] When the detected part of the rotating member is located on the side opposite to the surgical instrument relative to the preset position, the rotating member is rotated in the forward and / or reverse direction in a preset first manner so that the rotating member moves along its axial direction to the preset position;

[0091] Install the surgical instruments onto the adapter assembly;

[0092] Detect the position of the rotating component in its axial direction;

[0093] When the detected part of the rotating member is located on the side opposite to the surgical instrument relative to the preset position, the rotating member is rotated in the forward and / or reverse direction according to the preset second method so that the rotating member moves along its axial direction to the preset position.

[0094] In one embodiment, the power unit further includes a second detection component, and the rotating component is provided with a target point.

[0095] The joining method includes:

[0096] Before installing the drive input interface to the coupling end of the rotating part of the power unit, rotate the rotating part until the target point is detected by the second detection component.

[0097] As one embodiment, the joining method further includes:

[0098] After the rotating component is rotated according to a preset first method, when the rotating component moves along its axial direction to the preset position, the preset rotation of the rotating component is interrupted; and / or,

[0099] After the rotating component is rotated in the preset second manner, when the rotating component moves along its axial direction to the preset position, the preset rotation of the rotating component is interrupted.

[0100] In one embodiment, the power unit further includes a second detection component, and the rotating component is provided with a target point.

[0101] The rotating component includes a first rotating component and a second rotating component, and each of the rotating components corresponds to a second input disk and a first input disk, respectively.

[0102] The joining method includes:

[0103] When the first rotating member is coupled to a second input disk, and the corresponding first input disk is not coupled to the first rotating member after being installed on the corresponding second input disk, the first rotating member is controlled to rotate in a preset third manner. When the first rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the first rotating member is interrupted, and the first rotating member is controlled to rotate until the target point is detected by the second detection component.

[0104] When the second rotating member is coupled to another second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the second rotating member, the second rotating member is controlled to rotate in a preset fourth manner. When the second rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled to rotate until the target point is located within a preset angle range.

[0105] In one embodiment, the power unit further includes a second detection component, and the rotating component is provided with a target point.

[0106] The rotating component includes a first rotating component and a second rotating component, and each of the rotating components corresponds to a second input disk and a first input disk, respectively.

[0107] The joining method includes:

[0108] When the first rotating member is coupled to a second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the first rotating member, the first rotating member is controlled to rotate in a preset third manner, and when the first rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the first rotating member is interrupted and the rotation of the first rotating member is stopped.

[0109] When the second rotating member is coupled to another second input disk, and the corresponding first input disk is installed on the corresponding second input disk but not coupled to the second rotating member, the second rotating member is controlled to rotate in a preset fourth manner. When the second rotating member rotates to the point of being coupled to the corresponding first input disk, the preset rotation of the second rotating member is interrupted, and the second rotating member is controlled to rotate until the target point is located within a preset angle range.

[0110] Another object of the present invention is to provide a control method for a surgical robot, the surgical robot including an operating unit and a slave operating device, the slave operating device including:

[0111] Multiple rotating components, each including an axially coupled end;

[0112] Multiple axial biasing elements, each configured to provide a resilient bias toward the surgical instrument to the rotating element, and whose deformation increases when the drive input interface providing torque to the surgical instrument is coupled to the coupling end;

[0113] A plurality of first detection components, each of which is configured to detect the position of one of the rotating members in its axial direction;

[0114] The control method includes:

[0115] Based on the detection result of the first detection component, determine whether the drive input interface is coupled to the rotating component;

[0116] Once all drive input interfaces of the surgical instruments are coupled to the corresponding rotating parts of the power unit, the posture of the operating unit is aligned with the posture of the slave operating device.

[0117] In one embodiment, the rotating component includes a first rotating component and a second rotating component, each of the rotating components corresponding to a second input disk and a first input disk, respectively;

[0118] After all drive input interfaces of the surgical instruments are coupled to the rotating parts corresponding to the power unit, and before aligning the posture of the operating unit with the posture of the slave operating device, the control method further includes:

[0119] Detect whether the target point of the second rotating member has rotated to within a preset angle range;

[0120] When the target point of the second rotating member rotates to a preset angle range, the posture of the operating part is aligned with the posture of the operating device; otherwise, the posture alignment step is not performed.

[0121] The power device provided by the present invention uses a first detection component to detect the axial position of the rotating component configured to output torque. This allows the drive coupling state of the power device to be accurately determined based on the detection results of the first detection component after the surgical instruments are installed. This enables the device to precisely execute the expected actions according to the doctor's instructions, avoiding surgical risks caused by unexpected oscillations of the instrument joints. Attached Figure Description

[0122] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0123] Figure 1 This is a schematic diagram of the structure of a surgical robot according to Embodiment 1 of the present invention;

[0124] Figure 2 This is a schematic diagram of the structure of a surgical instrument according to Embodiment 1 of the present invention;

[0125] Figure 3 This is a partial structural schematic diagram of a surgical instrument according to Embodiment 1 of the present invention;

[0126] Figure 4A This invention provides a schematic diagram of the internal structure of a power device in a surgical instrument coupled state according to Embodiment 1 of the present invention.

[0127] Figure 4B This diagram shows the internal structure of a power unit for a surgical instrument in a non-coupled state according to Embodiment 1 of the present invention.

[0128] Figure 4CThis diagram illustrates the internal structure of another axial offset component of Embodiment 1 of the present invention, in which a power device using a tension spring is coupled to a surgical instrument.

[0129] Figure 5A This is a schematic diagram of the main structure of a power device according to Embodiment 1 of the present invention;

[0130] Figure 5B This is a schematic diagram of the main structure of another power device according to Embodiment 1 of the present invention;

[0131] Figure 6A This is an exploded view of the power device with a transfer component according to Embodiment 1 of the present invention.

[0132] Figure 6B This is a partial cross-sectional view of an adapter component according to Embodiment 1 of the present invention;

[0133] Figure 7 This is a schematic diagram of the structure of an adapter component according to Embodiment 1 of the present invention;

[0134] Figure 8 This is a schematic diagram of the coupling state of a surgical instrument without an adapter component according to Embodiment 1 of the present invention;

[0135] Figure 9 This is a partial structural schematic diagram of another adapter component according to Embodiment 1 of the present invention;

[0136] Figure 10 A flowchart of a method for detecting the engagement state of a surgical robot's power unit according to Embodiment 2 of the present invention is shown;

[0137] Figure 11 A flowchart illustrating a method for engaging the power unit of a surgical robot according to Embodiment 3 of the present invention is shown;

[0138] Figure 12 A structural block diagram of a computing device according to Embodiment 4 of the present invention is shown;

[0139] Figure 13 A flowchart of a control method for a surgical robot according to Embodiment 5 of the present invention is shown;

[0140] Component symbol explanation:

[0141] 1-Main control panel; 2-Slave control device; 3-Memory; 4-Processor; 21-Robotic arm; 22-Sleeve; 10-Rotating component; 10A-First rotating component; 10B-Second rotating component; 10S-Coupling end; 20-Axial offset component; 30-First detection component; 40-Controller; 50-Drive input interface; 51-First input disk; 52-Second input disk; 60-Second detection component; 100-Power unit; 100a-First housing; 200-Surgical instrument ; 210-Long shaft; 211-End effector; 212-Device drive unit; 213-Device housing; 300-Transfer assembly; 300a-Second housing; 301-Indicating device; 302-Axial vibration component; 600-Axial movement clearance; 3001-Upper housing; 3002-Lower housing; 3011-Receiving cavity; a-First angle threshold; b-Second angle threshold; P1-First signal terminal; P2-Second signal terminal; P3-Third signal terminal; T-Target point. Detailed Implementation

[0142] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0143] It should be noted that when an element is referred to as being "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation. The terms "distal" and "proximal" used herein are directional terms commonly used in the field of interventional medical devices, where "distal" refers to the end away from the operator during the procedure, and "proximal" refers to the end closer to the operator during the procedure.

[0144] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present 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. Therefore, they should not be construed as limitations on the present invention.

[0145] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0146] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0147] The following will be described in detail with reference to the accompanying drawings.

[0148] like Figure 1 , Figure 2 As shown, the surgical robot includes a main control panel 1 and a slave control device 2. The main control panel 1 includes an operation unit 1a, through which the user controls the movement of the slave control device 200, thereby sending control commands to the slave control device 2 to control it. The main control panel 1 can also be used to display images acquired by the slave control device 2. The slave control device 2 responds to the control commands sent by the main control panel 1 and performs corresponding operations. The slave control device 2 can also be used to acquire images within the body.

[0149] The operating device 2 may include a robotic arm 21, a power unit 100 mounted on the robotic arm 21, a surgical instrument 200 mounted on the power unit 100, and a sleeve 22 on the long shaft 210 of the surgical instrument 200. The robotic arm 21 is used to adjust the position of the surgical instrument 200; the power unit 100 is used to drive the surgical instrument 200 to perform corresponding operations. It is understood that the embodiments of the present invention are not limited to a master-slave surgical robot, and the surgical robot may also be constructed without distinguishing between master and slave devices, integrating the operation functions into the slave operating device.

[0150] The surgical instrument 200 mainly includes a long axis 210, an end effector 211, and an instrument drive unit 212. The end effector 211 of the surgical instrument 200 is used to extend into the body and perform surgical operations and / or acquire in vivo images through its distal end instrument. The long axis 210 of the surgical instrument 200 passes through a cannula 22, and its end effector 211 extends out of the cannula 22 and is driven to perform operations by a power unit 100. The area of ​​the long axis 210 of the surgical instrument 200 located within the cannula 22 can be set as a rigid area or a flexible area as needed, and the cannula 22 can also be omitted.

[0151] The operating device 2 may include one or more robotic arms 21, one or more power units 100 may be mounted on one robotic arm 21, and one or more surgical instruments 200 may be mounted on one power unit 100.

[0152] A single power unit 100 can be used to connect to a single surgical instrument 200 on a robotic arm 21 with only one surgical instrument 200, providing driving force for the surgical instrument 200 to perform related operations; or a single power unit 100 can be used to connect to multiple different surgical instruments 200 simultaneously on a robotic arm 21 with multiple surgical instruments 200, providing driving force for multiple surgical instruments 200.

[0153] like Figure 3 As shown, to enable various surgical operations with the surgical instruments 200, each surgical instrument 200 includes multiple first input disks 51, such as 51A-51F. Each power unit 100 for docking with these disks also has multiple rotating parts 10, which are driven by a motor. When a surgical instrument 200 is driven into the corresponding power unit 100, different first input disks 51 are driven into contact with different rotating parts 10, thereby transmitting torque. Depending on the end effector 211, the power unit 100 drives the end effector 211 to perform the relevant surgical operation. Figure 3 The illustration shows a surgical instrument 200 comprising six first input discs 51A-51F; in other embodiments, the number of first input discs may be different. Surgical operations may include controlling the distal end of the long axis 210 to perform yaw, rotation, pitch, or other operations; the end effector 211 may be a surgical forceps, cauterization device, scissor, imaging device, etc.

