Medical instrument, surgical robot, and control system for a surgical robot

Abstract

The application provides a medical instrument, a surgical robot and a control system of the surgical robot, wherein the medical instrument is used for the surgical robot, and comprises a shell and an activation device, the activation device is arranged in the shell, and the activation device can be triggered. When the activation device is operated, the activation device is triggered and an induction signal is generated. The activation device transmits the induction signal to an energy generator, so that the energy generator generates energy and is activated. The medical instrument of the application is applied to the surgical robot, and the connection state of the energy generator and a remote control console does not need to be frequently switched, but the activation operation of the energy generator can be directly realized through the activation device. The control system of the surgical robot of the application comprises the activation device, and when in use, the activation device is triggered to generate an induction signal, so as to activate the energy generator, and the operation process is more smooth and reasonable.

Description

Technical Field

[0001] This invention relates generally to the technical field of surgical robots, and more specifically to a medical device for a surgical robot, a surgical robot, and a control system for a surgical robot. Background Technology

[0002] For safety reasons, existing ultrasonic scalpel surgical instruments require connection to the ultrasonic scalpel transducer and energy generator before use, and can only perform a self-test by connecting an external activation device to the handheld ultrasonic scalpel instrument. Only after the instrument passes the self-test can it be activated and used in surgery.

[0003] For existing minimally invasive robotic surgical instruments, the ultrasonic scalpel instrument can only be activated and self-tested by the user before use via an activation device connected to the energy generator. During the self-test, the energy generator is first disconnected from the main control panel of the minimally invasive surgical robot system, and then connected to the activation device. After completing the self-test, the activation device is removed, and the energy generator is reconnected to the main control panel, allowing the surgeon at the main control panel to control both the energy generator and the ultrasonic scalpel instrument.

[0004] Furthermore, during the use of the ultrasonic scalpel instrument in a surgical robot, the user needs to activate the instrument before performing a cleaning operation. Existing minimally invasive surgical robot systems require disconnecting the energy generator and main control unit, and then reconnecting the activation device. After completing the cleaning operation, the activation device is removed, and the energy generator and main control unit are reconnected. This design ensures that the main control unit can only use and control the ultrasonic scalpel instrument after the energy generator is activated, preventing a situation where the activation device and the robot system simultaneously operate the energy generator.

[0005] However, in the aforementioned usage scenarios, switching between the activation device and the robot system control device's connection to the energy generator disrupts the first user's workflow and impacts the user experience. Secondly, the main control panel and activation device need to be alternately disconnected from the energy generator. To ensure a secure connection, cables, plugs, and interfaces are typically used. Frequent plugging and unplugging can cause the connection at the interface to loosen, affecting connection security. This can reduce the lifespan of the surgical robot and pose a threat to patient safety.

[0006] Therefore, there is a need to provide a medical device for a surgical robot, a surgical robot having the same, and a control system for the surgical robot to at least partially solve the above problems. Summary of the Invention

[0007] The summary section introduces a series of simplified concepts, which will be further explained in detail in the detailed description section. The summary section of this invention is not intended to limit the key features and essential technical features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0008] To at least partially address the aforementioned problems, a first aspect of the present invention discloses a medical device for a surgical robot, the surgical robot comprising a robotic arm, a transducer, and an energy generator, wherein the medical device is mounted to the robotic arm, the medical device is configured to connect to the transducer, and the transducer is electrically connected to the energy generator, wherein the medical device comprises:

[0009] Casing; and

[0010] An activation device is disposed within the housing and is configured to be triggered to generate a sensing signal. The activation device is configured to transmit the sensing signal to the energy generator so that the energy generator generates energy.

[0011] In this invention, the surgical robot's medical device includes an activation device. This activation device can transmit a sensing signal to an energy generator, thereby activating the energy generator by generating energy.

[0012] Optionally, the activation device is configured as a physical triggering device, comprising:

[0013] An induction signal generator, wherein the induction signal generator is disposed within the housing; and

[0014] An operating member is disposed in the housing and is configured not to protrude from the outer surface of the housing;

[0015] The operating component is further configured to trigger the sensing signal generator to generate the sensing signal when operated, and the sensing signal generator is used to transmit the sensing signal to the energy generator.

[0016] In this invention, when the medical device is installed on the surgical robot, the operating components are not exposed, which avoids the user accidentally touching the operating components and ensures the safety of the medical device during use.

