A surgical robotic automatic stapling system

Abstract

The application provides a surgical robot automatic stapling system, which comprises a base, a control unit and a mechanical arm both installed on the base, an arm driving source for driving the movement of the mechanical arm, an end effector installed at the distal end of the mechanical arm, and a stapler installed at the distal end of the end effector, the arm driving source is in communication connection with the control unit, the distal end of the stapler is provided with a screw connection part, the screw connection part is used for detachable connection with an implant screw; the distal end of the mechanical arm is provided with a rotatable wrist joint, the arm driving source comprises a rotation driving source in transmission connection with the wrist joint, and the end effector is fixed with the wrist joint. In the application, the control unit can control the movement track of the mechanical arm through the control of the arm driving source, the mechanical arm drives the end effector, the stapler and the implant screw to move together, the implant screw connected at the distal end of the stapler can be automatically and accurately implanted into the patient's body, automatic stapling is realized, and the implant efficiency of the implant screw is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of medical devices, and in particular to an automated screw-attaching system for surgical robots. Background Technology

[0002] Currently, surgical robots are commonly used when implanting screws into patients. However, existing surgical robots can only provide auxiliary navigation functions; the screw path direction can be guided by a guide, but the screw insertion process still requires manual operation by the surgeon, and the screw insertion depth still needs to be manually controlled by the surgeon. Therefore, existing surgical robots cannot achieve automated and precise screw insertion. Summary of the Invention

[0003] In view of the shortcomings of the prior art described above, the technical problem to be solved by the present invention is to provide an automatic screw insertion system for surgical robots that can automatically and accurately complete screw implantation.

[0004] To achieve the above objectives, the present invention provides an automated screw-insertion system for a surgical robot, comprising a base, a control unit and a robotic arm both mounted on the base, an arm drive source for driving the robotic arm, an end effector mounted at the distal end of the robotic arm, and a screw-insertion device mounted at the distal end of the end effector. The arm drive source is communicatively connected to the control unit. The distal end of the screw-insertion device has a screw connection portion for detachably connecting with an internal implant screw. The distal end of the robotic arm has a rotatable wrist joint. The arm drive source includes a rotation drive source that is pulsatingly connected to the wrist joint. The proximal end of the end effector is fixed to the distal end of the wrist joint.

[0005] The preferred embodiment of the above technical solution is: a force sensor is installed on the wrist joint, and the force sensor is communicatively connected to the control unit.

[0006] The preferred embodiment of the above technical solution is as follows: the end effector includes a proximal connector, an extension connector, a connecting connector and a quick-change handle that are fixedly connected in sequence along the direction from the proximal end to the distal end. The proximal connector is fixedly connected to the wrist joint, and the distal end of the quick-change handle is detachably connected to the proximal end of the stapler.

[0007] The preferred embodiment of the above technical solution is that positioning components are provided between the proximal connector and the expansion connector, between the expansion connector and the connecting connector, and between the connecting connector and the quick-change handle.

[0008] The preferred embodiment of the above technical solution is that the proximal connector and the expansion connector, the expansion connector and the connecting connector, and the connecting connector and the quick-change handle are all fixedly connected by several screws.

[0009] The preferred embodiment of the above technical solution is as follows: the distal end of the quick-change handle is provided with an inner sleeve and a disassembly / removal button connected to the inner sleeve, the inner sleeve is provided with a connection hole, and the proximal end of the nailer is detachably inserted into the connection hole.

[0010] The preferred embodiment of the above technical solution is as follows: the surgical robot automatic screw-insertion system further includes a vision system installed at the distal end of the robotic arm and a display installed on the base. The vision system is used to acquire images of the end effector, the screw-insertion device, and the internal implant screws. Both the vision system and the display are communicatively connected to the control unit.

[0011] The preferred embodiment of the above technical solution is as follows: the automatic nail-attaching system of the surgical robot further includes a positioning device installed on the base, and the positioning device is communicatively connected to the control unit.