[0154] The first input disk 51 is disposed inside the instrument housing 213. The proximal end of the first input disk 51 is rotatably connected to the instrument drive unit 212, and the distal end of the first input disk 51 is exposed outside the instrument housing 213. It is configured to receive drive input from the power unit 100, thereby driving the end effector 211 to move. Each first input disk 51 moves independently of the other first input disks.

[0155] The following embodiment illustrates the case where the distal end of the instrument housing 213 of the surgical instrument 200 is mounted at the proximal end of the power unit 100. In this case, the power unit 100 has an instrument channel through which the long shaft 210 of the distal end of the surgical instrument 200 passes. The first input disk 51 of the surgical instrument 200 is located at the distal end of the instrument housing 213, facing the end effector 211, and the rotating component 10 of the power unit 100 is located at the proximal end of the power unit 100. It is understood that the present invention is also applicable to the case where the proximal end of the instrument housing 213 of the surgical instrument 200 is mounted at the distal end of the power unit 100. In this case, the first input disk 51 of the surgical instrument 200 is located at the proximal end of the instrument housing 213, facing away from the end effector 211, and the rotating component 10 of the power unit 100 is located at the distal end of the power unit 100.

[0156] Example 1

[0157] Axial offset component 20

[0158] In order to detect the drive output of the power unit 100 and provide a stable and reliable drive input for the surgical instrument 200, combined with Figures 4A-5A As shown, this embodiment provides a power device 100, which mainly includes a first housing 100a, a rotating member 10, an axial offset member 20, a first detection member 30, and a controller 40. The first housing 100a is used to fix motors M, each motor M being drivenly connected to a first input disk 51 and configured to provide a power source for the rotation of the first input disk 51. The rotating member 10 is rotatably disposed within the first housing 100a and includes an axially coupled end 10S exposed outside the first housing 100a for docking with a drive input interface 50. The drive input interface 50 serves as a power input interface for a surgical instrument 200 and can be part of the surgical instrument 200, a component independent of the surgical instrument 200, or part of the power device 100.

[0159] The axial biasing member 20 is configured to provide an elastic bias to the rotating member 10 toward the surgical instrument 200, so that the drive input interface 50 can maintain elastic contact with the rotating member 10 when it is mated, achieving stable axial contact. It undergoes further deformation when the drive input interface 50 is coupled to the rotating member 10, thus increasing the deformation. In this embodiment, the axial biasing member 20 is a compression spring, located on the side of the rotating member 10 facing away from the surgical instrument 200 (distal end), and fixed relative to the shaft M1 of the motor M. It rotates with the rotating member 10. When the rotating member 10 is not pressed, the compression of the axial biasing member 20 is minimal; when the rotating member 10 is pressed down, the compression of the axial biasing member 20 increases.

[0160] It is understood that in other embodiments, the axial offset member 20 may also be made of other elastic elements capable of deformation, such as rubber. For example... Figure 4C As shown, the axial offset member 20 can also be located on the side of the rotating member 10 near the surgical instrument 200 (proximal end) and is made of tension spring. One end of the axial offset member 20 is fixed relative to the rotating shaft M1 of the motor M, and the other end is fixed to the rotating member 10 and pulls the rotating member 10 toward the surgical instrument 200. When the rotating member 10 is not pressed, the elongation of the axial offset member 20 is minimal. When the rotating member 10 is pressed down, the elongation of the axial offset member 20 increases. In order to avoid the tension spring extending out of the rotating member 10 and affecting the docking, a groove C can be opened at the end of the rotating member 10 and the tension spring can be placed in the groove C.

[0161] First detection component 30

[0162] In the initial state, the drive input interface 50 is not installed on the rotating member 10. A gap exists between the detection end of the first detection component 30 and the rotating member 10 along its axial direction. The first detection component 30 is configured to detect the axial position of the rotating member 10 or a portion thereof. The controller 40 is configured to: when the detected portion of the rotating member 10 is relative to a preset position (e.g., ... Figure 4A When position A0 (as shown) is located on the side opposite to the surgical instrument 200, it is determined that the drive input interface 50 is not coupled to the coupling end 10S of the rotating member 10. Specifically, when the rotating member 10 is at the preset position A0, it is the critical state for coupling between the drive input interface 50 and the rotating member 10. At this time, the drive input interface 50 compresses the axial offset member 20, providing torque to the surgical instrument 200. In other words, the rotating member 10 is only located at the preset position A0 when the drive input interface 50 is coupled to the rotating member 10; under other circumstances, the rotating member 10 is not at the preset position A0, and the drive input interface 50 cannot drive the rotating member 10.

[0163] The first detection component 30 can detect the position of the rotating component 10 in its axial direction in several ways. It can directly measure the displacement (i.e., position change) of the rotating component 10 along its axial direction, or it can indirectly measure the deformation of the axial offset component 20.

[0164] In this embodiment, the first detection component 30 detects the positional change of the rotating component 10 along its axial direction. Specifically, there is a gap between the detection end of the first detection component 30 and the rotating component 10 along the axial direction of the rotating component 10. The detection end of the first detection component 30 is located on the side opposite to the surgical instrument 200, that is, on the distal side of the rotating component 10. The first detection component 30 is a non-contact sensor and is configured to detect whether the detected part of the rotating component 10 is sensed. For example, the first detection component 30 adopts a proximity sensor. Correspondingly, the controller 40 is configured to determine that the drive input interface 50 is not coupled to the rotating component 10 when the first detection component 30 senses the detected part of the rotating component 10.

[0165] like Figure 4A As shown, a schematic diagram of the internal structure of the power unit in the coupled state of the surgical instruments is presented, such as... Figure 4B The diagram shows the internal structure of a power unit for a surgical instrument in a non-coupled state according to Embodiment 1 of the present invention. Figure 5A A schematic diagram of the main structure of a power unit is shown. The drive input interface 50 and the rotating member 10 are coupled by the mating of concave and convex features on their respective end faces. Figure 5A As shown, when there is no drive input interface 50 above the rotating component 10, the axial offset component 20 is in its initial deformation state, and the distance between the first detection component 30 and the rotating component 10 is large, so the first detection component 30 cannot detect the rotating component 10; Figure 4B When the drive input interface 50 is installed on the rotating member 10, the deformation of the axial offset member 20 increases. When the drive input interface 50 and the concave and convex features on the rotating member 10 used for coupling are not aligned, the drive input interface 50 presses the rotating member 10 toward the distal end, and the deformation of the axial offset member 20 is at its maximum deformation state. This causes the distance between the first detection component 30 and the rotating member 10 to decrease, and the actual position A1 of the rotating member 10 along its axial direction has deviated from the preset position A0 toward the distal end, thus being detected by the first detection component 30. At this time, the controller 40 determines that the drive input interface 50 is not coupled to the rotating member 10; Figure 4A When the drive input interface 50 is installed on the rotating member 10, and the concave and convex features on the drive input interface 50 and the rotating member 10 are aligned and cooperate with each other, the rotating member 10 bounces back a distance towards the near end, causing the distance between the first detection component 30 and the rotating member 10 to increase. The actual position of the rotating member 10 along its axial direction reaches the preset position A0, and it can no longer be detected by the first detection component 30. At this time, the controller 40 determines that the drive input interface 50 and the rotating member 10 are coupled.

[0166] Figure 5AIn the rotating part 10, there is a ring-shaped detection part 101. The first detection component 30 is configured to detect whether the detection part 101 is sensed. The controller 40 is configured to determine that the drive input interface 50 is not coupled to the rotating part 10 when the detection part 101 is sensed. Figure 5A The diagram shows the first detection component 30 with its detection end facing the distal end face of the rotating member 10. The first detection component 30 is located on one side of the axial direction of the rotating member 10. When the rotating member 10 is compressed and moves in the direction that increases the deformation of the axial offset member 20 (i.e., the direction away from the surgical instrument 200), the distance from the detected part 101 to the detection end of the first detection component 30 gradually decreases. It is understood that the position of the first detection component 30 can be changed, for example... Figure 5B Another power unit was shown. Figure 5B In this design, the rotating member 10 has an annular detection portion 101'. The first detection component 30 is located radially outside the rotating member 10, facing the central axis of the rotating member 10, and is used to detect the annular outer peripheral surface of the detection portion 101'. The radial dimension of this annular outer peripheral surface is larger than that of the adjacent outer peripheral surface of the rotating member 10. When the rotating member 10 is squeezed and moves in the direction of increasing the deformation of the axial offset component 20, the detection portion 101' of the rotating member 10 can move axially from a distance to the detection end near the first detection component 30. The distance between the detection portion 101' and the detection end of the first detection component 30 gradually decreases at first. When the detection portion 101' is close to the first detection component 30, it can be detected by the first detection component 30. As the rotating member 10 continues to be squeezed, the detection portion 101' will gradually move away from the detection end of the first detection component 30, and the distance between the detection portion 101' and the detection end of the first detection component 30 will gradually increase. The position of the first detection component 30 can be set such that when it detects that the rotating component 10 is directly opposite the detected part 101', the rotating component 10 reaches a preset position A0. Correspondingly, the controller 40 is configured to determine that the drive input interface 50 is coupled to the rotating component 10 when the detected part 101' is detected. Here, the detected part 101' can be the same object as the detected part 101, or it can be a different part from the detected part 101.

[0167] It is understood that in other embodiments, the first detection component 30 may not use a proximity sensor, but instead use a distance sensor. The first detection component 30 is configured to detect the distance between itself and the detected part 101. The controller 40 is configured to: determine that the drive input interface 50 is not coupled to the rotating member 10 when the first detection component 30 detects that the distance between itself and the rotating member 10 is less than a preset distance; determine that the drive input interface 50 is coupled to the rotating member 10 when the first detection component 30 detects that the distance between itself and the rotating member 10 is equal to the preset distance; and also determine that the drive input interface 50 is not coupled to the rotating member 10 when the first detection component 30 detects that the distance between itself and the rotating member 10 is greater than the preset distance. Proximity sensors include, but are not limited to, capacitive, inductive, and photoelectric sensors, while distance sensors include, but are not limited to, optical sensors, infrared sensors, and ultrasonic sensors.

[0168] Adapter Component 300

[0169] To provide a suitable sterile environment during robotic surgery, it is necessary to isolate sterile and sterile instruments. Generally, the robotic arm 21 and power unit 100 of the operating device 2 are sterile, while the surgical instruments 200 need to be sterile. In this embodiment, a transition component 300 is configured between the sterile power unit 100 and the sterile surgical instruments 200. In specific use, the transition component 300 can be used as part of a sterile shield. By using the sterile shield to isolate the surgical instruments from other parts of the device, the sterile power unit 100 and the sterile surgical instruments 200 can be isolated. The power of the power unit 100 (e.g., motor torque output) is transmitted to the surgical instruments 200 through the transition component 300, which can both drive the surgical instruments 200 to perform the corresponding surgical operations and ensure the sterile isolation effect.

[0170] By providing a first input disk 51 on the surgical instrument 200, a second input disk 52 on the adapter assembly 300, and a rotating component 10 on the power unit 100, the number of rotating components 10 corresponds to the number of first input disks 51 on the surgical instrument 200 and the number of second input disks 52 on the adapter assembly 300, so that each first input disk 51 is coupled to a rotating component 10 through a second input disk 52.

