Surgical instrument connection device and surgical robot

Abstract

The application provides a surgical instrument connecting device and a surgical robot. The surgical instrument connecting device comprises: a replacement tool, which comprises a fixed seat and an adapter flange coaxially connected, the adapter flange is connected with a mechanical arm, and the fixed seat comprises a central hole and a plurality of positioning holes; a surgical tool, which comprises a guide, a guide rod and a mounting seat, the guide is coaxially connected with the fixed seat along the axis direction of the replacement tool, one end of the guide rod is connected with the mounting seat, and the other end of the guide rod is connected with the guide, the guide comprises a central flange and a plurality of positioning pins, the central flange is matched with the central hole, and the positioning pins are matched with the positioning holes; a quick locking and unlocking mechanism, which can lock the guide and the fixed seat immediately after the guide is inserted into position; and an operation switch, which is arranged on the replacement tool and can control the quick locking and unlocking mechanism to release the locking of the guide and the fixed seat. In this way, the surgical tool can be accurately tracked, the positioning accuracy can be ensured, quick installation and quick disassembly can be realized, and the complexity of the installation and disassembly operation is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular, to a surgical instrument connection device and a surgical robot. Background Technology

[0002] With the development of medical technology, surgical robots are being used more and more widely. Surgical robots require robotic arms to mount surgical instruments. Under computer control, the robotic arms can accurately position the instruments at the patient's lesion to perform the surgery. Surgical instruments need to be connected to the robotic arm via a surgical instrument connector. The ease of installation, connection reliability, and positioning accuracy of the surgical instruments directly affect surgical efficiency, patient safety, the surgeon's experience, and the final surgical outcome. However, existing surgical instrument connectors still have problems such as inconvenient installation and disassembly, insufficient positioning precision, low versatility, and poor sterilization performance. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a surgical instrument connection device and a surgical robot, which can reduce the complexity of surgical instrument installation and disassembly operations while ensuring positioning accuracy.

[0004] To achieve the above objectives, the present invention provides a surgical instrument connection device, comprising:

[0005] The tool changer includes a coaxially connected mounting base and an adapter flange for connecting to a robotic arm, and the mounting base includes a central hole and multiple positioning holes.

[0006] The surgical tool includes a guide, a guide rod, and a mounting base. The guide is coaxially connected to the fixed base along the axial direction of the tool. One end of the guide rod is connected to the mounting base, and the other end is connected to the guide. The guide includes a central flange and a plurality of positioning pins. The central flange is used to engage with the central hole, and the plurality of positioning pins are used to engage with the plurality of positioning holes one-to-one.

[0007] A quick-lock and quick-release mechanism, partly located on the guide and partly on the replacement tool, is used to immediately lock the guide and the fixed base after the guide is inserted into position relative to the fixed base; and,

[0008] An operating switch is located on the replacement tool. The operating switch is used to control the quick-lock and quick-release mechanism to release the lock on the guide and the fixed base.

[0009] Optionally, there are two positioning pins and two positioning holes. The two positioning holes are arranged around the central hole along the circumference of the fixed base, and the two positioning holes and the central hole are in a straight line. The two positioning pins are arranged around the central flange along the circumference of the guide, and the two positioning pins and the central flange are in a straight line.

[0010] Optionally, one of the positioning holes is a round hole, and the other positioning hole is an oblong hole.

[0011] Optionally, the quick-lock and quick-release mechanism includes: a locking groove provided on the central flange; and an elastic latch and a slider provided in the fixed base; the number of elastic latches is two, and the two elastic latches are symmetrically arranged on two opposite sides of the slider;

[0012] The elastic latch is used to engage and lock with the locking groove in the first direction; the operating switch is located on the fixed base and is partially exposed outside the fixed base;

[0013] When the operating switch is pressed along the second direction, it drives the slider to slide along the second direction, so that the sliding of the slider along the second direction synchronously drives the two elastic latches to move along the first direction, thereby causing the two elastic latches to disengage from the corresponding locking groove at the same time; the first direction, the second direction and the axis direction of the replacement tool are perpendicular to each other.

[0014] Optionally, the pressing direction of the operating switch is the second direction, and the number of elastic latches is two. The two elastic latches are symmetrically arranged on two opposite sides of the slider. After the slider is driven to slide along the second direction, the slider synchronously drives the two elastic latches to move along the first direction, thereby causing the two elastic latches to disengage from one of the corresponding locking slots at the same time.

[0015] Optionally, the quick-lock and quick-release mechanism includes: a ferromagnetic body disposed on the central flange, the ferromagnetic body being a soft magnetic material; and a de-energized electromagnet at least partially disposed within the fixed base;

[0016] One power supply terminal of the de-energized electromagnet is electrically connected to the operating switch, and the other power supply terminal is electrically connected to the power socket; the power socket is located on the fixed base, and both the operating switch and the power socket are used to electrically connect to the robotic arm via cables; the operating switch is located on the fixed base and is partially exposed outside the fixed base.

[0017] When the operating switch is off, the de-energized electromagnet can magnetically attract the ferromagnet through the central hole; when the operating switch is on, the de-energized electromagnet is energized to release the magnetic attraction between the guide and the fixed base.