[0012] The preferred embodiment of the above technical solution is as follows: the screwdriver includes a screwdriver rod and a sleeve that is movable and rotatably fitted around the outer periphery of the screwdriver rod. The proximal end of the screwdriver rod is connected to the distal end of the end effector, and the sleeve is detachably connected to the inner plant screw through the screw connection part.

[0013] The preferred embodiment of the above technical solution is that a rotary knob is fixedly provided at the proximal end of the sleeve.

[0014] As described above, the automated screw-loading system for surgical robots of the present invention has the following beneficial effects:

[0015] In this application, the control unit can control the movement trajectory of the robotic arm by controlling the arm drive source. The robotic arm drives the end effector, the screw inserter, and the implant screw to move together, thereby accurately controlling the direction of the screw path and automatically and accurately implanting the implant screw connected to the distal end of the screw inserter into the patient's body, realizing automatic screw insertion and thus effectively improving the implantation efficiency of the implant screw. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the automatic screw-attaching system for the surgical robot in this application.

[0017] Figure 2 This is a schematic diagram showing the connection between the remote end of the robotic arm, the end effector, and the nailer in this application.

[0018] Figure 3 This is a schematic diagram of the end effector in this application.

[0019] Figures 4 to 6 This is a schematic diagram illustrating the connections between the proximal connector, the expansion connector, and the connecting connector in this application; wherein, Figure 4 and Figure 5 All are exploded images. Figure 6 This is a sectional view.

[0020] Figure 7 This is a schematic diagram of the quick-change handle in this application.

[0021] Figure 8 This is a schematic diagram of the structure of the nailer in this application.

[0022] Figure 9 for Figure 8 Enlarged view of circle A.

[0023] Figure 10 This is a schematic diagram of the internal planter screw in this application.

[0024] Figure 11 This is a schematic diagram of the connection between the upper nailer and the inner plant screw in this application. The diagram is a cross-sectional view.

[0025] Figure 12 This is a schematic diagram of the automatic screw-loading system of the surgical robot in this application.

[0026] Component designation explanation

[0027] 10-frame

[0028] 11 moving wheels

[0029] 20 control units

[0030] 30 robotic arms

[0031] 31 wrist joint

[0032] 32 force sensors

[0033] 40 end effector

[0034] 41 Proximal connector

[0035] 411 First Shaft

[0036] 412 First hub section

[0037] 42 expansion connector

[0038] 421 Second Shaft

[0039] 422 Second hub

[0040] 43 Connector

[0041] 431 Third Shaft

[0042] 432 Third Axle Hub

[0043] 433 circular inner hole

[0044] 44 Quick-change Controller

[0045] 441 connecting pipe

[0046] 442 Ratchet Assembly

[0047] 443 Disassembly / Removal Button

[0048] 444 inner sleeve

[0049] 445 Rotary Sleeve

[0050] 446 connection hole

[0051] 45 First positioning pin

[0052] 46 Second positioning pin

[0053] 47 Third positioning pin

[0054] 50 nailer

[0055] 51 screwdriver bar

[0056] 511 Insertion Section

[0057] 512 Limiting Boss

[0058] 52 casings

[0059] 521 External Thread Section

[0060] 522 Rotary Knob

[0061] 53 blocks

[0062] 54 fixed pin

[0063] 60 internal plant screws

[0064] 61 nail rod

[0065] 62 pins

[0066] 621 card slot

[0067] 622 internal thread section

[0068] 70 monitors

[0069] 80 positioning device Detailed Implementation

[0070] The following specific embodiments illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0071] It should be understood that the structures, proportions, sizes, etc., depicted in the accompanying drawings of this specification are merely for illustrative purposes to aid those skilled in the art in understanding and reading the content disclosed herein, and are not intended to limit the conditions under which the invention can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to the size, without affecting the effects and objectives achieved by the invention, should still fall within the scope of the technical content disclosed herein. Furthermore, the terms such as "upper," "lower," "left," "right," and "middle" used in this specification are merely for clarity and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of the invention's implementation.