[0017] Optionally, the housing is configured to be partially recessed inward to form an operating area, and the operating member is disposed in the operating area of ​​the housing.

[0018] Optionally, the operating component is located on the side of the housing facing the robotic arm.

[0019] In this invention, when the medical device is installed on the robotic arm, the back side of the housing faces the robotic arm, and the operating components are hidden on the back side of the housing to prevent accidental contact by the user.

[0020] Optionally, the operating member is movably disposed on the housing between a first position where the induction signal generator is not triggered and a second position where the induction signal generator is triggered.

[0021] Furthermore, the operating member includes an elastic connecting portion and a protrusion, and the operating member is connected to the housing through the elastic connecting portion;

[0022] When the operating member is operated, the elastic connecting part deforms and drives the protrusion to move from the first position to the second position.

[0023] Furthermore, the sensing signal generator is a push-button switch, the operating component is an operating button, and the operating button is embedded in the housing.

[0024] Optionally, the operating surface of the operation button is configured to be flush with the outer surface of the housing.

[0025] Alternatively, the operating surface of the operation button may be configured to be at least partially recessed into the housing.

[0026] In this invention, when medical devices are installed on the robotic arm, the operating buttons will not collide or interfere with other components of the surgical robot, thus ensuring safety.

[0027] Optionally, the activation device is configured to be electrically connected to the energy generator via a wired or wireless connection.

[0028] Optionally, the activation device is electrically connected to the transducer to transmit the sensing signal to the energy generator through the transducer.

[0029] Furthermore, a stylus connection device is also provided inside the housing, the stylus connection device including a stylus and a contact point;

[0030] One of the stylus and the contact is disposed within the housing and electrically connected to the activation device, and the other of the stylus and the contact is disposed to the transducer;

[0031] The housing is provided with a transducer interface, and when the transducer is installed in the transducer interface, the contact pin and the contact point are electrically connected.

[0032] Optionally, the medical device may also include an ultrasonic scalpel assembly or a vascular sealer.

[0033] A second aspect of the present invention discloses a surgical robot comprising a robotic arm, a transducer, an energy generator, and the aforementioned medical device, wherein the medical device is detachably mounted on the robotic arm, the transducer is electrically connected to the energy generator, the transducer is detachably connected to the medical device, and the energy generator is configured to receive the sensing signal and generate energy according to the sensing signal.

[0034] The surgical robot of this invention includes an energy generator, a transducer, a robotic arm, and the medical device described above. When the energy generator needs to be activated during use, the surgeon on the patient's side can directly activate it via the medical device to generate energy, eliminating the need for frequent switching of the connection between the energy generator and the remote control console, resulting in a smoother and more efficient operation. Furthermore, the elimination of frequent plugging and unplugging of the connectors and interfaces between the energy generator and the remote control console enhances the security of the connection, thereby extending the overall lifespan of the surgical robot.

[0035] A third aspect of the present invention discloses a control system for a surgical robot, comprising a medical device, an activation device, a transducer, and an energy generator, wherein the activation device may or may not be installed on the medical device, the activation device is configured to be triggered and generate a sensing signal, and after the activation device is operated, the main control unit of the energy generator performs the following steps:

[0036] Acquire sensor signals to determine whether the self-test operation of the medical device has been completed;

[0037] If the self-test has been completed, then the vibration frequency signal is triggered;

[0038] If the self-test is not completed, then the self-test will begin.

[0039] The surgical robot control system of the present invention includes an activation device, which generates a sensing signal by triggering the activation device to activate the energy generator. After acquiring the sensing signal, the main control unit first performs a self-test, which is of practical significance in ensuring that the medical device is put into use only after the self-test is completed.

[0040] Furthermore, the self-test operation steps of the main control unit of the energy generator include:

[0041] Obtain connectivity information between the medical device and the transducer;

[0042] and / or obtain the status information of the medical device;

[0043] And / or obtain pre-stored information about the medical device.

[0044] Furthermore, the status information of the medical device includes the physical status information of the device's actuator.

[0045] Furthermore, the pre-stored information of the medical device includes the identification information of the medical device and the number of times the medical device has been used.