[0018] Optionally, the quick-lock and quick-release mechanism includes: a first permanent magnet disposed on the guide; a second permanent magnet disposed on the fixed base; a motor disposed in the replacement tool, the motor being mounted on the adapter flange; and a pushing mechanism disposed in the replacement tool, the pushing mechanism being connected to the motor.

[0019] The first permanent magnet and the second permanent magnet are used for magnetic adsorption in the axial direction of the tool replacement;

[0020] The operating switch is located on the fixed base and is partially exposed outside the fixed base. When the operating switch is turned on, it controls the motor to start. After the motor starts, it drives the pushing mechanism to push the guide away from the fixed base along the axis of the tool changing, thereby releasing the magnetic attraction between the guide and the fixed base.

[0021] Optionally, the pushing mechanism includes a screw and a push nut, the push nut being movably mounted on the screw, one end of the screw being connected to the motor, and the other end of the screw passing through the central hole;

[0022] After the motor starts, it drives the screw to rotate around the axis of the replacement tool, so that the push nut moves along the axis of the replacement tool and abuts against the central flange, thereby pushing the guide to gradually move away from the fixed seat.

[0023] Optionally, the screw has a non-self-locking external thread, the push nut has a non-self-locking internal thread, the wall of the central hole is provided with a limiting groove, the outer periphery of the push nut is provided with a limiting rib, and the limiting rib is restricted within the limiting groove.

[0024] Optionally, the surgical tool further includes an optical target mounted on the guide rod.

[0025] Based on the same inventive concept, the present invention also provides a surgical robot, which includes a robotic arm and any of the surgical instrument connection devices described in the present invention, wherein the end of the robotic arm is connected to the surgical instrument connection device.

[0026] Compared with the prior art, the surgical instrument connection device and surgical robot provided by the present invention have the following advantages:

[0027] In the above surgical instrument connection device, the positioning and installation of surgical instruments on the replacement tool are achieved through the cooperation of multiple positioning pins and multiple positioning holes, ensuring positioning accuracy. In addition, the quick-lock and quick-release mechanism can lock the guide and the fixed seat immediately after the guide is inserted into the fixed seat, so as to avoid additional locking action. This enables quick installation between surgical instruments and replacement tools. The quick-lock and quick-release mechanism can also be controlled by the operation switch to quickly release the lock between surgical instruments and replacement tools. Thus, the complexity of surgical instrument installation and disassembly operations is reduced and surgical efficiency is improved.

[0028] In the above surgical instrument connection devices, the surgical instruments can be further equipped with optical targets, which makes it easier for the surgical robot to accurately track the spatial position of the surgical instruments, thereby improving the accuracy and safety of surgical positioning.

[0029] Since the surgical robot provided by this invention and the surgical instrument connection device provided by this invention belong to the same inventive concept, the surgical robot provided by this invention has all the advantages of the surgical instrument connection device provided by this invention. Therefore, the beneficial effects of the surgical robot provided by this invention will not be described in detail here. Attached Figure Description

[0030] Those skilled in the art will understand that the accompanying drawings are provided to better understand the invention and do not constitute any limitation on the scope of the invention. Wherein:

[0031] Figure 1 This is a surgical scene diagram of the surgical robot according to an embodiment of the present invention;

[0032] Figure 2 and Figure 3 This is a scene diagram illustrating the installation of surgical tools according to an embodiment of the present invention;

[0033] Figure 4 This is a schematic diagram of the surgical tools according to an embodiment of the present invention;

[0034] Figures 5a to 5c These are schematic diagrams of the tool replacement according to an embodiment of the present invention;

[0035] Figure 6 This is a schematic diagram of the surgical tool locking according to an embodiment of the present invention;

[0036] Figure 7 This is a sectional view of the surgical tool locking mechanism according to an embodiment of the present invention;

[0037] Figure 8 This is a schematic diagram of the surgical tool disengagement function according to an embodiment of the present invention;

[0038] Figure 9 This is a sectional view of the surgical tools detached according to an embodiment of the present invention;

[0039] Figure 10 This is a schematic diagram of a surgical tool according to another embodiment of the present invention;

[0040] Figure 11 This is a schematic diagram of a tool replacement according to another embodiment of the present invention;

[0041] Figures 12a to 12c This is a schematic diagram of the locking function of a surgical tool according to another embodiment of the present invention;

[0042] Figure 13 This is a schematic diagram of the surgical tool disengagement function according to another embodiment of the present invention;

[0043] Figure 14 This is a schematic diagram of a de-energized electromagnet structure according to another embodiment of the present invention;

[0044] Figure 15 This is a schematic diagram of the magnetic field state of a de-energized electromagnet according to another embodiment of the present invention when the power is off;

[0045] Figure 16 This is a schematic diagram of the magnetic field state of a de-energized electromagnet according to another embodiment of the present invention when energized;

[0046] Figure 17 This is a schematic diagram of a surgical tool according to another embodiment of the present invention;

[0047] Figure 18 This is a schematic diagram of a tool replacement according to another embodiment of the present invention;

[0048] Figure 19 This is a schematic diagram of the locking function of a surgical tool according to another embodiment of the present invention;

[0049] Figure 20 This is a schematic diagram of the surgical tool disengagement function according to another embodiment of the present invention;

[0050] Figure 21 This is a schematic diagram of the fixing base structure according to another embodiment of the present invention;

[0051] Figure 22 This is a schematic diagram of a push nut according to another embodiment of the present invention;

[0052] Figure 23 This is a schematic diagram of the connection between the motor and the screw in another embodiment of the present invention. Detailed Implementation

[0053] To make the objectives, advantages, and features of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and are not drawn to scale, and are only used to facilitate and clarify the explanation of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structures. In particular, different figures may emphasize different aspects and may sometimes use different scales.