[0072] This application relates to the field of medical devices, and in particular to an automated screw-attaching system for a surgical robot. In the following embodiments, "proximal end" refers to the end closer to the surgeon, and "distal end" refers to the end farther from the surgeon; the surgeon is the operator. Figure 12 In the view shown, the upper side of the paper is the proximal end, and the lower side of the paper is the distal end.

[0073] like Figure 1 , Figure 2 and Figure 12 As shown, the automated screw-insertion system for surgical robots involved in this application includes a base 10, a control unit 20 and a robotic arm 30, all mounted on the base 10, an arm drive source for driving the movement of the robotic arm 30, an end effector 40 mounted at the distal end of the robotic arm 30, and a screw-insertion device 50 mounted at the distal end of the end effector 40. The arm drive source is communicatively connected to the control unit 20. The distal end of the screw-insertion device 50 has a screw connection portion for detachably connecting with an internal implant screw 60. The proximal end of the robotic arm 30 is a base, which is fixed to the base 10, thereby mounting the robotic arm 30 as a whole on the base 10. The distal end of the robotic arm 30 has a rotatable wrist joint 31. The arm drive source includes a rotation drive source that is pulsatically connected to the wrist joint 31, and the rotation drive source drives the wrist joint 31 to rotate around its central axis. The proximal end of the end effector 40 is fixed to the distal end of the wrist joint 31. The wrist joint 31, the end effector 40, the screw-insertion device 50, and the internal implant screw 60 are coaxial.

[0074] When the above-mentioned surgical robot's automatic screw-attaching system is working, such as Figure 12As shown, based on the specifications and type of the implant screw 60 planned by the surgeon, a suitable implant screw 60 is selected and connected to the distal end of the stapler 50. At this time, the implant screw 60 engages with the screw connection part at the distal end of the stapler 50. The robotic arm 30, end effector 40, stapler 50, and implant screw 60 are connected sequentially from proximal to distal. According to the staple path and depth preset by the surgeon, the control unit 20 controls the output of the arm drive source, thereby controlling the movement trajectory of the robotic arm 30. The robotic arm 30 drives the end effector 40, stapler 50, and implant screw 60 to move together, thus controlling the movement trajectory of the end effector 40, stapler 50, and implant screw 60. This allows for precise control of the staple path direction, automatically and accurately implanting the implant screw 60 into the patient's body at the preset position. The control unit 20 controls the rotation drive source to rotate the wrist joint 31. The wrist joint 31 then rotates the end effector 40, the screw inserter 50, and the implant screw 60 together, achieving automatic screw insertion of the implant screw 60. After the implant screw 60 is implanted, the screw connection between the implant screw 60 and the distal end of the screw inserter 50 is unlocked. The control unit 20 then controls the output of the arm drive source again, causing the robotic arm 30 to drive the end effector 40 and the screw inserter 50 out of the working area. This completes the implantation of the implant screw 60. Therefore, the automatic screw insertion system of the surgical robot involved in this application achieves automatic screw insertion without requiring manual operation by the surgeon. Furthermore, by controlling the output of the arm drive source, it automatically controls the implantation depth of the implant screw 60 in the patient's body, thereby effectively improving the implantation efficiency of the implant screw 60.

[0075] Furthermore, such as Figure 1 As shown, the automated screw-insertion system of the surgical robot also includes a vision system mounted at the distal end of the robotic arm 30, and a display 70 and a positioning device 80, all mounted on the base 10. The vision system is used to acquire images of the end effector 40, the screw-inserting device 50, and the implant screw 60. The vision system, display 70, and positioning device 80 are all communicatively connected to the control unit 20. During the implantation of the implant screw 60, the control unit 20 displays the images of the end effector 40, the screw-inserting device 50, and the implant screw 60 acquired by the vision system on the display 70 in real time, realizing real-time visualization of the positions of the end effector 40, the screw-inserting device 50, and the implant screw 60. This facilitates the surgeon's operation, ensures the accuracy and safety of the screw implantation process, and improves the implantation efficiency of the implant screw 60. The positioning device 80 is used to locate the positions of the base of the robotic arm 30, the end effector 40, the screw-inserting device 50, and the implant screw 60.