[0046] Furthermore, the activation device is configured as a physical triggering device, a voice control device, or a gesture control device. Attached Figure Description

[0047] The following drawings, which illustrate embodiments of the present invention, are included as part of this invention for understanding its principles. The drawings depict embodiments of the invention and their descriptions, serving to explain the principles of the invention. In the drawings,

[0048] Figure 1 This is a schematic diagram of the structure of a surgical robot according to a preferred embodiment of the present invention;

[0049] Figure 2 This is a schematic diagram of the structure of a surgical robot according to another preferred embodiment of the present invention;

[0050] Figure 3 This is a partial structural view of a surgical robot according to a preferred embodiment of the present invention;

[0051] Figure 4 This is a structural view of a medical device according to a preferred embodiment of the present invention;

[0052] Figure 5 for Figure 4 A three-dimensional view of a traditional Chinese medical device;

[0053] Figure 6 This is a perspective view of the internal structure of a medical device according to a preferred embodiment of the present invention;

[0054] Figure 7 A partial structural view of a medical device according to another preferred embodiment of the present invention; and

[0055] Figure 8 This is a partial structural view of a medical device according to another preferred embodiment of the present invention.

[0056] Explanation of reference numerals in the attached figures:

[0057] 200: Surgical robot; 210: Transducer

[0058] 220: Energy Generator; 221: Main Control Unit

[0059] 230: Medical Devices; 240: Robotic Arm

[0060] 250: Remote Control Console; 310: Operation Component

[0061] 310a: Operating surface; 310b / 310b': Flexible connection part

[0062] 310c / 310c': Protrusion 320: Ribbon cable

[0063] 330: Stylus pin; 340: Housing

[0064] 340a: Operating area; 340b: Support section

[0065] 350: Transducer interface; 360: Switch socket

[0066] 370: Ultrasonic scalpel tip Detailed Implementation

[0067] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that embodiments of the invention may be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid confusion with embodiments of the invention.

[0068] To fully understand the present invention, a detailed description will be set forth in the following description. It should be understood that these embodiments are provided so that the disclosure of the present invention is thorough and complete, and that the concept of these exemplary embodiments is fully conveyed to those skilled in the art. Obviously, the implementation of embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of the present invention are described in detail below; however, in addition to these detailed descriptions, the present invention may have other embodiments.

[0069] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms “comprising” and / or “including” are used in this specification, they indicate the presence of features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or combinations thereof.

[0070] The ordinal numbers such as "first" and "second" used in this invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" does not imply the existence of "second component," and the term "second component" does not imply the existence of "first component."

[0071] It should be noted that the terms “up,” “down,” “front,” “back,” “left,” “right,” “inner,” “outer,” and similar expressions used in this article are for illustrative purposes only and are not intended to be limiting.

[0072] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings.

[0073] This invention provides a medical device for a surgical robot and a surgical robot having the same.

[0074] To facilitate a more accurate understanding of the technical solution of this invention, the surgical robot will first be described. For example... Figure 1 and Figure 2 As shown, in a specific embodiment, the surgical robot 200 includes a transducer 210, an energy generator 220, a medical device 230, and a robotic arm 240. The medical device 230 is mounted to the robotic arm 240, and controlling the orientation of the robotic arm 240 can cause a change in the orientation of the medical device 230. Figure 3 As shown, medical device 230 is located at the end of robotic arm 240.

[0075] Specifically, transducer 210 is electrically connected to energy generator 220 via a cable. Energy generator 220 includes a main control unit 221 and a generating device body (not shown). The main control unit 221 can control the generating device body to generate energy (e.g., electrical energy) and output it to transducer 210. The function of transducer 210 is to convert the received energy into mechanical energy and transmit the mechanical motion to medical device 230 connected to transducer 210. The main control unit 221 is communicatively connected to remote control console 250. The doctor located at remote control console 250 can input control commands to the main control unit 221, thereby allowing the doctor at remote control console 250 to control the state of medical device 230 by inputting different control commands to energy generator 210. The main control unit 221 is specifically connected to remote control console 250 via a cable, which ensures the speed and stability of signal transmission.

[0076] It is understood that during the use of the surgical robot 200 of this application, the robotic arm 240, medical device 230, energy generator 220 and transducer 210 are all placed next to the patient, while the remote control console 250 is placed at a position far away from the patient.

[0077] Based on this connection method between the main control unit 221 and the remote control console 250, such as Figures 3 to 5 As shown, in a preferred embodiment, the medical device 230 according to the present invention includes a housing 340 and an activation device, wherein the activation device is disposed within the housing 340.