[0054] The core idea of ​​this invention is to provide a surgical instrument connection device and a surgical robot including the surgical instrument connection device, so as to solve the problems of inconvenient installation and disassembly and inaccurate positioning of existing surgical instrument connection devices.

[0055] The following description refers to the accompanying drawings. Although the description focuses on neurosurgery, it should be understood that the surgical robot described in this invention can be used for various surgical procedures and is not limited to the specific surgical scenarios described.

[0056] Figure 1 This invention illustrates a scenario for neurosurgery using a surgical robot. In this scenario, the surgical robot can perform biopsies and punctures. The patient 11 lies on an operating table, with their head fixed to the surgical trolley 1 of the surgical robot. A multi-degree-of-freedom robotic arm 2 is mounted on the trolley 1. During the surgery, the robotic arm 2, under the control of medical personnel, accurately positions the surgical instruments attached to its end to the patient's lesion location for the procedure. The surgical robot can also track the spatial position of the surgical instruments in real time using optical sensors 4 (such as an optical camera), thereby completing the neurosurgery with navigation assistance. For navigation assistance, a three-dimensional model of the patient's head needs to be obtained preoperatively based on medical images of the patient's head. Then, by registering marker points on the patient's head, the actual position of the patient's head is correlated with the three-dimensional model of the patient's head to complete the registration. After registration, optical positioning is performed, allowing the robotic arm 2 to move under the guidance of navigation. In the illustrated application scenario, the surgeon 13 can plan the surgical target and path before surgery using navigation software. During the surgery, the robotic arm 2 moves under the control of the assistant 12, assisting the surgeon 13 in performing the operation.

[0057] like Figure 2 and Figure 3 As shown, this embodiment of the invention also provides a surgical instrument connection device for connecting surgical instruments to a robotic arm 2.

[0058] The surgical instrument connection device includes a surgical tool 3 and a replacement tool 5 that are connected in conjunction. The replacement tool 5 is directly connected to the end of the robotic arm 2, and the surgical tool 3 is directly connected to the surgical instrument. When the surgical tool 3 and the replacement tool 5 are connected, they are positioned by pin holes to ensure installation and positioning accuracy. The surgical instrument connection device also includes a quick-lock and quick-release mechanism and an operating switch. Part of the quick-lock and quick-release mechanism is located on the surgical tool 3, and another part is located on the replacement tool 5. This mechanism can lock the surgical tool 3 and the replacement tool 5 immediately after the surgical tool 3 is inserted into position relative to the replacement tool 5, avoiding additional locking actions and achieving the purpose of rapid installation. In addition, the operating switch is located on the replacement tool 5, so that the quick-lock and quick-release mechanism can be controlled to quickly release the lock on the surgical tool 3 and the replacement tool 5, thereby achieving the purpose of rapid disassembly. Preferably, the surgical tool 3 also has an optical target that can be identified by the optical sensor 4, which can accurately track the spatial position of the surgical tool 3, improving the accuracy and safety of surgical positioning.

[0059] The present invention will be further illustrated by the following preferred embodiments of the surgical instrument connection device. However, the following embodiments are merely exemplary and are intended to enable those skilled in the art to understand the present invention, rather than to limit the scope of protection of the present invention.

[0060] refer to Figure 4 , Figures 5a-5c as well as Figures 6 to 9 In one embodiment of the present invention, the surgical instrument connection device includes a replacement tool 510 and a surgical tool 310.

[0061] like Figure 4As shown, the surgical tool 310 of this embodiment includes an optical target 311, a guide 312, a guide rod 313, and a mounting base 314. One end of the guide rod 313 is connected to the guide 312, and the other end is connected to the mounting base 314. The guide 312 is used to connect with the replacement tool 510. The mounting base 314 is used to connect with the surgical instrument. The optical target 311 is directly mounted on the guide rod 313 without interfering with the guide 312 and the mounting base 314. The guide 312 is mainly a cylindrical structure 3121, with one end open and the other end closed. The guide rod 313 is coaxially or non-coaxially connected to the outer side of the closed end of the cylindrical structure 3121. Multiple positioning pins 3122 and a central flange 3123 are provided on the inner side of the open end of the cylindrical structure 3121. The central flange 3123 is located at the center of the cylindrical structure 3121. The multiple positioning pins 3122 are arranged circumferentially around the axis of the guide 312. Both the locating pin 3122 and the central flange 3123 protrude in a direction away from the guide rod 313. Preferably, there are two locating pins 3122, with the two locating pins 3122 and the central flange 3123 aligned in a straight line. The double locating pin configuration offers high positioning accuracy and ease of installation. The locating pins 3122 are primarily round pins, but are not limited to this type, as long as positioning accuracy is guaranteed.