[0076] Preferably, the control unit 20 can be a computer and its auxiliary systems to control the movement of the robotic arm 30 and perform preoperative and intraoperative image registration. The positioning device 80 can be an optical device or an electromagnetic device to achieve position positioning. Figure 1 As shown, the base 10 is equipped with casters 11 for easy movement of the entire surgical robot's automatic screw-attaching system. Additionally, the distal end of the robotic arm 30 can be equipped with one wrist joint 31, which corresponds to one end effector 40; or, the distal end of the robotic arm 30 can be equipped with multiple wrist joints 31, which correspond to multiple end effectors 40, with each wrist joint 31 connected to one end effector 40. The actual number of wrist joints 31 and end effectors 40 is determined based on the integration, installation, and disassembly of various instruments.

[0077] The preferred structures of the robotic arm 30, end effector 40, stapler 50, and internal plant screw 60 are described below.

[0078] robotic arm 30

[0079] like Figure 2 As shown, in the robotic arm 30, a rotation drive source drives the wrist joint 31 to rotate around its central axis. This means the wrist joint 31 rotates around the central axis of the end effector 40, the screw inserter 50, and the implant screw 60, thereby causing the implant screw 60 to rotate as well, providing torsional force for the implantation process. In this embodiment, the distal end of the end effector 40 is connected to the screw inserter 50 for the screw insertion operation. Of course, in other embodiments, the distal end of the end effector 40 can be connected to various other surgical instruments.

[0080] Preferably, such as Figure 2 As shown, a force sensor 32 is installed on the wrist joint 31, and the force sensor 32 is communicatively connected to the control unit 20. The force sensor 32 provides real-time feedback on the force applied to the end effector 40, including force and torque information. The control unit 20 determines whether the screw insertion process is successful based on the force feedback from the force sensor 32. For example, if the internal implant screw 60 slips or bone tissue fractures, the real-time torque fed back by the force sensor 32 will suddenly decrease. At this time, the control unit 20 controls the arm drive source to stop moving, and then stops the movement of the robotic arm 30 at the first moment of screw insertion failure based on the torque change, preventing dangerous situations from occurring and ensuring the safety of the screw insertion process.

[0081] End effector 40

[0082] like Figure 3As shown, the end effector 40 includes a proximal connector 41, an expansion connector 42, a connecting connector 43, and a quick-change handle 44, which are sequentially and fixedly connected from the proximal end to the distal end. The proximal connector 41 is fixedly connected to the wrist joint 31 by several screws, and the distal end of the quick-change handle 44 is detachably connected to the proximal end of the stapler 50. Preferably, the proximal connector 41 and the expansion connector 42 are detachably connected by several screws, the expansion connector 42 and the connecting connector 43 are also detachably connected by several screws, and the connecting connector 43 and the quick-change handle 44 are also detachably connected by several screws. In daily use, the proximal connector 41 is not disassembled from the wrist joint 31 and the two are always fixed, the proximal connector 41 and the expansion connector 42 are not disassembled and the two are always fixed, and the connecting connector 43 and the quick-change handle 44 are also not disassembled and the two are always fixed. When disinfecting the quick-change handle 44 before surgery, only the connecting screws between the expansion connector 42 and the connecting connector 43 need to be removed. Thus, the expansion joint 42 and the connecting joint 43 can be made of wear-resistant or corrosion-resistant materials to improve their durability, while the proximal joint 41 can be made of conventional lightweight materials. This achieves the durability of the end effector 40 at low cost. Furthermore, even if long-term use causes wear on the parts, only the worn parts need to be replaced, rather than replacing the entire end effector 40, thereby reducing costs.