[0078] In some embodiments, the activation device is implemented using a physical triggering device, see [link to relevant documentation]. Figure 2 The activation device specifically includes a sensing signal generator and an operating component 310.

[0079] The induction signal generator is disposed within the housing 340. The operating member 310 is disposed within the housing 340 and is configured not to protrude from the outer surface of the housing 340. Operating the operating member 310 triggers the induction signal generator to generate an induction signal. The induction signal generator transmits the induction signal to the energy generator 220, causing the energy generator 220 to generate energy.

[0080] According to a specific embodiment of this application, the operating component 310 of the medical device 230 enables the induction signal generator to send an induction signal to the energy generator 220, thereby activating the energy generator 220. Furthermore, by designing the operating component 310 in a concealed manner, accidental contact by the user is prevented, ensuring the safety of the medical device 230 during use. Those skilled in the art can flexibly select and configure the operating component based on the function of the induction signal generator.

[0081] Specifically, the induction signal generator is electrically connected to the main control unit 221. The main control unit 221 activates the energy generating device body 220 according to the induction signal, thereby controlling the generating device body to generate energy output to the transducer 210. For example, the energy generator 210 outputs current or voltage to the transducer 210 according to the induction signal.

[0082] See Figure 3 The operating component 310 is located on the side of the housing 340 closest to the robotic arm 240. This prevents the doctor (patient-side doctor) on the side closest to the medical device 230 from accidentally touching the operating component 310 during operation, ensuring the safety of the medical device 230 during use.

[0083] like Figure 4 and Figure 5 As shown, the housing 340 is partially recessed to form an operating area 340a, and the operating member 310 is disposed in the operating area 340a of the housing 340. When the surgical robot 200 is in operation, the recessed operating area 340a makes it difficult for the surgeon next to the patient to access the operating member 310.

[0084] like Figure 5 and Figure 6As shown in the embodiment of this application, the induction signal generator uses a push-button switch, and the operating component 310 is an operating button. The operating button is embedded in the housing 340, and the push-button switch is disposed in the switch base 360. In other words, the housing 340 has a through-hole structure for embedding the operating button, and the housing 340 has a space for accommodating the operating button. The push-button switch in the housing 340 can be triggered to generate an induction signal by pressing the operating button.

[0085] Specifically, the operation button has an operation surface 310a, which is configured to be at least partially recessed into the housing 340. For example... Figure 5 As shown, the operation button is located in the operation area 340a. The operation surface 310a (pressable surface) of the operation button is roughly constructed as a rounded rectangular surface. The edge of the operation surface 310a is roughly flush with the outer surface of the housing 340 of the operation area 340a, and the center of the operation surface 310a is recessed inward toward the housing 340.

[0086] like Figure 6 In the illustrated embodiment, the operating surface 310a of the operation button is generally circular, and the operation button has a recessed design: the operating surface 310a of the operation button is lower than the outer surface of the housing 340. Thus, when the medical device 230 is mounted on the robotic arm 240, the operation button 310 will not collide with or interfere with other components of the surgical robot 100, further ensuring safety.

[0087] Alternatively, in other embodiments of this application, the operating surface 310a of the operation button can be configured to be flush with the outer surface of the housing 340. The above-described designs for the operation buttons are all aimed at concealing them, further preventing doctors near the patient from accidentally touching them.

[0088] In a preferred embodiment of this application, the operating member 310 is movably disposed within the housing 340. Specifically, the operating member 310 can move between a first position where the induction signal generator is not triggered and a second position where the induction signal generator is triggered. See also Figure 7 and Figure 8 The operating member 310 also includes an elastic connecting portion and a protrusion, and the operating member 310 is connected to the housing 340 through the elastic connecting portion. When the operating member 310 is operated, the elastic connecting portion can deform, thereby causing the protrusion of the operating member 310 to move from a first position to a second position. It is understood that the elastic connecting portion is made of an elastic material.

[0089] exist Figure 7In the illustrated embodiment, the operating component 310 is an operating button, which is connected to the housing 340 via an elastic connecting portion 310b provided on the top or bottom side. Pressing the operating surface 310a of the operating button causes the elastic connecting portion 310b to deform, resulting in the operating button tilting slightly inwards towards the housing 340 relative to the connection point between the elastic connecting portion 310b and the housing 340. This causes the protrusion 310c to contact the button switch, triggering the button switch to generate a sensing signal. Releasing the operating surface 310a resets the operating button (i.e., it rotates outwards towards the housing 340 relative to the connection point between the elastic connecting portion 310b and the housing 340 until it returns to its original position).