[0171] like Figures 6A-7In this embodiment, the adapter component 300 specifically includes a second housing 300a detachably mounted to the first housing 100a and a plurality of second input disks 52, namely 52A-52F, rotatably disposed on the second housing 300a. In this implementation, the first input disk 51 and the second input disk 52 constitute the drive input interface 50, and the second input disk 52 is only a part of the drive input interface 50. The drive input interface 50 is considered to be coupled to the rotating component 10 only when the first input disk 51, the second input disk 52, and the rotating component 10 are driven and engaged in pairs. If only the second input disk 52 is engaged with the rotating component 10, and the first input disk 51 and the second input disk 52 are not engaged, it is still considered that the drive input interface 50 is not coupled to the rotating component 10. In this case, the first detection component 3 can still detect the rotating component 10.

[0172] In a preferred embodiment, the second input disk 52 is coupled to the rotating member 10 through the engagement of concave and convex features on their respective end faces. The first input disk 51 and the second input disk 52, mounted on the surgical instrument 200, are also coupled through the engagement of concave and convex features on their respective end faces to transmit torque between the rotating member 10 and the surgical instrument 200. The second input disk 52 has a degree of freedom along the axial direction of the second housing 300a; that is, the second input disk 52 can rotate relative to the second housing 300a and move along the axial direction of the second housing 300a. This allows the second input disk 52 to be elastically abutted by the axial offset member 20 and to generate axial displacement, resulting in two contact states: engaged with the rotating member 10 and unengaged.

[0173] Correspondingly, the controller 40 is configured to: after the second housing 300a is installed on the power unit, determine whether the second input disk 52 is coupled to the rotating member 10 based on the detection result of the first detection component 30; after the second input disk 52 is coupled to the rotating member 10 and the surgical instrument 200 is installed on the power unit, determine whether the first input disk 51 is coupled to the second input disk 52 based on the detection result of the first detection component 30. In this way, only one first detection component 30 needs to be set for each rotating member 10 to simultaneously detect the engagement state of the second input disk 52 of the adapter assembly 300 and the first input disk 51 of the surgical instrument 200.

[0174] To achieve axial docking, the coupling end 10S of the rotating component 10 has first coupling features C1 and C2. The lower surface (far end) of the second input disk 52 is provided with second coupling features D1 and D2, the upper surface (proximal end) of the second input disk 52 is provided with third coupling features E1 and E2, and the lower surface (far end) of the first input disk 51 is provided with fourth coupling features F1 and F2. The first coupling features C1 and C2 are convex or concave features. The second coupling features D1 and D2 are correspondingly concave or convex features that engage with the first coupling features C1 and C2. The third coupling features E1 and E2 are convex or concave features. The fourth coupling features F1 and F2 are concave or convex features that engage with the third coupling features E1 and E2. After the first coupling features C1 and C2 engage with the second coupling features D1 and D2, and the third coupling features E1 and E2 engage with the fourth coupling features F1 and F2, the torque of the rotating component 10 can be transmitted to the first input disk 51.

[0175] Figure 6A A schematic diagram of the power unit 100 and its adapter assembly 300 is shown. The power unit 100 includes six rotating components 10, namely 10A-10F, which are installed within a first housing 100a. Each rotating component 10 is independently controlled by a controller 40. Each controller 40 independently controls and drives the surgical instrument 200, for example, each rotating component 10 controls the rotation, yaw, pitch, and end-effector opening and closing of the surgical instrument 100. In other embodiments, the number of controllers 40 can be changed as needed; for example, all rotating components 10 within the power unit 100 can be controlled by a single controller 40.

[0176] Combination Figures 6A-7 As shown, the second housing 300a of the adapter assembly 300 includes an upper housing 3001 located at its proximal end and a lower housing 3002 located at its distal end. The upper housing 3001 and the lower housing 3002 cooperate to form a plurality of receiving cavities 3011. Each receiving cavity 3011 is used to receive a second input disk 52. The upper housing 3001 has a first edge portion 3010 for restricting the movement of the second input disk 52 axially toward the distal end, and the lower housing 3002 has a second edge portion 3020 for restricting the movement of the second input disk 52 axially toward the proximal end. The axial dimension of the second input disk 52 is smaller than that of the receiving cavity 3011, so that it can move axially within the receiving cavity 3011.

[0177] Combination Figure 5A , 6A and Figure 6BThe free end of the shaft M1 of the motor M extends out of the rotating member 10, protruding further from the rotating member 10 than the coupling end 10S. A shaft hole H is provided at the axial center of the second input disk 52 of the adapter assembly 300. When the adapter assembly 300 is installed into the first housing 100a, the free end of the shaft M1 is inserted into the shaft hole H. The shaft hole H allows for pre-alignment of the adapter assembly 300 during installation, facilitating radial alignment between the rotating member 10 and the second input disk 52. The shaft hole H can also be a groove, located on the distal surface of the second input disk 52. Specifically, a nut M11 is fixed to the free end of the rotating shaft M1. A central hole 10h is opened in the center of the rotating component 10 for the rotating shaft M1 to pass through. The nut M11 is fixed to the free end of the rotating shaft M1 and is at least partially accommodated in the central hole 10h, which radially limits the rotating component 10. Under the action of the axial offset component 20, the rotating component 10 elastically abuts against the nut M11 in the axial direction. The nut M11 allows the rotating component 10 to move in the axial direction, but it cannot rotate relative to the rotating shaft M1.

[0178] It is understandable that the adapter component 300 is not essential, and in some implementations, the adapter component 300 can be omitted. For example... Figure 8 As shown, the first input disk 51 is directly coupled to the rotating member 10. In this case, the drive input interface 50 includes the first input disk 51 disposed on the surgical instrument 200, and the first input disk 51 and the rotating member 10 are coupled by the engagement of concave and convex features (C1, C2 and F1, F2) facing each other's end faces. Correspondingly, the controller 40 is configured to determine whether the first input disk 51 is coupled to the rotating member 10 based on the detection result of the first detection component 30 after the power unit is installed in the surgical instrument 200. This detection process is consistent with the above process, that is, when the detected part of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position A0, it is determined that the drive input interface 50 is not coupled to the coupling end 10S of the rotating member 10.

[0179] Signal terminals P1, P2, P3

[0180] To determine the coupling state between the drive input interface 50 and the rotating member 10, the power unit may include various signal terminals. For example... Figure 6A The first housing 100a of the power unit 100 has a first signal terminal P1, which can be connected to the signal terminal on the drive input interface 50. The controller 40 is configured to determine that the drive input interface 50 is installed in the power unit based on the signal that the first signal terminal P1 is connected to the signal terminal of the drive input interface 50.

[0181] In the power unit 100 with the adapter assembly 300, the adapter assembly 300 is configured to transmit torque between the rotating member 10 and the surgical instrument 200. The adapter assembly 300 includes a second signal terminal P2 that penetrates both the proximal and distal surfaces of the second housing 300a. When the adapter assembly 300 is installed onto the first housing 100a of the power unit 100, its second signal terminal P2 contacts and conducts with the first signal terminal P1 on the first housing 100a. Subsequently, the surgical instrument 200 is installed onto the adapter assembly 300. The third signal terminal P3 on the surgical instrument 200 can contact and conduct with the second signal terminal P2 after installation, thereby forming a path connecting to the first signal terminal P1. The controller 40 is configured to: determine that the adapter 300 has been installed in the first housing 100a based on the signal that the second signal terminal P2 is connected to the first signal terminal P1; and after the adapter 300 is installed in the first housing 100a of the power unit 100, determine that the surgical instrument 200 has been installed in the adapter 300 based on the signal that the third signal terminal P3 of the surgical instrument 200 is connected to the first signal terminal P1.

[0182] In a power unit 100 without an adapter component 300, when the surgical instrument 200 is installed into the first housing 100a of the power unit 100, its third signal terminal P3 contacts and conducts with the first signal terminal P1. The controller 40 is configured to determine that the surgical instrument 200 has been installed into the power unit 100 based on the signal that the third signal terminal P3 of the surgical instrument 200 is conducting with the first signal terminal P1.

[0183] Indicator device 301

[0184] Although the controller 40 can determine whether the adapter assembly 300 / surgical instrument 200 is installed based on the conduction status of each signal terminal, in order to further facilitate the operator's intuitive observation of the installation status of the adapter assembly 300 and surgical instrument 200, such as... Figure 6A and Figure 7The power unit 100 in this embodiment also includes an indicator device 301, which can be disposed on the outer wall of the second housing 300a for easy observation. Since the first housing 100a is provided with a first signal terminal P1, the adapter assembly 300 has a second signal terminal P2, and the surgical instrument 200 has a third signal terminal P3, the indicator device 301 is disposed on the adapter assembly 300 and electrically connected to the second signal terminal P2. It can conduct through the detection circuit where the second signal terminal P2 and the first signal terminal P1 are located, thereby issuing an indication according to the coupling state of the second input disk 52 of the adapter assembly 300 and the first input disk 51 of the surgical instrument 200. The indicator device 301 can be an indicator light, or a horn, etc. The second signal terminal P2 can be connected to the first signal terminal P1 after the adapter assembly 300 is installed into the first housing 100a, and can be connected to the third signal terminal P3 after the surgical instrument 200 is installed into the adapter assembly 300. The controller 40 is configured to switch the indication state of the indicator device according to the detection result of the first detection component 30 after the adapter assembly 300 is installed into the first housing 100a and / or after the surgical instrument 200 is installed into the adapter assembly 300. For example, when it is detected that the second input disk 52 of the adapter assembly 300 is coupled to the rotating member 10, the indicator device 301 changes from lit to off. When the first input disk 51 of the surgical instrument 200 is coupled to the second input disk 52, the indicator device 301 changes from lit to off.

[0185] Second detection component 60

[0186] like Figure 5A As shown, in order to accurately detect the zero position, i.e., the initial position, of the rotating component 10 and facilitate precise control of the rotation angle of the motor M, the power unit 100 also has a second detection component 60, and the rotating component 10 is correspondingly provided with a target point T. When the motor M drives the rotating component 10 to rotate to the zero position, the target point T rotates to be directly opposite the second detection component 60, thereby determining that the rotating component 10 has returned to the zero position. Based on this zero position, the rotation angle of the rotating component 10 can be determined, which facilitates the subsequent installation and coupling of the surgical instrument 200. The controller 40 is configured to determine that the rotating component 10 has rotated to the zero position when the target point T rotates with the rotating component 10 to the point where it is detected by the second detection component 60.

[0187] The target portion T can be a through hole penetrating the axial direction of the rotating member 10. The second detection member 60 includes a transmitting end 61 and a receiving end 62, which are respectively disposed on both sides of the target portion T along the axial direction of the rotating member 10. When the signal emitted by the transmitting end 61 is received by the receiving end 62, it indicates that the target portion T has rotated to the position between the transmitting end 61 and the receiving end 62. Otherwise, it is considered that the target portion T is not directly aligned with the second detection member 60. Here, the target portion T can be disposed on the annular detection portion 101, with the transmitting end 61 and the receiving end 62 located on both sides of the axial direction of the detection portion 101, sandwiched within it. An axial movement gap 600 is formed between the transmitting end 61 and the receiving end 62, which is reserved for the detection portion 101.