[0083] Furthermore, such as Figure 6 As shown, positioning components are provided between the proximal connector 41 and the expansion connector 42, between the expansion connector 42 and the connecting connector 43, and between the connecting connector 43 and the quick-change handle 44. These positioning components are hub-and-shaft mating structures, ensuring the coaxiality between the proximal connector 41, the expansion connector 42, and the connecting connector 43, thereby ensuring the stability of the end effector 40 and its connection with surgical instruments such as the stapler 50. Specifically, 1. Proximal connector 41 and wrist joint 31: as shown... Figure 3 and Figure 4 As shown, the proximal connector 41 includes a first shaft portion 411 and a first hub portion 412 located proximal to the first shaft portion 411. The first hub portion 412 is positioned with the distal end face of the wrist joint 31 by a first locating pin 45 and is fixed by a plurality of screws. II. Extension connector 42 and proximal connector 41: as shown Figures 4 to 6 As shown, the expansion joint 42 includes a second shaft portion 421 extending into the first shaft portion 411, and a second hub portion 422 located at the distal end of the second shaft portion 421. The first shaft portion 411 and the second shaft portion 421 are tightly fitted together. The second hub portion 422 is positioned against the distal end face of the first shaft portion 411 by a second locating pin 46 and is fixed by a plurality of screws. III. Connecting joint 43 and expansion joint 42: as shown Figures 4 to 6As shown, the connecting joint 43 includes a third shaft portion 431 and a third shaft hub portion 432 disposed on the outer periphery of the third shaft portion 431. The proximal end of the third shaft portion 431 extends into the second shaft hub portion 422, and the two are tightly fitted together. The third shaft hub portion 432 is positioned with the distal end face of the second shaft hub portion 422 by a third locating pin 47 and is fixed by a plurality of screws. IV. Quick-change handle 44 and connecting joint 43: as shown Figure 6 and Figure 7 As shown, the third shaft portion 431 of the connecting joint 43 has an axially penetrating circular inner hole 433. The proximal end of the quick-change handle 44 is a circular connecting tube 441, which extends into the circular inner hole 433 of the third shaft portion 431, and the two are tightly fitted together. Furthermore, the connecting tube 441 and the third shaft portion 431 are also fixed by radially screwed screws or pins, or the connecting tube 441 and the third shaft portion 431 are also welded together.

[0084] Furthermore, such as Figure 7 As shown, the quick-change handle 44 includes, in addition to the connecting tube 441, a ratchet assembly 442, a release button 443, an inner sleeve 444, and a rotating sleeve 445. The rotating sleeve 445 is used to connect a sterile bag or a sterile bag holder. The rotating sleeve 445 is rotatably fitted around the outer circumference of the connecting tube 441, thereby preventing the sterile bag from twisting and breaking when the wrist joint 31 of the robotic arm 30 drives the end effector 40 to rotate. The ratchet assembly 442 acts on the connecting tube 441. When the wrist joint 31 of the robotic arm 30 drives the connecting tube 441 to rotate to its extreme value in one direction via the proximal connector 41, the extension connector 42, and the connecting connector 43, the ratchet assembly 442 comes into play, restricting the rotation of the connecting tube 441, thus limiting its rotation to its extreme value. Afterward, the wrist joint 31 of the robotic arm 30 drives the connecting tube 441 to rotate freely, and then the wrist joint 31 continues to rotate, applying the mounting torque. Of course, in other embodiments, when the extreme value of the wrist joint 31 is not limited, the wrist joint 31 can rotate continuously, in which case the ratchet assembly 442 may not be provided. A connection hole 446 is provided in the inner sleeve 444, and a disassembly / removal button 443 is connected to the inner sleeve 444; when the disassembly / removal button 443 is pushed proximally, the stapler 50 can be installed in the connection hole 446 of the inner sleeve 444, or the stapler 50 can be removed from the connection hole 446. The connection hole 446 of the inner sleeve 444 can be set as a standard interface, allowing for quick replacement of surgical instruments during surgery without disassembling the quick-change handle 44.