[0090] according to Figure 8 In the illustrated embodiment, the operating component 310 is an operating button, which is fixed to the housing 340 via an elastic connecting portion 310b'. The elastic connecting portion 310b' includes two centrally symmetrically arranged L-shaped structures made of elastic material. When the operating surface 310a of the operating button is pressed from outside the housing 340, the elastic connecting portions 310b' of the two L-shaped structures located inside the housing 340 simultaneously deform, causing the protrusion 310c' to bias inward toward the housing 340 and contact the button switch, thereby triggering the button switch to generate a sensing signal. When the operating surface 310a is released, the operating button resets under the elastic force generated by the deformation of the elastic connecting portion 310b', and the protrusion 310c' no longer contacts the button switch. Compared to Figure 7 In the embodiment shown, two L-shaped structures are centrally symmetrically arranged as elastic connecting parts 310b', which makes the movement of the operation button more stable and reliable.

[0091] The housing 340 also contains a support portion 340b for supporting the operating member 310. See also... Figure 7 and Figure 8 The housing 340 protrudes inward to form a support 340b.

[0092] Optionally, the induction signal generator is configured to be electrically connected to the energy generator 220 via a wired or wireless connection. Return Figure 2 , Figure 2 The arrows indicate the signal transmission method. In one possible implementation, the induction signal generator in medical device 230 can directly transmit the induction signal to the main control unit 221 of energy generator 220. Figure 2 In addition, the induction signal generator can also be electrically connected to the transducer 210, and then the induction signal is transmitted to the main control unit 221 through the transducer 210.

[0093] In some other embodiments, the activation device may not use the operation button described above, but instead directly place the switch button on the housing and design it as a recessed structure to prevent accidental activation.

[0094] In the embodiments of this application, the induction signal generator is electrically connected to the transducer 210, and the transducer 210 is electrically connected to the energy generator 220 via a cable. Thus, the induction signal generator can transmit the induction signal to the energy generator 220 through the transducer 210.

[0095] Specifically, a contact pin connection device is also provided within the housing. This device includes a contact pin and a contact point. One of the contact pin and the contact point is located within the housing and is electrically connected to the induction signal generator. The other contact pin and the contact point are used to connect to the transducer. The housing is provided with a transducer interface for connecting the transducer. When the transducer is installed in the transducer interface, the contact pin and the contact point are electrically connected. In other words, when the contact point is located within the housing, the contact pin is located on the transducer. The contact pin connection device serves as a convenient electrical connector; those skilled in the art can flexibly configure the type of electrical connector according to actual needs.

[0096] Figure 6 In the illustrated embodiment, the push-button switch is electrically connected to the transducer 210 via a pin connector, which is disposed within the housing 340. The housing 340 of the medical device 230 is provided with a transducer interface 350 for connecting the transducer 210, and the pin 330 is disposed on a mounting base at the transducer interface 350 within the housing 340. The push-button switch is electrically connected to the pin 330 via a ribbon cable 320. Correspondingly, the contacts of the pin connector are disposed on the transducer 210. When the transducer 210 is mounted on the mounting base of the transducer interface 350, the pin 330 and the contacts are electrically connected, and the push-button switch is electrically connected to the transducer 210.

[0097] In this embodiment, the medical device 230 also includes an ultrasonic scalpel assembly, such as... Figure 4 As shown, the ultrasonic scalpel assembly includes an ultrasonic scalpel head 370 at its lower end. The ultrasonic scalpel assembly is connected to a transducer 210. The transducer 210 converts the energy output from the energy generator 220 into mechanical vibration and transmits it to the ultrasonic scalpel head 370, causing the ultrasonic scalpel head 370 to vibrate. The heat energy generated by the high-frequency vibration of the ultrasonic scalpel head 370 completes the corresponding treatment. A doctor located at the remote control console 250 can control and adjust the vibration frequency of the ultrasonic scalpel by inputting different control commands to the main control unit 221.

[0098] It is understood that the medical device 230 of the present invention may also include other medical devices that require energy generation, such as vascular sealers.