[0062] In this embodiment, a portion of the quick-lock and quick-release mechanism is disposed on the guide 312, and another portion is disposed on the replacement tool 510. Furthermore, the quick-lock and quick-release mechanism includes a locking groove 3124 disposed on the central flange 3123. The locking groove 3124 is located on the side of the central flange 312, which is a surface disposed around the axis of the guide 312.

[0063] like Figures 5a-5c and Figure 6 As shown, the replacement tool 510 in this embodiment includes a fixed base 511 and an adapter flange 512, which are coaxially connected in the axial direction of the replacement tool 510. The adapter flange 512 is used for connecting the robotic arm 2. The guide 312 is used for coaxial connection with the fixed base 511 along the axial direction of the replacement tool 510. The structure of the fixed base 511 is adapted to the structure of the guide 312, so that the two can be matched and positioned.

[0064] like Figure 5a and Figure 5bAs shown, the fixed base 511 has multiple positioning holes 5111 and a central hole 5112 on the side opposite to the adapter flange 512. The central hole 5112 is located at the center of the fixed base 511. The multiple positioning holes 5111 are arranged circumferentially around the axis of the fixed base 511. Preferably, there are two positioning holes 5111, and the two positioning holes 5111 and the central hole 5112 are on a straight line. More preferably, one of the two positioning holes 5111 is an oblong hole and the other is a round hole, which has high positioning accuracy, avoids over-positioning, facilitates size adjustment through the oblong hole, reduces assembly difficulty, and can meet different manufacturing and assembly requirements. When installing the surgical tool 310, the multiple positioning holes 5111 on the fixed base 511 and the multiple positioning pins 3122 on the guide 312 cooperate one-to-one, while the central hole 5112 on the fixed base 511 cooperates with the central flange 3123 on the guide 312. This enables rapid and accurate positioning between the surgical tool 510 and the replacement tool 510, ensuring positioning accuracy and facilitating installation.

[0065] like Figures 5a-5c and Figure 6 As shown, in this embodiment, another part of the quick-lock and quick-release mechanism is located on the fixed base 511, and the quick-lock and quick-release mechanism also includes a slider 513 and an elastic latch 514 located within the fixed base 511. The elastic latch 514 includes a compression spring 515 and a lock head. One end of the compression spring 515 is connected to the fixed base 511, and the other end of the compression spring 515 is connected to the lock head, which can abut against the slider 513. When locked, the lock head inserts into the lock groove 3124 and securely locks the surgical tool 310 and the replacement tool 510 under the elastic force of the compression spring 515. The elastic latch 514 is used to engage and lock with the lock groove 3124 in the first direction A1, thereby realizing the quick locking of the surgical tool 310 and the replacement tool 510. The elastic latch 514 is located on the side of the slider 513 and can be driven by the slider 513. The operation switch in this embodiment is a button 516, which is located on the fixed base 511 and partially exposed outside the fixed base 511. When button 516 is pressed, it drives slider 513 to slide along the second direction A2. This sliding motion of slider 513 along the second direction A2 drives elastic latch 514 to move along the first direction A1, thereby disengaging elastic latch 514 from the locking groove 3124 and enabling quick unlocking of surgical tool 310 and replacement tool 510. The first direction A1, the second direction A2, and the axis of replacement tool 510 are perpendicular to each other. It should also be noted that the wall of the central hole 5112 has a channel through which elastic latch 514 can pass, so that after passing through the central hole 5112 in the first direction A1, elastic latch 514 engages with the central flange 3123 located within the central hole 5112.

[0066] In practice, one or more elastic latches 514 can be used. In this embodiment, two elastic latches 514 are used, which are symmetrically arranged on two opposite sides of the slider 513. After the slider 513 is driven to slide along the second direction A2, the slider 513 synchronously drives the two elastic latches 514 to move along the first direction A1, thereby causing the two elastic latches 514 to simultaneously disengage from their corresponding locking slots 3124. The slider 513 is provided with an inclined surface 5131, which controls the elastic latches 514 to disengage from the locking slots 3124. The slider 513 is equivalent to a cam, and the cam inclined surface controls the latches to disengage. This method is simple and reliable, and the surgical tool 310 can be smoothly removed even when the button 516 is not released and pulled out, which can effectively reduce the risk of failure to remove it.

[0067] In this embodiment, the pressing direction of button 516 is the same as the moving direction of slider 513. The axial direction of the replacement tool 510 is the insertion and removal direction of surgical tool 310. Surgical tool 310 is installed and removed along the axial direction of replacement tool 510, and surgical tool 310 is locked and unlocked along the axial direction perpendicular to replacement tool 510.