[0188] In other embodiments, the target point T can also be other markers for tracking, such as a magnet, and the second detection component 60 is a Hall sensor. By using the Hall sensor to detect changes in the magnetic field generated by the magnet in its vicinity, the rotation angle of the rotating component 10 can be identified, thereby determining the zero position.

[0189] Typically, when the power unit 100 is powered on, the motor M drives the rotating component 10 to rotate to the zero position. During this process, the zero position can be determined using the motor's encoder, etc., which also helps determine if the motor M is working properly. This also avoids the impact of a motor M malfunction on the accuracy of detecting the installation status of the subsequent adapter assembly 300 and surgical instruments 200. The controller 40 is configured to control the rotating component 10 to rotate until the target point T is detected by the second detection component 60, stopping the rotating component 10 at the zero position. Only after this point does the installation of the drive input interface 50 begin. In some embodiments, the rotating component 10 does not return to the zero position when the power unit 100 is powered on.

[0190] In the power unit 100 with the adapter 300, the adapter 300 is detachably installed on the first housing 100a. After the adapter 300 is installed and driven into engagement with the rotating member 10, the motor M can also be controlled to drive the rotating member 10 to rotate to the zero position. After the end effector 211 of the surgical instrument 200 passes through the sleeve 22, the various joints are basically straightened. After the adapter 300 is driven into engagement with the rotating member 10, when each rotating member 10 is at the zero position, the concave / convex features of the second input disk 52 of the adapter 300 and the first input disk 51 of the straightened surgical instrument 200 are exactly aligned. Therefore, returning the rotating member 10 to the zero position before installing the surgical instrument 200 allows the surgical instrument 200 to be directly driven into engagement with the adapter 300 after installation, or only requires a slight correction of the rotation angle of the rotating member 10 to couple with the corresponding first input disk 51, which can improve the engagement efficiency of the surgical instrument. The controller 40 is configured to: after the adapter assembly 300 is installed into the first housing 100a, and when the first detection component 30 detects that the second input disk 52 of the adapter assembly 300 is driven into engagement with the rotating member 10, control the rotating member 10 to rotate towards the zero position, so that the target point T is detected by the second detection component 60. In some embodiments, if the rotating member 10 does not return to the zero position before the surgical instrument 200 is installed, the first input disk 51 and the corresponding second input disk 52 need to be aligned and coupled after the surgical instrument 200 is installed, which will take more time.

[0191] like Figure 6A The rotating component 10 includes a first rotating component 10A and a second rotating component 10B. Each rotating component 10 corresponds to a drive input interface 50, a first detection component 30, and a second detection component 60. The first rotating component 10A is configured to drive the end effector of the surgical instrument 200 to perform non-rotational actions such as pitch, yaw, and opening / closing. The second rotating component 10B is configured to drive the end effector of the surgical instrument 200 to perform rotational actions. After the adapter assembly 300 is installed into the first housing 100a and the second input disk 52 is driven into engagement with the rotating component 10, the surgical instrument 200 can then be installed. After the surgical instrument 200 is installed into the adapter assembly 300 and driven into engagement with the adapter assembly 300, the first rotating component 10A can rotate to the zero position. Unlike the first rotating component 10A, the second rotating component 10B can rotate until the target point T is located within a preset angle range α. The preset angle range α is the master-slave operation limit range between the operating unit 1a and the slave operating device 200. When the target point T is outside the preset angle range α, the posture of the operating unit 1a cannot be aligned with the posture of the slave operating device 200 during the master-slave alignment before the next operation, causing the master-slave alignment procedure to automatically exit, which will affect the doctor's operating experience. Only when the target point T is within the preset angle range α can the next master-slave alignment procedure be performed.

[0192] Therefore, the controller 40 can be configured such that: after the surgical instrument 200 is installed into the adapter assembly 300, and the first detection component 30 detects that the first input disk 51 is coupled to the first rotating component 10A, if the target point T is detected by the second detection component 60, the first rotating component 10A stops rotating; otherwise, the first rotating component 10A is controlled to rotate until the target point T is detected by the second detection component 60; after the surgical instrument 200 is installed into the adapter assembly 300, and the first detection component 30 detects that the first input disk 51 is coupled to the second rotating component 10B, if the target point T is located within a preset angle range α, the second rotating component 10B stops rotating; otherwise, the second rotating component 10B is controlled to rotate until the target point T is located within the preset angle range α. The preset angle range α can be defined based on data such as the encoder of the motor M, and whether the target point T is located within the preset angle range α can also be calculated based on the rotation angle of the motor M.

[0193] In actual installation, after the adapter component 300 is installed into the first housing 100a, or the surgical instrument 200 is installed into the adapter component 300, it is generally difficult to achieve one-time alignment of the first coupling features C1, C2 with the second coupling features D1, D2, and the third coupling features E1, E2 with the fourth coupling features F1, F2. In this embodiment, the controller 40 is further configured to: when the second input disk 52 is not coupled to the rotating member 10 after the adapter component 300 is installed into the first housing 100a, control the rotating member 10 to rotate in a preset first manner; when the rotating member 10 rotates to the point of coupling with the second input disk 52, interrupt the preset rotation of the rotating member 10. This preset first manner can be, for example, forward and reverse rotation. The rotating component 10 performs a scan, such as scanning M times. Here, rotating from the initial position to the extreme position and then back to the initial position is called scanning. Scanning once from the initial position in the forward direction and returning or scanning once in the reverse direction and returning is called scanning once. The angle of the unidirectional scan of the rotating component 10 does not exceed the first angle threshold a. Subsequently, when the first input disk 51 is not coupled to the second input disk 52, the rotating component 10 is controlled to rotate in a preset second mode. When the rotating component 10 rotates to be coupled to the first input disk 51, the preset rotation of the rotating component 10 is interrupted. The preset second mode can be, for example, scanning by forward and reverse rotation, such as scanning N times. The angle of the unidirectional scan of the rotating component 10 does not exceed the second angle threshold b. Here, M and N are both not less than 1 time.

[0194] Because the preset rotation is interrupted the moment the rotating component 10 reaches coupling with the second input disk 52 during the installation of the surgical instrument 200, accidental actuation of the instrument after engagement with the power unit 100 can be avoided, thus preventing injury to the human body. Furthermore, interrupting the preset rotation the moment the second input disk 52 is successfully coupled during the installation of the adapter assembly 300 eliminates unnecessary actions and improves installation efficiency.

[0195] After the adapter assembly 300 is installed, when the first coupling features C1 and C2 are not aligned with the second coupling features D1 and D2, the biasing force applied by the axial offset member to the rotating member 10 will elastically abut the second input disk 52 against the proximal inner surface of the second housing 300a. By controlling the rotating member 10 to rotate repeatedly in the forward and reverse directions, the rotating member 10 can be rotated relative to the second input disk 52, so that the first coupling features C1 and C2 are aligned with the second coupling features D1 and D2. Similarly, after the surgical instrument 200 is installed, when the third coupling features E1 and E2 are not aligned with the fourth coupling features F1 and F2, by controlling the rotating member 10 to rotate repeatedly in the forward and reverse directions, the second input disk 52 can be rotated relative to the first input disk 51, so that the third coupling features E1 and E2 are aligned with the fourth coupling features F1 and F2. Before the surgical instrument 200 is inserted, the rotating component 10 can drive the second input disk 52 of the adapter 300 to rotate freely. After the surgical instrument 200 is inserted, the surgical instrument 200 may also rotate with the rotating component 10 in a non-coupled state. In order to avoid the end effector having uncontrolled accidental movement in the wound, the second angle threshold b is less than the first angle threshold a.

[0196] It is understood that, in some embodiments, the controller 40 may also be configured to: when it is detected that the adapter 300 is installed in the first housing 100a, regardless of whether the second input disk 52 is coupled to the rotating member 10, control the rotating member 10 to rotate in both the forward and reverse directions for scanning, and the unidirectional scanning angle of the rotating member 10 does not exceed the first angle threshold a; when it is detected that the surgical instrument 200 is installed in the adapter 300, regardless of whether the first input disk 51 is coupled to the second input disk 52, control the rotating member 10 to rotate in both the forward and reverse directions for scanning, and the unidirectional scanning angle of the rotating member 10 does not exceed the second angle threshold b, and the second angle threshold b is also less than the first angle threshold a.

[0197] Furthermore, considering that after the surgical instrument 200 is installed onto the adapter assembly 300 and driven into engagement with the adapter assembly 300, in one embodiment, the first rotating member 10A needs to rotate to the zero position, the controller 40 is configured to: control the first rotating member 10A to rotate in a preset third manner when the first rotating member 10A is coupled to a second input disk 52, and the corresponding first input disk 51 is installed onto the corresponding second input disk 52 but not coupled to the first rotating member 10A; during this process, once the first detection component 30 detects that the first input disk 51 is coupled to the second input disk 52, immediately interrupt the first rotating member 10A. The preset rotation controls the rotating component 10 to rotate towards the zero position. When the first rotating component 10A rotates to the target point T and is detected by the second detection component 60, the rotation stops. When the second rotating component 10B is coupled to another second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the second rotating component 10B, the second rotating component 10B is controlled to rotate in a preset fourth manner. When the second rotating component 10B rotates to the point of coupling with the corresponding first input disk 51, the preset rotation of the second rotating component 10B is interrupted, and the second rotating component 10B is controlled to rotate until the target point T is located within the preset angle range α. That is, once the first detection component 30 detects that the first input disk 51 and the second input disk 52 are coupled, regardless of whether the rotating component 10 is about to rotate clockwise or counterclockwise, it will directly rotate towards the zero position until the target point T is detected by the second detection component 60. The orientation of the zero position can be determined by combining the encoder, etc., when the power device 100 is powered on. In this way, the rotating component 10 can return to the zero position in the shortest time and along the shortest rotation path after the first input disk 51 and the second input disk 52 are coupled, without performing unnecessary actions, and without waiting for the rotating component 10 to complete scanning a certain angle threshold, thus improving installation efficiency and safety.

[0198] In some embodiments, when the surgical instrument 200 is installed on the adapter assembly 300 and the first detection component 30 detects that the first input disk 51 is coupled with the first rotating component 10A, the first rotating component 10A immediately stops rotating and does not return to the zero position. The controller 40 is configured to: when the first rotating member 10A is coupled to a second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the first rotating member 10A, control the first rotating member 10A to rotate in a preset third mode, and when the first rotating member 10A rotates to the point of coupling with the corresponding first input disk 51, interrupt the preset rotation of the first rotating member 10A and stop rotating the first rotating member 10A, and no longer control the rotating member 10 to rotate towards the zero position; when the second rotating member 10B is coupled to another second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the second rotating member 10B, control the second rotating member 10B to rotate in a preset fourth mode, and when the second rotating member 10B rotates to the point of coupling with the corresponding first input disk 51, interrupt the preset rotation of the second rotating member 10B, and control the target part T of the second rotating member 10B to rotate within a preset angle range α. In other words, once the first detection component 30 detects that the first input disk 51 and the second input disk 52 are coupled, the rotating component 10 will stop rotating directly, regardless of whether it is about to rotate clockwise or counterclockwise, and wait for the next master-slave alignment command. When all the drive input interfaces 50 of the surgical instrument 200 are coupled to the rotating component 10 corresponding to the power device, and the target point T of the second rotating component 10B is located within the set angle range α, the next master-slave alignment action can be performed to align the posture of the operating unit 1a with the posture of the slave operating device 2.