[0099] Optionally, the medical device 230 is detachably mounted on the robotic arm 240, and the transducer 210 is detachably connected to the medical device 230. This facilitates equipment updates and maintenance in the surgical robot 200.

[0100] Back Figure 1 In other embodiments of this application, the activation device may not be installed on the medical device. For example, it may be integrated or externally connected to the energy generator 220 using other voice control devices, gesture control devices, or physical triggering devices, and additional protection mechanisms may be used to prevent it from being randomly triggered.

[0101] It is understood that the activation of the energy generator refers to its started state, which is known to those skilled in the art. For example, the energy generator needs to be activated after disconnection and reconnection between the transducer and the medical device, or when cleaning the medical device is required, to achieve activation self-testing or activation cleaning of the medical device. Compared to existing surgical robots, in the surgical robot of this invention, when the energy generator needs to be activated, the attending physician can directly activate the energy generator through the operating components and sensing signal generator set on the medical device to generate energy and perform the corresponding target operation.

[0102] The present invention also provides a control system for a surgical robot, including a medical device, an activation device, a transducer 210, and an energy generator 220. The activation device can be triggered and generate a sensing signal. According to a specific embodiment of the present invention, after receiving the sensing signal, the main control unit 221 of the energy generator 220 performs the following operation steps:

[0103] Acquire sensor signals to determine whether the self-test operation of the medical device has been completed;

[0104] If the self-test has been completed, then the vibration frequency signal is triggered;

[0105] If the self-test is not completed, then the self-test will begin.

[0106] The self-test of the main control unit of the energy generator includes acquiring connectivity information between the medical device and the transducer and / or acquiring the device status information of the medical device and / or acquiring the device pre-stored information of the medical device.

[0107] In one embodiment, the self-test further includes:

[0108] If the obtained status information of the medical device indicates that the device actuator is closed, then the vibration frequency signal will not be triggered.

[0109] If the obtained status information of the medical device indicates that the device actuator is open, then a vibration frequency signal is triggered to start the medical device function test;

[0110] If the medical device function test is successful, the device is usable; otherwise, the device is unusable.

[0111] The pre-stored information of the medical device includes the medical device's identity information and the number of times the medical device has been used.

[0112] The main control unit controls the generator body to generate energy based on the vibration frequency signal and outputs it to the transducer, so that the transducer can vibrate at a certain vibration frequency.

[0113] Furthermore, during the operation of the surgical robot 200, if it is necessary to clean the medical device 230, the energy generator 220 can be activated through the above-mentioned operating steps to output energy to the transducer 210, causing the medical device 230 to vibrate. Specifically, when cleaning the ultrasonic scalpel head 370 during surgery, the doctor next to the patient presses the operation button and activates the energy generator 220, which outputs energy to the transducer 210. For example, the energy generator 210 outputs electrical energy (current or voltage) to the transducer 210 based on the induction signal. The transducer 210 converts the electrical energy into mechanical energy and drives the ultrasonic scalpel head 370 to vibrate. The doctor next to the patient then places the ultrasonic scalpel in the cleaning device for vibration cleaning.

[0114] The above-mentioned operation of activating the energy generator 220 does not require disconnecting the connection between the energy generator 220 and the remote control console 250, making the operation process smoother and more reasonable.

[0115] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used herein is for descriptive purposes only and is not intended to limit the invention. Terms such as “set” appearing herein can refer to either a component being directly attached to another component or a component being attached to another component via an intermediary. A feature described in one embodiment herein may be applied, alone or in combination with other features, to another embodiment, unless that feature is not applicable in that other embodiment or is otherwise stated.

[0116] The present invention has been described through the above embodiments; however, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the present invention to the described embodiments. Those skilled in the art will understand that many variations and modifications can be made based on the teachings of the present invention, and all such variations and modifications fall within the scope of protection claimed by the present invention.