[0068] It should be understood that when button 516 is not pressed and surgical tool 310 is not installed, the elastic latch 514 is in the initial position. After the guide 312 of surgical tool 310 is inserted into the mounting base 511 of replacement tool 510, the elastic latch 514 can move from the initial position to the locked position and engage with the locking groove 3124. After locking, pressing button 516 controls the elastic latch 514 to move from the locked position along the first direction A1 away from the locking groove 3124 to the unlocked position. Once in the unlocked position, surgical tool 310 and replacement tool 510 can be easily separated. After removing surgical tool 310, releasing button 516 returns the elastic latch 514 and slider 513 to their initial positions.

[0069] For more details, see the reference. Figure 6 and Figure 7 Taking the two positioning pins 3122 as an example, during installation, firstly, align the two positioning pins 3122 on the surgical tool 310 with the two positioning holes 5111 on the replacement tool 510, and simultaneously align the central flange 3123 on the surgical tool 310 with the central hole 5112 on the replacement tool 510. Then, insert the guide 312 into the fixing seat 511 along the axial direction of the replacement tool 510. After it is fully inserted, the locking head of the elastic latch 514 automatically engages in the locking groove 3124 on the central flange 3123 in the first direction A1, completing the installation. After connecting the replacement tool 510 to the robotic arm 2, the surgical robot can track the surgical tool 310 in real time via the optical sensor 4. For disassembly, refer to... Figure 8 and Figure 9To operate, press button 516, causing slider 513 to slide along the second direction A2, which in turn pushes elastic latch 514 along the first direction A1 away from the central flange 3123 until elastic latch 514 disengages from locking groove 3124. Therefore, installation is achieved simply by pushing surgical tool 310 into place, and disassembly is achieved by pressing button 316, which removes guide 312 without any additional operations. The structure is simple and easy to operate and use.

[0070] Therefore, in one embodiment of the present invention, during installation, simply pushing the guide 312 into place will automatically lock it via the elastic latch 514, ensuring the reliability of the connection, without requiring additional locking action. During disassembly, simply pressing the button 516 will automatically unlock the elastic latch 514, allowing the guide 312 to be quickly removed. The entire installation and disassembly process is relatively simple and convenient, and also facilitates sterilization, improving the reliability of sterilization. Ultimately, it can quickly and accurately replace the surgical instruments 310 before and during surgery, reducing the risk of contamination of the surgical instruments 310 due to a prolonged installation process.

[0071] Please refer to Figure 10 , Figure 11 , Figures 12a-12c , Figures 13-16 In another embodiment of the present invention, a surgical instrument connection device is provided. The structure of the surgical instrument connection device is basically the same as that of the surgical instrument connection device provided in the foregoing embodiment. The same parts will not be described again. The following only describes the differences.

[0072] like Figure 10 , Figure 11 , Figures 12a-12c , Figures 13-16 As shown, in another embodiment of the present invention, the surgical instrument connection device includes a surgical tool 330 and a replacement tool 530.

[0073] like Figure 10 As shown, the surgical tool 330 in this embodiment includes an optical target 331, a guide 332, a guide rod 333, and a mounting base 334. The guide 332 is mainly a cylindrical structure 3321, and includes multiple positioning pins 3322 and a central flange 3323. Unlike Embodiment 1, this embodiment uses a ferromagnetic material 3324 instead of the locking groove 3124 in Embodiment 1. That is, in this embodiment, the quick-lock and quick-release mechanism includes a ferromagnetic material 3324 disposed on the central flange 3323. The ferromagnetic material 3324 is a soft magnetic material. The ferromagnetic material 3324 is located at the center of the central flange 3323 and can be embedded in the central flange 3323, ensuring that the end face of the ferromagnetic material 3324 is exposed outside the central flange 3323.

[0074] like Figure 11 , Figures 12a-12c as well as Figure 13 As shown, the replacement tool 530 in this embodiment includes a fixed base 531 and an adapter flange 532. The fixed base 531 includes multiple positioning holes 5311 and a central hole 5312. The quick-lock and quick-release mechanism in this embodiment also includes a de-energized electromagnet 533, which is at least partially located within the fixed base 531. The de-energized electromagnet 533 may be entirely located within the fixed base 531, or partially located within the fixed base 531 and partially located within the adapter flange 532. Meanwhile, the operating switch in this embodiment is an electric switch 534. One power supply terminal of the de-energized electromagnet 533 is electrically connected to the electric switch 534, and the other power supply terminal is electrically connected to the power connector 535. The power connector 535 is located on the fixed base 531. Both the electric switch 534 and the power connector 535 are used for electrical connection to the robotic arm 2 via a cable 536. The electric switch 534 is located on the fixed base 531 and is partially exposed outside the fixed base 531. When the power switch 534 is open, the de-energized electromagnet 533 can magnetically attract the ferromagnet 3324 through the central hole 5312. When the power switch 534 is closed, the de-energized electromagnet 533 is energized, at which point the magnetic attraction between the guide 332 and the mounting base 531 is released. The cable 536 can introduce power from the robotic arm tool interface 21 to the power supply terminal of the de-energized electromagnet 533 through the power connector 535. The power connector 535 can be a power adapter connector.