[0199] Furthermore, considering that after the adapter assembly 300 is installed into the first housing 100a, even if the rotating member 10 is rotated repeatedly in both directions M times, the second input disk 52 still cannot be coupled to the rotating member 10, or, even if the rotating member 10 is rotated repeatedly in both directions N times, the first input disk 51 still cannot be coupled to the second input disk 52, such as... Figure 6B Furthermore, the adapter assembly 300 of this embodiment also includes an axial vibrating element 302, which partially extends into the receiving cavity 3011. When the second input disk 52 cannot be coupled with the rotating element 10, or the first input disk 51 cannot be coupled with the second input disk 52, the second input disk 52 can be vibrated along the axial direction of the adapter assembly 300 by controlling the axial vibrating element 302 until the corresponding coupling features engage with each other. For example, the axial vibrating element 302 can be a linear motor, fixed on the second housing 300a, and electrically connected to the controller 40 via the second signal terminal P2.

[0200] For example, a circumferential recess 520 can be formed on the outer peripheral surface of each second input disk 52. A portion of the axial vibrating member 302 is disposed within the second housing 300a, and the other portion extends into the recess 520. When the second input disk 52 is coupled with the rotating member 10 and the first input disk 51, the rotating member 10 is in the preset position A0, and the axial vibrating member 302 does not contact the recess 520, thus not affecting the rotation of the second input disk 52. When the rotating member 10 is not in the preset position A0, the axial vibrating member 302 drives the second input disk 52 to vibrate slightly in the axial direction, and cooperates with the forward and reverse rotation of the rotating member 10, thereby enabling the rotating member 10, the second input disk 52, and the first input disk 51 to be coupled. Therefore, the controller 40 can be configured such that: after the adapter assembly 300 is installed, when the first coupling features C1, C2 are not aligned with the second coupling features D1, D2, while controlling the rotating member 10 to rotate repeatedly in the forward and reverse directions, the axial vibration member 302 is activated, causing the rotating member 10 to rotate and vibrate axially relative to the second input disk 52, thereby aligning the first coupling features C1, C2 with the second coupling features D1, D2; similarly, after the surgical instrument 200 is installed, when the third coupling features E1, E2 are not aligned with the fourth coupling features F1, F2, while controlling the rotating member 10 to rotate repeatedly in the forward and reverse directions, the axial vibration member 302 is activated, causing the second input disk 52 to rotate and vibrate axially relative to the first input disk 51, thereby aligning the third coupling features E1, E2 with the fourth coupling features F1, F2.

[0201] like Figure 9This shows another adapter component 300 of this embodiment. Considering that in some extreme cases, when the adapter component 300 is installed into the first housing 100a, even if the rotating member 10 is rotated in a preset manner, the rotating member 10 is always uncoupled from the second input disk 52. The concave and convex features of the two are not combined but remain misaligned. Under the action of the axial offset member 20, the rotating member 10 drives the uncoupled second input disk 52 to rotate against the reverse friction force of the second housing 300a of the adapter component 300, which may easily lead people to mistakenly believe that the rotating member 10 is coupled to the second input disk 52. To eliminate this unreal coupling state, this embodiment provides a plurality of second bosses 3000 on the surface of the second housing 300a opposite to the third coupling features E1 and E2 (i.e., the first edge portion 3010). These second bosses 3000 are arranged circumferentially at intervals along each receiving cavity 3011. A plurality of first bosses 521 are provided on the surface of the second input disk 52 where the third coupling features E1 and E2 are located. These first bosses 521 are located at the edge of the second input disk 52 and will not contact the fourth coupling features F1 and F2. That is, the radius of the circle where the first bosses 521 are located is greater than the larger of the radii of the circles where the fourth coupling features F1 and F2 are located. Thus, it only restricts the relative rotation between the second input disk 52 and the second housing 300a, and does not interfere with the first input disk 51 of the surgical instrument 200.

[0202] When the adapter assembly 300 is installed into the first housing 100a, under the biasing action of the axial offset member 20, the second input disk 52 is abutted against the inner surface of the second housing 300a by the rotating member 10, that is, the inner surface of the upper housing 3001. The first boss 521 of the second input disk 52 is embedded in the gap between the second bosses 3000 of the second housing 300a. When the rotating member 10 drives the second input disk 52 to rotate in the uncoupled state, the first boss 521 rotates within the gap between the second bosses 3000 until it is blocked by the second bosses 3000. Even if one second boss 3000 cannot apply enough resistance to make the second input disk 52 stop briefly, when the first boss 521 passes through the action of multiple second bosses 3000, it can decelerate the second input disk 52, so that the rotating member 10 and the second input disk 52 can be truly coupled. When the two are coupled, the resistance between the first boss 521 and the second bosses 3000 can be overcome and the second input disk 52 can be driven to rotate.

[0203] Example 2

[0204] like Figure 10This embodiment provides a method for detecting the engagement state of a power unit of a surgical robot. The power unit 100 includes a first housing 100a, a rotating member 10 rotatably disposed on the first housing 100a, including an axially coupled end 10S, an axial biasing member 20 configured to provide an elastic bias to the rotating member 10 toward a surgical instrument 200, and the deformation increases when the drive input interface 50 is coupled to the rotating member 10, and a first detection member 30 configured to detect the position of the rotating member 10 in its axial direction.

[0205] By employing a first detection component 30 in the power unit, the detection method includes: determining whether the drive input interface 50 is coupled to the rotating member 10 based on the detection result of the first detection component 30. The drive input interface 50 is configured to compress the axial offset member 20 when coupled to the rotating member 10, thereby providing torque to the surgical instrument 200. Specifically, when the detected portion of the rotating member 10 is located on the side opposite to the surgical instrument 200 relative to a preset position, it is determined that the drive input interface 50 is not coupled to the rotating member 10; conversely, when the rotating member 10 is located at the preset position A0, it is determined that the drive input interface 50 is coupled to the rotating member 10.

[0206] When the surgical robot does not have the adapter component 300, the first input disk 51 and the rotating member 10 are coupled by the engagement of concave and convex features (C1, C2 and F1, F2) on their respective end faces. The drive input interface 50 includes the first input disk 51 disposed on the surgical instrument 200, and the first input disk 51 and the rotating member 10 are coupled by the engagement of concave and convex features on their respective end faces. After the power unit 100 is installed in the surgical instrument 200, the detection method includes: determining whether the first input disk 51 is coupled to the rotating member 10 based on the detection result of the first detection component 30. When the detected part of the rotating member 10 is located on the side facing away from the surgical instrument 200 relative to the preset position A0, it is determined that the drive input interface 50 is not coupled to the coupling end 10S of the rotating member 10.

[0207] When the surgical robot includes the adapter component 300, the adapter component 300 is part of the power unit 100. After the adapter component 300 is installed in the power unit 100, the detection method includes: determining whether the second input disk 52 is coupled to the rotating member 10 based on the detection result of the first detection component 30; after the second input disk 52 is coupled to the rotating member 10 and the surgical instrument 200 is installed in the adapter component 300, determining whether the first input disk 51 is coupled to the second input disk 52 based on the detection result of the first detection component 30.

[0208] In one embodiment, the first detection component 30 determines the coupling state of the drive input interface 50 by detecting whether the detected portion 101 of the rotating member 10 is sensed. In this case, the detection method includes: when the first detection component 30 senses the detected portion 101 of the rotating member 10, determining that the drive input interface 50 is not coupled to the rotating member 10; when the first detection component 30 does not detect the detected portion 101 of the rotating member 10, determining that the drive input interface 50 is coupled to the rotating member 10.

[0209] In one embodiment, the first detection component 30 determines the coupling state of the drive input interface 50 by detecting the distance between itself and the detected part 101. In this case, the detection method includes: when the first detection component 30 detects that the distance between itself and the rotating member 10 is less than a preset distance, it determines that the drive input interface 50 is not coupled to the rotating member 10; otherwise, it determines that the drive input interface 50 is coupled to the rotating member 10.

[0210] In one embodiment, the first detection component 30 determines the coupling state of the drive input interface 50 by detecting the deformation of the axial offset component 20. In this case, the detection method includes: when the first detection component 30 detects that the deformation of the axial offset component 20 is less than or greater than a preset value, determining that the drive input interface 50 is not coupled to the rotating component 10; conversely, when the first detection component 30 detects that the deformation of the axial offset component 20 is equal to the preset value, determining that the drive input interface 50 is coupled to the rotating component 10.

[0211] In one embodiment, the power unit 100 further includes a first signal terminal P1 disposed on the first housing 100a. The first signal terminal P1 can contact and conduct with a signal terminal on the drive input interface 50, thereby realizing the transmission of electrical signals. The detection method includes: determining that the drive input interface 50 has been installed in the power unit based on the signal indicating that the first signal terminal P1 is conducting with the signal terminal of the drive input interface 50; otherwise, determining that the drive input interface 50 has not been installed or has failed to be installed.

[0212] In a power unit 100 without an adapter assembly 300, when the surgical instrument 200 is installed into the first housing 100a of the power unit 100, its third signal terminal P3 contacts and conducts with the first signal terminal P1. The detection method includes determining that the surgical instrument 200 has been installed in the power unit based on the signal indicating that the first signal terminal P1 and the third signal terminal P3 are conducting.

[0213] In one embodiment, the power unit 100 includes a transfer assembly 300 configured to transmit torque between the rotating member 10 and the surgical instrument 200. The transfer assembly 300 has a second signal terminal P2, and the surgical instrument 200 has a third signal terminal P3. The second signal terminal P2 can be electrically connected to a first signal terminal P1 on the first housing 100a, and can also be electrically connected to the third signal terminal P3 on the surgical instrument 200. The detection method includes: determining that the transfer assembly 300 has been installed in the first housing 100a based on a signal indicating that the second signal terminal P2 and the first signal terminal P1 are connected; and after the transfer assembly 300 is installed in the first housing 100a, determining that the surgical instrument 200 is installed in the transfer assembly 300 based on a signal indicating that the third signal terminal P3 of the surgical instrument 200 is connected to the first signal terminal P1.