Claims

1. A surgical robot, comprising a robotic arm, a transducer, an energy generator, a remote control console, and a medical device, wherein the remote control console is communicatively connected to the energy generator and is used to control the state of the medical device by inputting different control commands to the energy generator; the medical device is mounted to the robotic arm and is used to connect to the transducer, the transducer being electrically connected to the energy generator, characterized in that, The medical device includes: Casing; and An activation device is disposed within the housing. The activation device is configured to be triggered and generate a sensing signal, and while the energy generator remains connected to the remote control console, transmit the sensing signal to the energy generator. The sensing signal is configured to cause the main control unit of the energy generator to initiate a self-test based on the sensing signal. The self-test includes triggering a vibration frequency signal based on the sensing signal. The energy generator generates energy based on the vibration frequency signal and outputs it to the transducer, causing the transducer to vibrate for medical device function testing. The self-test also includes: If the obtained status information of the medical device indicates that the device actuator is closed, then the vibration frequency signal will not be triggered. If the obtained status information of the medical device indicates that the device actuator is open, then a vibration frequency signal is triggered to start the medical device function test; If the medical device function test is successful, the device is usable; otherwise, the device is unusable.

2. The surgical robot according to claim 1, characterized in that, The activation device is constructed as a physical triggering device, including: An induction signal generator, wherein the induction signal generator is disposed within the housing; and An operating member is disposed in the housing and is configured not to protrude from the outer surface of the housing; The operating component is configured to trigger the sensing signal generator to generate the sensing signal when operated, and the sensing signal generator is used to transmit the sensing signal to the energy generator.

3. The surgical robot according to claim 2, characterized in that, The housing is partially recessed to form an operating area, and the operating member is disposed in the operating area of ​​the housing.

4. The surgical robot according to claim 2, characterized in that, The operating component is located on the side of the housing facing the robotic arm.

5. The surgical robot according to claim 2, characterized in that, The operating member is movably disposed on the housing between a first position where the induction signal generator is not triggered and a second position where the induction signal generator is triggered.

6. The surgical robot according to claim 5, characterized in that, The operating component includes an elastic connecting portion and a protrusion, and the operating component is connected to the housing through the elastic connecting portion; When the operating member is operated, the elastic connecting part deforms and drives the protrusion to move from the first position to the second position.

7. The surgical robot according to claim 6, characterized in that, The induction signal generator is a push-button switch, and the operating component is an operating button, which is embedded in the housing.

8. The surgical robot according to claim 7, characterized in that, The operating surface of the operation button is designed to be flush with the outer surface of the housing.

9. The surgical robot according to claim 7, characterized in that, The operating surface of the operation button is configured to be at least partially recessed into the housing.

10. The surgical robot according to claim 1, characterized in that, The activation device is configured to be electrically connected to the energy generator via a wired or wireless connection.

11. The surgical robot according to claim 1, characterized in that, The activation device is connected to the transducer to transmit the sensing signal to the energy generator through the transducer.

12. The surgical robot according to claim 11, characterized in that, The housing is also provided with a stylus connection device, which includes a stylus and a contact point; One of the stylus and the contact is disposed within the housing and electrically connected to the activation device, and the other of the stylus and the contact is disposed to the transducer; The housing is provided with a transducer interface, and when the transducer is installed in the transducer interface, the contact pin and the contact point are electrically connected.

13. The surgical robot according to any one of claims 1 to 12, characterized in that, The medical device also includes an ultrasonic scalpel assembly or a vascular sealer.

14. A control system for a surgical robot, characterized in that, Including the surgical robot as described in any one of claims 1-13, wherein the activation device is installed in the medical device, the activation device is configured to be triggered and generate a sensing signal, and after the activation device is operated, the main control unit of the energy generator performs the following steps: Acquire sensor signals to determine whether the self-test operation of the medical device has been completed; If the self-test has been completed, then the vibration frequency signal is triggered; If the self-test is not completed, the self-test begins. The self-test includes generating a trigger vibration frequency signal based on the sensing signal. The main control unit controls the generator body to generate energy according to the vibration frequency signal and outputs it to the transducer, so that the transducer vibrates to perform medical device function testing.

15. The control system of the surgical robot according to claim 14, characterized in that, The self-test performed by the main control unit of the energy generator includes: Obtain connectivity information between the medical device and the transducer; and / or obtain the status information of the medical device; And / or obtain pre-stored information about the medical device.

16. The control system of the surgical robot according to claim 15, characterized in that, The status information of the medical device includes the physical status information of the device's actuator.

17. The control system of the surgical robot according to claim 15, characterized in that, The pre-stored information of the medical device includes the medical device's identity information and the number of times the medical device has been used.

18. The control system of the surgical robot according to any one of claims 14 to 17, characterized in that, The activation device is configured as a physical triggering device, a voice control device, or a gesture control device.

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