[0075] like Figure 14 As shown, in this embodiment, the de-energized electromagnet 533 includes a coil 5331, a permanent magnet 5332, a housing 5333, and an insulating material 5334. The housing 5333 has a cavity that is open at one end and closed at the other, and the permanent magnet 5332 is fixed in the cavity of the housing 5333. The coil 5331 is wound around the permanent magnet 5332. A cable 536 is electrically connected to the coil 5331 through a power connector 535. The insulating material 5334 is disposed between the coil 5331 and the cavity wall of the housing 5333. Figure 15 As shown, when the de-energized electromagnet 533 is de-energized, the magnetic force of the permanent magnet 5332 can attract the ferromagnetic material 3324 of the guide 332, thereby locking the surgical tool 330 and the replacement tool 530. Figure 16 As shown, after pressing the power button 534, the de-energized electromagnet 533 is energized. When energized, the electromagnetic field generated in the coil 5331 is opposite to the magnetic field of the permanent magnet 5332, the magnetic field is weakened or even canceled out, resulting in the magnetic field attraction force being weakened or disappearing. This can release the magnetic attraction of the permanent magnet 5332 to the ferromagnet 3324 of the guide 332.

[0076] Taking the two positioning pins 3322 as an example, during installation, align the two positioning pins 3322 on the surgical tool 330 with the two positioning holes 5311 on the replacement tool 530, and simultaneously align the ferromagnetic body 3324 on the surgical tool 330 with the center hole 5312 on the replacement tool 530. Then, insert the guide 332 of the surgical tool 330 into the fixing seat 531 of the replacement tool 530. After it is fully inserted, the permanent magnet 5332 of the de-energized electromagnet 533 magnetizes the ferromagnetic body 3324 on the guide 332 and generates a magnetic field attraction, firmly locking the surgical tool 330. During disassembly, press the power switch 534, the coil 5331 is energized, the magnetic field attraction is weakened or canceled, and the surgical tool 330 can be easily removed from the replacement tool 530.

[0077] The placement of the ferromagnet 3324 is not limited to the specific position in the embodiment. It should be understood that the ferromagnet 3324 can be placed on the surgical tool 330 at any position that contacts the replacement tool 530. Since the placement of the ferromagnet 3324 is different, in order to ensure sufficient attraction force, an electromagnet 5332 with appropriate magnetic field force and ferromagnetic material can be selected to ensure that the magnetic field attraction force is large enough.

[0078] Therefore, in another embodiment of the present invention, during installation, simply pushing the guide 332 into place automatically achieves magnetic adsorption and fixation, realizing a reliable connection without the need for additional locking actions. During disassembly, simply energizing the coil 5531 automatically releases the magnetic adsorption, allowing the guide 332 to be quickly removed. Thus, both installation and disassembly can be completed quickly, making the entire process simple and convenient, and also beneficial for sterilization, improving sterilization reliability. In particular, this solution only energizes the coil 5331 during disassembly, without consuming excessive electrical energy, and the electromagnet does not overheat due to prolonged energization, thus saving energy. Furthermore, since the ferromagnet is a soft magnetic material, not a permanent magnet, the magnetic attraction force is generated by magnetizing the soft magnetic material with a permanent magnet when not energized. This method allows for better control of the magnetic force, avoiding problems of excessive or insufficient magnetic force, ensuring the reliability of the connection during magnetic adsorption, and overcoming the defect of excessive magnetic force preventing smooth installation and disassembly. In practice, by selecting electromagnets and permanent magnets with appropriate magnetic field strength, it is possible to ensure that the magnetic field attraction force is large enough while also ensuring that disassembly and assembly are convenient.

[0079] Please refer to Figures 17 to 23 In another embodiment of the present invention, a surgical instrument connecting device is provided. The structure of the surgical instrument connecting device is basically the same as that of the surgical instrument connecting device provided in the above embodiments. The same parts will not be described again. Only the differences will be described below.

[0080] like Figures 17 to 23As shown, in another embodiment of the present invention, the surgical instrument connection device includes a surgical tool 350 and a replacement tool 550.

[0081] like Figure 17 As shown, the surgical tool 350 of this embodiment includes an optical target 351, a guide 352, a guide rod 353, and a mounting base 354. The guide 352 is mainly a cylindrical structure 3521, and includes multiple positioning pins 3522 and a central flange 3523. Unlike the previous embodiment, the quick-lock and quick-release mechanism of this embodiment includes a first permanent magnet 3524 disposed on the guide 352. There can be one or more first permanent magnets 3524. In this embodiment, there are multiple first permanent magnets 3524, for example, two. The multiple first permanent magnets 3524 are arranged around the central flange 3523 along the circumference of the guide 352. The first permanent magnets 3524 are disposed on the inner side of the open end of the cylindrical structure 3521.

[0082] like Figure 18 As shown, the replacement tool 550 in this embodiment includes a fixed base 551 and an adapter flange 552. The fixed base 551 includes multiple positioning holes 5511 and a central hole 5512. Unlike the previous embodiment, the quick-lock and quick-release mechanism in this embodiment further includes: a second permanent magnet 553 disposed on the fixed base 551; a motor 554 disposed within the replacement tool 550 and mounted on the adapter flange 552; and a pushing mechanism disposed within the replacement tool 550 and connected to the motor 554. During installation, the first permanent magnet 3524 and the second permanent magnet 553 are magnetically attracted in the axial direction of the replacement tool 550, which can quickly lock the surgical tool 350 and the replacement tool 550. The structure is simple and the installation and disassembly are convenient.