[0085] 50 nailer and 60 internal plant screw

[0086] like Figure 8 , Figure 9 and Figure 11As shown, the screwdriver 50 includes a screwdriver bar 51 and a sleeve 52 movably and rotatably fitted around the outer periphery of the screwdriver bar 51. The screwdriver bar 51 extends axially from its proximal end to its distal end. The proximal end of the screwdriver bar 51 is inserted into the connecting hole 446 of the inner sleeve 444, thereby connecting the proximal end of the screwdriver bar 51 to the distal end of the end effector 40. A stop 53 located outside the sleeve 52 is fixed to the distal end of the screwdriver bar 51, and the screw connection part is an externally threaded section 521 located at the distal end of the sleeve 52. Figure 10 As shown, the internal insert screw 60 includes a screw shank 61 and a screw seat 62 integrally fixed to the proximal end of the screw shank 61. The screw seat 62 has a slot 621 that engages with the stop block 53, and the inner wall of the screw seat 62 has an internal thread section 622 that is threaded to the external thread section 521. Preferably, a rotary knob 522 is fixed to the proximal end of the sleeve 52 to facilitate manual rotation of the sleeve 52.

[0087] When installing the internal implant screw 60 onto the nailer 50, the screw seat 62 of the internal implant screw 60 is placed on the far end of the screwdriver rod 51, and the stop block 53 is engaged in the slot 621. Then, by rotating the knob 522, the sleeve 52 is rotated and screwed into the screw seat 62 of the internal implant screw 60 until the stop block 53 is pressed against the bottom of the screw seat 62 or the head of the screw rod 61. The cooperation between the stop block 53 and the slot 621 can prevent misalignment and ensure coaxiality. The internal implant screw 60 is engaged with the far end of the nailer 50 through the threaded engagement between the external thread section 521 at the far end of the sleeve 52 and the internal thread section 622 of the screw seat 62, thus completing the installation of the internal implant screw 60. Then, the wrist joint 31 of the robotic arm 30 can drive the internal implant screw 60 to rotate through the end effector 40 and the nailer 50 for automatic nailing. After the nailing is completed, rotate the sleeve 52 in the opposite direction by rotating the knob 522 to unscrew the sleeve 52 out of the nail seat 62 of the inner plant screw 60, thereby unlocking the inner plant screw 60 from the distal end of the nailer 50. Then the wrist joint 31 of the robotic arm 30 can drive the nailer 50 to exit through the end effector 40.

[0088] Preferably, such as Figure 9 and Figure 11 As shown, the distal end of the screwdriver handle 51 has an insertion portion 511 extending outward from the sleeve 52. The nail holder 62 has a positioning hole for inserting the insertion portion 511. A stop block 53 is fixed to the insertion portion 511 by a fixing pin 54. The stop block 53 abuts against the distal end of the sleeve 52. A limiting boss 512 is provided on the outer circumferential surface of the screwdriver handle 51. The limiting boss 512 is located outside the sleeve 52 and abuts against the proximal end of the sleeve 52. The sleeve 52 is limited by the stop block 53 and the limiting boss 512. The proximal end of the screwdriver handle 51 extending from the sleeve 52 has a certain length for insertion into the connection hole 446 of the end effector 40, ensuring a stable connection.

[0089] The working principle of the surgical robot automatic screw-loading system with the above structure is as follows: Figure 12 As shown, according to the specifications and type of implant screws 60 planned by the surgeon, a suitable implant screw 60 is selected; the screw seat 62 of the implant screw 60 is fitted onto the insertion part 511 of the screwdriver 51, and then the external thread section 521 of the sleeve 52 is screwed into the screw seat 62, completing the installation of the implant screw 60 at the distal end of the screwdriver 50; the screwdriver 51 is inserted into the connection hole 446 of the end effector 40; according to the screw path and depth preset by the surgeon, the control unit 20 controls the movement trajectory of the robotic arm 30 to automatically and accurately implant the implant screw 60 into the patient's body at the preset position; the implant screw is confirmed on the monitor 70. After positioning the device at position 60, the control unit 20 controls the wrist joint 31 to rotate. The wrist joint 31 drives the end effector 40, the screw inserter 50, and the implant screw 60 to rotate together, automatically inserting the implant screw 60 into the bone tissue. Optionally, the surgeon can operate the robotic arm 30 through the control unit 20 to apply a certain pull-back force along the axial direction of the implant screw 60 to help the surgeon determine whether the implant screw 60 has sufficient pull-out resistance. This step is of important clinical significance for determining the stability of the internal fixation system. Finally, the cannula 52 is unscrewed from the screw seat 62 of the implant screw 60, and the robotic arm 30 drives the screw inserter 50 out of the working area.