[0214] In one embodiment, the power unit 100 further includes an indicating device 301, which is disposed on the adapter assembly 300 and electrically connected to the second signal terminal P2. Thus, the second signal terminal P2 can be connected to the first signal terminal P1 after the adapter assembly 300 is installed into the first housing 100a, and can be connected to the third signal terminal P3 after the surgical instrument 200 is installed into the adapter assembly 300. The detection method includes switching the indicating state of the indicating device according to the detection result of the first detection component 30 after the adapter assembly 300 is installed into the first housing 100a, and / or after the surgical instrument 200 is installed into the adapter assembly 300. For example, when the indicating device 301 is an indicator light, when the second input disk 52 of the adapter assembly 300 is detected to be coupled to the rotating member 10, the indicating device 301 changes from lit to off; when the first input disk 51 of the surgical instrument 200 is coupled to the second input disk 52, the indicating device 301 changes from lit to off. In other embodiments, the indicating device 301 may also be a speaker or a display device. The indicating information of the indicating device 301 may also be issued in other ways, such as by displaying it through the main control panel 1 or a separate imaging device (such as an imaging vehicle).

[0215] Example 3

[0216] like Figure 11 This embodiment provides a method for engaging the power unit of a surgical robot, including:

[0217] S01. Install the drive input interface 50 onto the coupling end 10S of the rotating part 10 of the power device; wherein, the rotating part 10 elastically abuts against the drive input interface 50 under the action of the axial offset part 20, and the drive input interface 50 can provide torque to the surgical instrument 200.

[0218] S02. Detect the position of the rotating component 10 in its axial direction;

[0219] S03. When the detection result shows that the detected part of the rotating member 10 is located on the side opposite to the surgical instrument 200 relative to the preset position, the rotating member 10 is rotated in a preset manner (such as forward and / or reverse) so that the rotating member 10 moves along its axial direction to the preset position A0; when the detection result shows that the rotating member 10 is located along its axial direction at the preset position A0, the drive input interface 50 is successfully engaged with the rotating member 10.

[0220] When the surgical robot does not have the adapter component 300, the first input disk 51 and the rotating member 10 are coupled through the engagement of concave and convex features (C1, C2 and F1, F2) on their respective end faces. The drive input interface 50 includes the first input disk 51 disposed on the surgical instrument 200, and the first input disk 51 and the rotating member 10 are coupled through the engagement of concave and convex features on their respective end faces. Therefore, when engaging the surgical instrument and the power unit, it is only necessary to first install the surgical instrument 200 onto the first housing 100a of the power unit 100, and then detect the axial position of the rotating member 10. When the rotating member 10 is not in the preset position A0, the rotating member 10 is rotated in a preset manner, such as forward and / or reverse, until the rotating member 10 moves axially to the preset position A0, at which point the first input disk 51 is coupled to the rotating member 10.

[0221] When the surgical robot includes an adapter 300, the adapter 300 is part of the power unit 100. The adapter 300 includes a second input disk 52 with axial and circumferential degrees of freedom. The second input disk 52 is coupled to the rotating member 10 through the engagement of concave and convex features on their respective end faces. The first input disk 51 and the second input disk 52, which are mounted on the surgical instrument 200, are coupled through the engagement of concave and convex features on their respective end faces. In this case, the connection method includes two installation processes: the adapter 300 and the surgical instrument 200. First, the adapter 300 needs to be installed onto the first housing 100a of the power unit 100. Then, the position of the rotating member 10 in its axial direction is detected. When the detected part of the rotating member 10 is located on the side opposite to the surgical instrument 200 relative to a preset position, the rotating member 10 is rotated in a preset first manner, such as forward and / or reverse, so that the rotating member 10 moves along its axial direction to a preset position A0, thus completing the installation of the adapter 300 and the second input disk 52. The surgical instrument 200 is then installed into the second housing 300a of the adapter assembly 300. The position of the rotating member 10 in its axial direction is then detected. When the rotating member 10 is not in the preset position A0, the detected part of the rotating member 10 is located on the side opposite to the surgical instrument 200 relative to the preset position A0 under the pressure of the second input disk 52. Then, the rotating member 10 is rotated in a preset second manner, such as forward and / or reverse, so that the rotating member 10 moves along its axial direction to the preset position A0, thereby completing the installation of the surgical instrument 200 and the coupling of the first input disk 51.

[0222] Normally, when the power unit 100 is powered on, the motor M drives the rotating member 10 to rotate to the zero position. The second detection component 60 is used to detect the zero position of the rotating member 10. By providing a target point T on the rotating member 10, when the motor M drives the rotating member 10 to rotate to the zero position, the target point T rotates to be directly opposite the second detection component 60. Before installing the drive input interface 50 to the coupling end 10S of the rotating member 10 of the power unit 100, the rotating member 10 can be rotated until the target point T is detected by the second detection component 60, so that the rotating member 10 returns to the zero position, facilitating the next step of operation.

[0223] The target portion T can be a through hole penetrating the axial direction of the rotating member 10. The second detection component 60 includes a transmitting end 61 and a receiving end 62, which are respectively disposed on both sides of the target portion T along the axial direction of the rotating member 10. When the signal emitted by the transmitting end 61 is received by the receiving end 62, it indicates that the target portion T has rotated to the position between the transmitting end 61 and the receiving end 62; otherwise, it is considered that the target portion T is not directly aligned with the second detection component 60. Here, the target portion T can be disposed on the annular detection portion 101, with the transmitting end 61 and the receiving end 62 located on both sides of the axial direction of the detection portion 101, clamping the detection portion 101 within it. An axial movement gap 600 is formed between the transmitting end 61 and the receiving end 62, which is reserved for the detection portion 101. When the rotating member 10 rotates to the zero position, specifically, the target portion T is detected by the second detection component 60.

[0224] In other embodiments, the target point T can also be other markers for tracking, such as a magnet, and the second detection component 60 is a Hall sensor. By using the Hall sensor to detect changes in the magnetic field generated by the magnet in its vicinity, the rotation angle of the rotating component 10 can be identified, thereby determining the zero position.

[0225] Besides the need for the rotating component 10 to return to its zero position when the power unit 100 is powered on, the rotating component 10 may also need to return to its zero position after the adapter assembly 300 is installed into the first housing 100a and the second input disk 52 is successfully coupled to the rotating component 10. Returning the rotating component 10 to its zero position before installing the surgical instrument 200 allows the surgical instrument 200 to be directly driven into engagement with the adapter assembly 300 after installation, or it can be coupled to the corresponding first input disk 51 with only a slight correction of the rotation angle of the rotating component 10, thereby improving the engagement efficiency of the surgical instrument. Specifically, after the adapter assembly 300 is installed into the first housing 100a, and the first detection component 30 detects that the second input disk 52 of the adapter assembly 300 is driven into engagement with the rotating component 10, the rotating component 10 is controlled to rotate towards the zero position, so that the target point T is detected by the second detection component 60. In some implementations, if the rotating part 10 does not return to the zero position before the surgical instrument 200 is installed, the first input disk 51 and the corresponding second input disk 52 need to be aligned and coupled after the surgical instrument 200 is installed, which will take more time.

[0226] The rotating component 10 includes a first rotating component 10A and a second rotating component 10B. Each rotating component 10 corresponds to a drive input interface 50, a first detection component 30 and a second detection component 60. The first rotating component 10A includes a rotating component 10 configured to drive the end effector of the surgical instrument 200 to perform non-rotational actions such as pitch, yaw and opening / closing. The second rotating component 10B includes a rotating component 10 configured to drive the end effector of the surgical instrument 200 to perform rotational actions. During the engagement of the drive input interface 50, when the surgical instrument 200 is installed into the adapter assembly 300 and the first detection component 30 detects that the drive input interface 50 is coupled to the first rotating component 10A, the first rotating component 10A can rotate to the zero position. If the target point T is detected by the second detection component 60, the first rotating component 10A will no longer rotate; otherwise, the first rotating component 10A will be controlled to rotate until the target point T is detected by the second detection component 60, causing the first rotating component 10A to return to the zero position. However, when the surgical instrument 200 is installed into the adapter assembly 300 and the first detection component 30 detects that the drive input interface 50 is coupled to the second rotating component 10B, if the target point T is located within a preset angle range α, the second rotating component 10B will no longer rotate; otherwise, the second rotating component 10B will be controlled to rotate until the target point T is located within the preset angle range α. The preset angle range α can be defined based on data such as the encoder of the motor M, and can also be calculated based on the rotation angle of the motor M.

[0227] When the surgical robot includes the adapter assembly 300, the second input disk 52 of the adapter assembly 300 has axial and circumferential degrees of freedom. After the adapter assembly 300 is installed into the first housing 100a, when the second input disk 52 is not coupled to the rotating member 10, the rotating member 10 is controlled to rotate in a preset first mode. When the rotating member 10 rotates to the point of coupling with the second input disk 52, the preset rotation of the rotating member 10 is interrupted. The preset first mode can be, for example, scanning by forward and reverse rotation, such as scanning M times. Here, rotating from the initial position to the forward position to the limit position and then back to the initial position is called scanning. Scanning once from the initial position forward and then returning, or scanning once in the reverse direction, is also called scanning. The return is referred to as one scan, and the unidirectional scanning angle of the rotating member 10 does not exceed the first angle threshold a. Subsequently, when the first input disk 51 is not coupled to the second input disk 52, the rotating member 10 is controlled to rotate in a preset second mode. When the rotating member 10 rotates to be coupled to the first input disk 51, the preset rotation of the rotating member 10 is interrupted. The preset second mode can be, for example, scanning by forward and reverse rotation. If N scans are performed, the unidirectional scanning angle of the rotating member 10 does not exceed the second angle threshold b, where M and N are both not less than 1 scan. The first angle threshold a is greater than the second angle threshold b to avoid uncontrolled accidental movement of the end effector on the wound.

[0228] It is understandable that, in some embodiments, the process of combining the surgical instrument and the power device can also be as follows: when it is detected that the adapter 300 is installed in the first housing 100a, regardless of whether the second input disk 52 is coupled to the rotating member 10, the rotating member 10 is controlled to rotate in both the forward and reverse directions for scanning, and the unidirectional scanning angle of the rotating member 10 does not exceed the first angle threshold a; when it is detected that the surgical instrument 200 is installed in the adapter 300, regardless of whether the first input disk 51 is coupled to the second input disk 52, the rotating member 10 is controlled to rotate in both the forward and reverse directions for scanning, and the unidirectional scanning angle of the rotating member 10 does not exceed the second angle threshold b, and the second angle threshold b is also less than the first angle threshold a.

[0229] Furthermore, considering that after the surgical instrument 200 is installed onto the adapter assembly 300 and driven into engagement with the adapter assembly 300, in one embodiment, the first rotating member 10A needs to rotate to the zero position. The process of connecting the surgical instrument and the power device can also be as follows: when the first rotating member 10A is coupled to a second input disk 52, and the corresponding first input disk 51 is installed onto the corresponding second input disk 52 but not coupled to the first rotating member 10A, the first rotating member 10A is controlled to rotate in a preset third manner. During this process, once the first detection component 30 detects that the first input disk 51 is coupled to the second input disk 52, the first rotation is immediately interrupted. The preset rotation of the first rotating member 10A controls the rotating member 10 to rotate towards the zero position. When the first rotating member 10A rotates to the target point T and is detected by the second detection member 60, it stops rotating. When the second rotating member 10B is coupled to another second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the second rotating member 10B, the second rotating member 10B is controlled to rotate in a preset fourth manner. When the second rotating member 10B rotates to the point of coupling with the corresponding first input disk 51, the preset rotation of the second rotating member 10B is interrupted, and the second rotating member 10B is controlled to rotate until the target point T is located within the preset angle range α. That is, once the first detection member 30 detects that the first input disk 51 and the second input disk 52 are coupled, regardless of whether the rotating member 10 is about to rotate clockwise or counterclockwise, it will directly rotate towards the zero position until the target point T is detected by the second detection member 60. The position of the zero position can be determined by combining the encoder, etc., when the power device 100 is powered on. In this way, the rotating component 10 can return to the zero position in the shortest time and along the shortest rotation path after the first input disk 51 and the second input disk 52 are coupled, without performing unnecessary actions, and without waiting for the rotating component 10 to complete scanning a certain angle threshold, thus improving installation efficiency and safety.