[0083] In this embodiment, the operating switch is also an electric switch 555, which is mounted on the fixed base 551 and partially exposed outside the fixed base 551. When the electric switch 555 is turned on, it controls the motor 554 to start. After the motor 554 starts, it drives the pushing mechanism to push the guide 352 away from the fixed base 551 along the axial direction of the changing tool 550, thereby releasing the magnetic attraction between the guide 352 and the fixed base 551.

[0084] In one embodiment, the pushing mechanism includes a screw 556 and a push nut 557. The push nut 557 is movably mounted on the screw 556. One end of the screw 556 is connected to a motor 554, and the other end of the screw 556 passes through the central hole 5512 of the fixed base 551. After the motor 554 is started, it drives the screw 556 to rotate around the axis of the changing tool 550, thereby causing the push nut 557 to move along the axial direction of the changing tool 550 and abut against the central flange 3523 of the guide 352. Through the contact between the push nut 557 and the central flange 3523, the guide 352 is pushed gradually away from the fixed base 551.

[0085] Figure 19 This shows the state after surgical tool 350 and replacement tool 550 are connected. For example... Figure 19 As shown, during installation, firstly, align the two positioning pins 3522 on the surgical tool 350 with the two positioning holes 5511 on the replacement tool 550, and simultaneously align the central flange 3523 on the surgical tool 350 with the central hole 5512 on the replacement tool 550. Then, along the axial direction of the replacement tool 550, insert the guide 352 into the fixing seat 551. After it is fully inserted, the first permanent magnet 3524 on the guide 352 and the second permanent magnet 553 on the fixing seat 551 will attract each other, thus completing the installation.

[0086] Figure 20 This describes the state during the disassembly of surgical instrument 350 and the replacement of instrument 550. For example... Figure 20 As shown, during disassembly, the power switch 555 needs to be pressed to start the motor 554. The motor 554 rotates and drives the screw 556 to rotate. After the screw 556 rotates, the push nut 557 moves along the central hole 5512 toward the surgical tool 350 until the first permanent magnet 3524 on the surgical tool 350 and the second permanent magnet 553 on the replacement tool 550 are released from their attraction. Then the surgical tool 350 can be easily removed from the replacement tool 550.

[0087] It should also be noted that the push nut 557 cannot rotate; it can only slide on the screw 556. For example... Figure 21 As shown, the wall of the central hole 5512 is provided with a limiting groove 5514. (As indicated...) Figure 22 As shown, the outer periphery of the push nut 557 is provided with a limiting rib 5571. The limiting groove 5514 on the fixing seat 551 cooperates with the limiting rib 5571 on the push nut 557 to prevent the push nut 557 from rotating. Preferably, the hole wall of the central hole 5512 is provided with two symmetrically arranged limiting grooves 5514, and the outer periphery of the push nut 557 is provided with two symmetrical limiting ribs 5571, each of the two limiting ribs 5571 being in a corresponding limiting groove 5514. In addition, the central through hole of the push nut 557 is provided with a non-self-locking internal thread 5572. Figure 23 As shown, the screw 556 has a non-self-locking external thread 5561. Thus, the screw 556 and the push nut 557 transmit motion through the non-self-locking thread. The non-self-locking thread allows the push nut 557 to self-reset during installation and also enables the screw 556 to drive the push nut 557 to move when the motor 554 rotates, facilitating the disassembly of the surgical tool 350. The push nut 557 and the screw 556 can be of any non-self-locking helical structure, such as a ball screw and nut; this invention is not limited to this.

[0088] The advantages of this solution are that by selecting a permanent magnet with a suitable magnetic field force, the surgical tool 350 and the replacement tool 550 can be quickly and reliably fixed. Furthermore, by using a push nut 5552, a screw 5551, and a motor 554, the surgical tool 350 can be easily disassembled, thereby reducing the probability of contamination. Similar to the aforementioned embodiments, during installation, simply pushing the guide 352 into place automatically achieves magnetic adsorption and fixation, ensuring a reliable connection while avoiding additional locking actions. Conversely, during disassembly, simply activating the motor 554 allows the motion output from the motion mechanism to quickly release the magnetic adsorption by pushing the guide 352. This installation and disassembly process is simple and convenient, and the motor 554 is only activated during disassembly to save energy.

[0089] Compared with existing technologies, the surgical instrument connection device provided in any embodiment of the present invention enables rapid and accurate positioning of surgical instruments, while also allowing for quick installation and disassembly. Furthermore, it features a simple structure, convenient operation, and significantly reduces the complexity of surgical instrument installation and disassembly, thereby improving surgical efficiency. The above embodiments also provide a universal interface for various surgical instruments, facilitating reduced product usage costs. In particular, the surgical instruments are equipped with optical targets, enabling surgical robots to accurately track the spatial position of the surgical instruments, thereby improving the accuracy and safety of surgical positioning.