[0090] In summary, this invention effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0091] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in the present invention should still be covered by the claims of the present invention.

Claims

1. A surgical robotic automatic stapling system, characterized by: The device comprises a base (10), a control unit (20) and a mechanical arm (30) both installed on the base (10), an arm driving source driving the movement of the mechanical arm (30), a terminal actuator (40) installed at the distal end of the mechanical arm (30), and a nail driver (50) installed at the distal end of the terminal actuator (40), wherein the arm driving source is in communication connection with the control unit (20), the distal end of the nail driver (50) is provided with a screw connection part for detachable connection with an implant screw (60), the distal end of the mechanical arm (30) is provided with a rotatable wrist joint (31), and the arm driving source comprises a rotation driving source in transmission connection with the wrist joint (31), and the proximal end of the terminal actuator (40) is fixed with the distal end of the wrist joint (31). The terminal actuator (40) comprises a proximal joint (41), an expansion joint (42), a connecting joint (43) and a quick-change handle (44) fixed and connected in sequence in the direction from the proximal end to the distal end, the proximal joint (41) is fixed and connected with the wrist joint (31), the quick-change handle (44) comprises a connecting pipe (441), a ratchet assembly (442), a dismounting button (443) and an inner sleeve (444) fixed and connected in sequence in the direction from the proximal end to the distal end, the connecting pipe (441) is fixed with the connecting joint (43), and the inner sleeve (444) is provided with a connecting hole (446) serving as a standard interface, and the proximal end of the nail driver (50) is detachably inserted into the connecting hole (446). When the wrist joint (31) of the mechanical arm (30) drives the connecting pipe (441) to rotate to an extreme value in one direction through the proximal joint (41), the expansion joint (42) and the connecting joint (43), the ratchet assembly (442) functions to limit the rotation of the connecting pipe (441) so that the connecting pipe (441) can only rotate to the extreme value, then the wrist joint (31) of the mechanical arm (30) drives the connecting pipe (441) to freely rotate, and then the wrist joint (31) continues to rotate and applies a nail driving torque.

2. The surgical robotic automatic stapling system of claim 1, wherein: A force sensor (32) is installed on the wrist joint (31), and the force sensor (32) is in communication connection with the control unit (20).

3. The surgical robotic automatic stapling system of claim 1, wherein: Positioning assemblies are arranged between the proximal joint (41) and the expansion joint (42), between the expansion joint (42) and the connecting joint (43), and between the connecting joint (43) and the quick-change handle (44).

4. The surgical robotic automatic stapling system of claim 1, wherein: The proximal joint (41), the expansion joint (42), the connecting joint (43) and the quick-change handle (44) are fixed and connected by a plurality of screws.

5. The surgical robotic automatic stapling system of claim 1, wherein: A vision system installed at the distal end of the mechanical arm (30) and a display (70) installed on the base (10) are further included, the vision system is used to acquire images of the terminal actuator (40), the nail driver (50) and the implant screw (60), and the vision system and the display (70) are both in communication connection with the control unit (20).

6. The surgical robotic automatic stapling system of claim 1, wherein: The positioning device (80) is installed on the base (10) and is in communication connection with the control unit (20).

7. The surgical robotic automatic stapling system of claim 1, wherein: The tacker (50) comprises a tacker rod (51) and a sleeve (52) movably and rotatably sleeved on the outer periphery of the tacker rod (51), the proximal end of the tacker rod (51) is connected with the distal end of the end effector (40), and the sleeve (52) is detachably connected with the implant screw (60) through the screw connection part.

8. The surgical robotic automatic stapling system of claim 7, wherein: The proximal end of the sleeve (52) is fixedly provided with a rotating knob (522).

Images