[0230] In some embodiments, when the surgical instrument 200 is installed on the adapter assembly 300 and the first detection component 30 detects that the first input disk 51 is coupled with the first rotating component 10A, the first rotating component 10A immediately stops rotating and does not return to the zero position. The process of combining the surgical instrument and the power device can also be as follows: When the first rotating member 10A is coupled to a second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the first rotating member 10A, the first rotating member 10A is controlled to rotate in a preset third mode. When the first rotating member 10A rotates to the point where it is coupled to the corresponding first input disk 51, the preset rotation of the first rotating member 10A is interrupted, and the rotation of the first rotating member 10A is stopped. The rotating member 10A is no longer controlled to rotate toward the zero position. When the second rotating member 10B is coupled to another second input disk 52, and the corresponding first input disk 51 is installed on the corresponding second input disk 52 but not coupled to the second rotating member 10B, the second rotating member 10B is controlled to rotate in a preset fourth mode. When the second rotating member 10B rotates to the point where it is coupled to the corresponding first input disk 51, the preset rotation of the second rotating member 10B is interrupted, and the target point T of the second rotating member 10B is controlled to rotate to a preset angle range α. In other words, once the first detection component 30 detects that the first input disk 51 and the second input disk 52 are coupled, the rotating component 10 will stop rotating directly, regardless of whether it is about to rotate clockwise or counterclockwise, and wait for the next master-slave alignment command. When all the drive input interfaces 50 of the surgical instrument 200 are coupled to the rotating component 10 corresponding to the power device, and the target point T of the second rotating component 10B is located within the set angle range α, the next master-slave alignment action can be performed to align the posture of the operating unit 1a with the posture of the slave operating device 2.

[0231] Furthermore, considering that after the adapter assembly 300 is installed into the first housing 100a, even if the rotating member 10 is rotated repeatedly in both directions M times, the second input disk 52 still cannot be coupled to the rotating member 10, or, even if the rotating member 10 is rotated repeatedly in both directions N times, the first input disk 51 still cannot be coupled to the second input disk 52, such as... Figure 6B Furthermore, the adapter assembly 300 of this embodiment also includes an axial vibrating element 302, which partially extends into the receiving cavity 3011. When the second input disk 52 cannot be coupled with the rotating element 10, or the first input disk 51 cannot be coupled with the second input disk 52, the second input disk 52 can be vibrated along the axial direction of the adapter assembly 300 by controlling the axial vibrating element 302 until the corresponding coupling features engage with each other. For example, the axial vibrating element 302 can be a linear motor, fixed on the second housing 300a, and electrically connected to the controller 40 via the second signal terminal P2.

[0232] For example, a circumferential recess 520 can be formed on the outer peripheral surface of each second input disk 52. A portion of the axial vibrating member 302 is disposed within the second housing 300a, and the other portion extends into the recess 520. When the second input disk 52 is coupled with the rotating member 10 and the first input disk 51, the rotating member 10 is in the preset position A0, and the axial vibrating member 302 does not contact the recess 520, thus not affecting the rotation of the second input disk 52. When the rotating member 10 is not in the preset position A0, the axial vibrating member 302 drives the second input disk 52 to vibrate slightly in the axial direction, and cooperates with the forward and reverse rotation of the rotating member 10, thereby enabling the rotating member 10, the second input disk 52, and the first input disk 51 to be coupled. Therefore, the process of combining the surgical instrument and the power unit can also be as follows: After the adapter assembly 300 is installed, when the first coupling features C1 and C2 are not aligned with the second coupling features D1 and D2, while controlling the rotating part 10 to rotate repeatedly in the forward and reverse directions in a preset manner, the axial vibration part 302 is activated, so that the rotating part 10 rotates and vibrates axially relative to the second input disk 52, thereby aligning the first coupling features C1 and C2 with the second coupling features D1 and D2; similarly, after the surgical instrument 200 is installed, when the third coupling features E1 and E2 are not aligned with the fourth coupling features F1 and F2, while controlling the rotating part 10 to rotate repeatedly in the forward and reverse directions in a preset manner, the axial vibration part 302 is activated, so that the second input disk 52 rotates and vibrates axially relative to the first input disk 51, thereby aligning the third coupling features E1 and E2 with the fourth coupling features F1 and F2.

[0233] Example 4

[0234] This embodiment provides a computer-readable storage medium storing multiple instructions adapted for loading and execution by at least one processor of the steps described above for the method of detecting the engagement state of the power unit of a surgical robot and / or the engagement method of the power unit of a surgical robot. This computer-readable storage medium is part of a bite force control system. In some embodiments, the processor may be a Central Processing Unit (CPU), a controller, a microcontroller, a microprocessor, or other data processing chip. The processor is typically used to control the overall operation of a computing device. In this embodiment, the processor is used to run program code stored in the storage medium or to process data.

[0235] like Figure 12 This embodiment provides a computing device including a memory 3 and a processor 4. The memory 3 may be the aforementioned computer-readable storage medium, which stores a plurality of instructions adapted to be loaded by at least one processor 4 and executed to perform the steps of the aforementioned detection method and / or bonding method.

[0236] Example 5

[0237] like Figure 13 As shown, this embodiment provides a control method for a surgical robot, the control method including:

[0238] S11. Based on the detection result of the first detection component 30, determine whether the drive input interface 50 is coupled to the rotating component 10;

[0239] S12. After all drive input interfaces 50 of the surgical instrument 200 are coupled to the rotating part 10 corresponding to the power unit, the posture of the operating part 1a is aligned with the posture of the operating device. This posture alignment step can be performed by the controller 40 or by another controller.

[0240] The rotating component 10 includes a first rotating component 10A and a second rotating component 10B, each corresponding to a second input disk 52 and a first input disk 51, respectively. To facilitate the next master-slave alignment procedure, after all drive input interfaces 50 of the surgical instrument 200 are coupled to the rotating component 10 corresponding to the power unit, before aligning the posture of the operating part 1a with the posture of the slave operating device 2 in step S12, it is necessary to first detect whether the target point T of the second rotating component 10B has rotated into a preset angle range α. When the target point T of the second rotating component 10B rotates into the preset angle range α, the posture of the operating part is aligned with the posture of the slave operating device; otherwise, the posture alignment step is not performed. In addition, this control method also includes a step of controlling the combination of the power unit and the surgical instrument, which has been described in detail in the above embodiment 3.

[0241] It is understood that the basis for determining whether the drive input interface 50 is coupled to the rotating member 10 in step S11 of this embodiment includes, but is not limited to, relying on the detection of the first detection component 30. The detection result of the first detection component 30 can also be replaced by other methods. For example, it can be determined based on the resistance torque between the drive input interface 50 and the rotating member 10. When the resistance torque between the two reaches a preset threshold, it is considered that the two are coupled; otherwise, it is determined that they are not coupled. Alternatively, it can be determined based on the current of the motor M. When the current of the motor M reaches a preset current value, it is considered that the two are coupled; otherwise, it is determined that they are not coupled. Or, it can be determined based on the distance between the first input disk 51 of the surgical instrument 200 and the rotating member 10. When the distance between the two is less than a preset distance threshold, it is considered that the two are coupled; otherwise, it is determined that they are not coupled.

[0242] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0243] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0244] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A power unit for a surgical robot, characterized in that, include: First housing (100a); A rotating component (10) is rotatably disposed on the first housing (100a) and includes a target portion (T) and an axially coupled end portion (10S), the coupled end portion (10S) being configured to be coupled to a drive input interface (50) that provides torque to the surgical instrument (200); An axial biasing member (20) is configured to provide the rotating member (10) with an elastic bias toward the surgical instrument (200); The first detection component (30) is configured to detect the position of the rotating member (10) in its axial direction; The second detection component (60) is configured to face the target point (T) when the rotating member (10) is rotated to the zero position; The controller (40) is configured as follows: Before installing the drive input interface (50), rotate the rotating part (10) until the target part (T) is detected by the second detection part (60); When the detected part of the rotating member (10) is located on the side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset manner so that the rotating member (10) moves along its axial direction to the preset position.

2. The power unit according to claim 1, characterized in that, The drive input interface (50) includes a first input disk (51) disposed on the surgical instrument (200), the first input disk (51) and the rotating member (10) being coupled by the engagement of concave and convex features facing each other at their end faces; The controller (40) is configured to: After the surgical instrument (200) is installed into the power unit, the first input disk (51) is determined to be coupled to the rotating part (10) based on the detection result of the first detection component (30).

3. The power unit according to claim 1, characterized in that, It also includes a converter assembly (300), which includes a second housing (300a) detachably mounted to the first housing (100a) and a second input disk (52) rotatably disposed on the second housing (300a). The drive input interface (50) includes a second input disk (52), which is coupled to the rotating member (10) by the engagement of concave and convex features facing each other to transmit torque between the rotating member (10) and the surgical instrument (200); The controller (40) is configured to: After the second housing (300a) is installed on the power unit, the second input disk (52) is determined to be coupled to the rotating part (10) based on the detection result of the first detection component (30).

4. The power unit according to claim 3, characterized in that, The second input disk (52) is coupled to the first input disk (51) provided on the surgical instrument (200) by the engagement of concave and convex features facing each other at their end faces. The second input disk (52) has a degree of freedom along the axial direction of the second housing (300a). The controller (40) is configured to: After the second input disk (52) is coupled to the rotating component (10) and the surgical instrument (200) is installed on the power device, it is determined whether the first input disk (51) is coupled to the second input disk (52) based on the detection result of the first detection component (30).

5. The power unit according to claim 1, characterized in that, The detection end of the first detection component (30) is located on the side opposite to the surgical instrument (200) relative to the rotating component (10), and there is a gap between the detection end of the first detection component (30) and the rotating component (10) along the axial direction of the rotating component (10).

6. The power unit according to claim 1, characterized in that, The first detection component (30) is configured to detect whether the detected part of the rotating member (10) is sensed; the controller (40) is configured to determine that the drive input interface (50) is not coupled to the rotating member (10) when the first detection component (30) senses the detected part of the rotating member (10).

7. The power unit according to claim 1, characterized in that, The first detection component (30) is configured to detect the distance between itself and the detected part (101); the controller (40) is configured to determine that the drive input interface (50) is not coupled to the rotating part (10) when the first detection component (30) detects that the distance between itself and the rotating part (10) is less than a preset distance.