[0090] Furthermore, regarding the surgical robot provided in the embodiments of the present invention, since the surgical robot and the surgical instrument connection device provided in the present invention belong to the same inventive concept, the surgical robot provided in the present invention has all the advantages of the surgical instrument connection device provided in the present invention. Therefore, the beneficial effects of the surgical robot provided in the present invention will not be described in detail here.

[0091] The above description is only a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the present invention.

Claims

1. A surgical instrument connecting device, characterized in that, include: The tool changer includes a coaxially connected mounting base and an adapter flange for connecting to a robotic arm, and the mounting base includes a central hole and multiple positioning holes. The surgical tool includes a guide, a guide rod, and a mounting base. The guide is coaxially connected to the fixed base along the axial direction of the tool. One end of the guide rod is connected to the mounting base, and the other end is connected to the guide. The guide includes a central flange and a plurality of positioning pins. The central flange is used to engage with the central hole, and the plurality of positioning pins are used to engage with the plurality of positioning holes one-to-one. A quick-lock / quick-release mechanism, partly located on the guide and partly on the replacement tool, is used to immediately lock the guide and the fixed base after the guide is inserted into position relative to the fixed base. The quick-lock / quick-release mechanism includes a first permanent magnet, a second permanent magnet, a motor, and a pushing mechanism. The first permanent magnet is located on the guide; the second permanent magnet is located on the fixed base; the motor and the pushing mechanism are both located inside the replacement tool; the motor is mounted on the adapter flange; the first and second permanent magnets are used for magnetic attraction along the axial direction of the replacement tool; the pushing mechanism is connected to the motor. as well as, An operating switch is located on the replacement tool; when the operating switch is turned on, it controls the motor to start, and when the motor starts, it drives the pushing mechanism to push the guide away from the fixed base along the axial direction of the replacement tool, thereby releasing the magnetic attraction between the guide and the fixed base.

2. The surgical instrument connecting device according to claim 1, characterized in that, The number of positioning pins and positioning holes are both two. The two positioning holes are arranged around the center hole along the circumference of the fixed base, and the two positioning holes and the center hole are in a straight line. The two positioning pins are arranged around the center flange along the circumference of the guide, and the two positioning pins and the center flange are in a straight line.

3. The surgical instrument connecting device according to claim 2, characterized in that, One of the positioning holes is a round hole, and the other positioning hole is an oblong hole.

4. The surgical instrument connecting device according to any one of claims 1-3, characterized in that, The quick-lock and quick-release mechanism includes: a locking groove provided on the central flange; and an elastic latch and a slider provided in the fixed base; the number of elastic latches is two, and the two elastic latches are symmetrically arranged on two opposite sides of the slider; The elastic latch is used to engage and lock with the locking groove in the first direction; the operating switch is located on the fixed base and is partially exposed outside the fixed base; When the operating switch is pressed along the second direction, it drives the slider to slide along the second direction, so that the sliding of the slider along the second direction synchronously drives the two elastic latches to move along the first direction, thereby causing the two elastic latches to disengage from the corresponding locking groove at the same time; the first direction, the second direction and the axis direction of the replacement tool are perpendicular to each other.

5. The surgical instrument connecting device according to any one of claims 1-3, characterized in that, The quick-lock and quick-release mechanism includes: a ferromagnetic body disposed on the central flange, the ferromagnetic body being a soft magnetic material; and a de-energized electromagnet at least partially disposed within the fixed base; One power supply terminal of the de-energized electromagnet is electrically connected to the operating switch, and the other power supply terminal is electrically connected to the power socket; the power socket is located on the fixed base, and both the operating switch and the power socket are used to electrically connect to the robotic arm via cables; the operating switch is located on the fixed base and is partially exposed outside the fixed base. When the operating switch is off, the de-energized electromagnet can magnetically attract the ferromagnet through the central hole; when the operating switch is on, the de-energized electromagnet is energized to release the magnetic attraction between the guide and the fixed base.

6. The surgical instrument connecting device according to any one of claims 1-3, characterized in that, The operating switch is located on the fixed base and is partially exposed outside the fixed base.

7. The surgical instrument connecting device according to claim 6, characterized in that, The pushing mechanism includes a screw and a push nut, the push nut being movably mounted on the screw, one end of the screw being connected to the motor, and the other end of the screw passing through the central hole; After the motor starts, it drives the screw to rotate around the axis of the replacement tool, so that the push nut moves along the axis of the replacement tool and abuts against the central flange, thereby pushing the guide to gradually move away from the fixed seat.

8. The surgical instrument connecting device according to claim 7, characterized in that, The screw has a non-self-locking external thread, the push nut has a non-self-locking internal thread, the wall of the central hole is provided with a limiting groove, the outer periphery of the push nut is provided with a limiting rib, and the limiting rib is restricted within the limiting groove.

9. The surgical instrument connecting device according to any one of claims 1-3, characterized in that, The surgical tool also includes an optical target mounted on the guide rod.

10. A surgical robot, characterized in that, It includes a robotic arm and a surgical instrument connection device as described in any one of claims 1-9, wherein the end of the robotic arm is connected to the surgical instrument connection device.

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