8. The power unit according to claim 1, characterized in that, It also includes a transfer assembly (300) detachably mounted to the first housing (100a), the transfer assembly (300) being configured to transmit torque between the rotating member (10) and the surgical instrument (200); The controller (40) is configured to: After the adapter assembly (300) is installed into the first housing (100a), and the first detection component (30) detects that the adapter assembly (300) is driven to engage with the rotating component (10), the rotating component (10) is controlled to rotate until the target point (T) is detected by the second detection component (60).

9. The power unit according to claim 1, characterized in that, It also includes a converter assembly (300) which includes a second input disk (52), and the surgical instrument (200) includes a first input disk (51), which can be coupled to the rotating member (10) via the second input disk (52); The controller (40) is configured to: After the second input disk (52) is installed onto the rotating member (10) and is not coupled to the rotating member (10), the rotating member (10) is controlled to rotate in a preset first manner, and when the rotating member (10) rotates to the point of coupling with the second input disk (52), the preset rotation of the rotating member (10) is interrupted; and / or, When the rotating member (10) is coupled to the second input disk (52), and the first input disk (51) is installed on the second input disk (52) but not coupled to the rotating member (10), the rotating member (10) is controlled to rotate in a preset second manner, and when the rotating member (10) rotates to the point of being coupled to the first input disk (51), the preset rotation of the rotating member (10) is interrupted.

10. The power unit according to claim 9, characterized in that, The rotating component (10) includes a first rotating component (10A) and a second rotating component (10B), and each of the rotating components (10) corresponds to a second input disk (52) and a first input disk (51). The controller (40) is configured to: When the first rotating member (10A) is coupled to a second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the first rotating member (10A), the first rotating member (10A) is controlled to rotate in a preset third manner, and when the first rotating member (10A) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the first rotating member (10A) is interrupted, and the first rotating member (10A) is controlled to rotate until the target point (T) is detected by the second detection component (60); When the second rotating member (10B) is coupled to another second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the second rotating member (10B), the second rotating member (10B) is controlled to rotate in a preset fourth manner. When the second rotating member (10B) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the second rotating member (10B) is interrupted, and the second rotating member (10B) is controlled to rotate until the target point (T) is located within the preset angle range (α).

11. The power unit according to claim 9, characterized in that, The rotating component (10) includes a first rotating component (10A) and a second rotating component (10B), and each of the rotating components (10) corresponds to a second input disk (52) and a first input disk (51), respectively. The controller (40) is configured to: When the first rotating member (10A) is coupled to a second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the first rotating member (10A), the first rotating member (10A) is controlled to rotate in a preset third mode, and when the first rotating member (10A) rotates to the point of being coupled to the corresponding first input disk (51), the preset rotation of the first rotating member (10A) is interrupted and the rotation of the first rotating member (10A) is stopped. When the second rotating member (10B) is coupled to another second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the second rotating member (10B), the second rotating member (10B) is controlled to rotate in a preset fourth manner. When the second rotating member (10B) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the second rotating member (10B) is interrupted, and the target point (T) of the second rotating member (10B) is controlled to rotate to a preset angle range (α).

12. The power unit according to claim 9, characterized in that, Both the first method and the second method include scanning in both forward and reverse directions. In the first method, the angle of unidirectional scanning does not exceed a first angle threshold (a), and in the second method, the angle of unidirectional scanning does not exceed a second angle threshold (b). The first angle threshold (a) is greater than the second angle threshold (b).

13. The power unit according to claim 3, characterized in that, It also includes an indicator device (301), a first signal terminal (P1) is provided on the first housing (100a), the adapter assembly (300) includes a second signal terminal (P2), the surgical instrument (200) includes a third signal terminal (P3), the indicator device (301) is provided on the adapter assembly (300) and is electrically connected to the second signal terminal (P2); The second signal terminal (P2) can be connected to the first signal terminal (P1) after the adapter assembly (300) is installed to the first housing (100a), and can be connected to the third signal terminal (P3) after the surgical instrument (200) is installed to the adapter assembly (300); The controller (40) is configured to: After the adapter assembly (300) is installed into the first housing (100a), and / or after the surgical instrument (200) is installed into the adapter assembly (300), the indication state of the indicator device is switched according to the detection result of the first detection component (30).

14. The power unit according to claim 3, characterized in that, The edge of the surface of the second input disk (52) having concave or convex features is provided with a plurality of first bosses (521), and the surface of the second housing (300a) facing the surface of the second input disk (52) having concave or convex features is provided with a plurality of second bosses (3000). The second bosses (3000) are configured to restrict the rotation of the second input disk (52) when the first bosses (521) are embedded between the two second bosses (3000).

15. A surgical robot, characterized in that, The device includes a surgical instrument (200) and a power unit as described in any one of claims 1 to 14, wherein the surgical instrument (200) is configured to perform a corresponding action under the drive of the power unit.

16. A method for engaging the power unit of a surgical robot, characterized in that, The power unit includes: Rotating component (10), including axially coupled end (10S); An axial offset member (20) is configured to provide an elastic offset of the rotating member (10) toward the surgical instrument (200) and to increase the deformation when the drive input interface (50) that provides torque to the surgical instrument (200) is coupled to the rotating member (10); The first detection component (30) is configured to detect the position of the rotating member (10) in its axial direction; The second detection component is configured to face the target point (T) on the rotating member (10) when the rotating member (10) is rotated to the zero position; The joining method includes: Before installing the drive input interface (50), rotate the rotating part (10) until the target part (T) is detected by the second detection part (60); After the drive input interface (50) is installed on the rotating part (10) of the power unit, the position of the rotating part (10) in its axial direction is detected; When the detected part of the rotating member (10) is located on the side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset manner so that the rotating member (10) moves along its axial direction to the preset position.

17. The joining method according to claim 16, characterized in that, The drive input interface (50) includes a first input disk (51) disposed on the surgical instrument (200), the first input disk (51) and the rotating member (10) being coupled by the engagement of concave and convex features facing each other.

18. The joining method according to claim 16, characterized in that, The power unit also includes a converter assembly (300), which includes a second input disk (52) having axial and circumferential degrees of freedom. The second input disk (52) can be coupled to the rotating member (10) by the engagement of concave and convex features on their respective end faces. The second input disk (52) is coupled to a first input disk (51) provided on the surgical instrument (200) by the engagement of concave and convex features on their respective end faces. The joining method includes: The adapter assembly (300) is installed onto the power unit; Detect the position of the rotating component (10) in its axial direction; When the detected part of the rotating member (10) is located on the side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset first manner so that the rotating member (10) moves along its axial direction to the preset position; The surgical instrument (200) is mounted onto the adapter assembly (300). Detect the position of the rotating component (10) in its axial direction; When the detected part of the rotating member (10) is located on the side opposite to the surgical instrument (200) relative to the preset position, the rotating member (10) is rotated in a preset second manner so that the rotating member (10) moves along its axial direction to the preset position.

19. The joining method according to claim 18, characterized in that, The joining method includes: After the adapter assembly (300) is installed on the power unit and the rotating member (10) is located in the preset position along its axial direction, the rotating member (10) is controlled to rotate until the target point (T) is detected by the second detection component (60).

20. The joining method according to claim 18, characterized in that, Also includes: After the rotating member (10) is rotated in a preset first manner, when the rotating member (10) moves along its axial direction to the preset position, the preset rotation of the rotating member (10) is interrupted; and / or, After the rotating member (10) is rotated in the preset second manner, when the rotating member (10) moves along its axial direction to the preset position, the preset rotation of the rotating member (10) is interrupted.

21. The joining method according to claim 20, characterized in that, The rotating component (10) includes a first rotating component (10A) and a second rotating component (10B), and each of the rotating components (10) corresponds to a second input disk (52) and a first input disk (51), respectively. The joining method includes: When the first rotating member (10A) is coupled to a second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the first rotating member (10A), the first rotating member (10A) is controlled to rotate in a preset third manner, and when the first rotating member (10A) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the first rotating member (10A) is interrupted, and the first rotating member (10A) is controlled to rotate until the target point (T) is detected by the second detection component (60); When the second rotating member (10B) is coupled to another second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the second rotating member (10B), the second rotating member (10B) is controlled to rotate in a preset fourth manner. When the second rotating member (10B) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the second rotating member (10B) is interrupted, and the second rotating member (10B) is controlled to rotate until the target point (T) is located within the preset angle range (α).

22. The joining method according to claim 20, characterized in that, The rotating component (10) includes a first rotating component (10A) and a second rotating component (10B), and each of the rotating components (10) corresponds to a second input disk (52) and a first input disk (51), respectively. The joining method includes: When the first rotating member (10A) is coupled to a second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the first rotating member (10A), the first rotating member (10A) is controlled to rotate in a preset third mode, and when the first rotating member (10A) rotates to the point of being coupled to the corresponding first input disk (51), the preset rotation of the first rotating member (10A) is interrupted and the rotation of the first rotating member (10A) is stopped. When the second rotating member (10B) is coupled to another second input disk (52), and the corresponding first input disk (51) is installed on the corresponding second input disk (52) but not coupled to the second rotating member (10B), the second rotating member (10B) is controlled to rotate in a preset fourth manner. When the second rotating member (10B) rotates to the point of coupling with the corresponding first input disk (51), the preset rotation of the second rotating member (10B) is interrupted, and the second rotating member (10B) is controlled to rotate until the target point (T) is located within the preset angle range (α).

23. A control method for a surgical robot, characterized in that, The surgical robot includes an operating unit and a slave operating device, the slave operating device including: Multiple rotating parts (10), each rotating part (10) includes an axially coupled end (10S). Multiple axial bias members (20), each axial bias member (20) is configured to provide the rotating member (10) with an elastic bias toward the surgical instrument (200), and the deformation increases when the drive input interface (50) that provides torque to the surgical instrument (200) is coupled to the coupling end (10S); A plurality of first detection components (30), each of the first detection components (30) being configured to detect the position of one of the rotating members (10) in its axial direction; The second detection component is configured to face the target point (T) on the rotating member (10) when the rotating member (10) is rotated to the zero position; The control method includes: determining whether the drive input interface (50) is coupled to the rotating component (10) based on the detection result of the first detection component (30); When all drive input interfaces (50) of the surgical instrument (200) are coupled to the rotating part (10) corresponding to the power unit, the posture of the operating part is aligned with the posture of the operating device; After all drive input interfaces (50) of the surgical instrument (200) are coupled to the rotating component (10) corresponding to the power unit, before aligning the posture of the operating part with the posture of the operating device, the control method further includes: Detect whether the target point (T) of the rotating member (10) has rotated into a preset angle range (α); When the target point (T) of the rotating member (10) rotates to a preset angle range (α), the posture of the operating part is aligned with the posture of the operating device; otherwise, the posture alignment step is not performed.

24. The control method according to claim 23, characterized in that, The rotating component (10) includes a first rotating component (10A) and a second rotating component (10B), and each of the rotating components (10) corresponds to a second input disk (52) and a first input disk (51).

Images