Tool device, recording system, surgical robot system and data recording method

Abstract

The present application relates to a tool device, a recording system, a surgical robot system and a data recording method. The tool device includes a tool component and a storage component. The tool component is configured to have an interface. The storage component is arranged on the tool component. When the tool component is connected to a target device, the storage component is electrically connected to the target device through the interface. The storage component is configured to record the usage information of the tool component. The tool device of the present application records the usage information of the tool component by arranging a storage component on the tool component, thereby improving the accuracy and efficiency of the usage information recording.

Description

Technical Field

[0001] The present application relates to the technical field of medical equipment, and in particular to a tool device, a recording system, a surgical robot system and a data recording method. Background Art

[0002] In a surgical robot system, tool components mounted on the robot arm device, such as actuators and surgical tools, will inevitably experience wear and tear, aging, and other deterioration as the number of uses and / or duration increase. The deteriorated tool components may affect the accuracy of the tool components and even affect the normal progress of the operation, thereby increasing the risk of the operation.

[0003] In order to ensure the effective use of tool components, they need to be replaced when the loss of tool components reaches the required amount. Usually, the usage information of tool components is recorded to determine whether the tool components need to be replaced. However, currently, the usage information of tool components is mainly recorded manually, which leads to a high risk of deviation in the recording results and low recording efficiency. Summary of the invention

[0004] The present application provides a tool device, a recording system, a surgical robot system and a data recording method, aiming to improve the accuracy and efficiency of information recording.

[0005] In order to achieve the above-mentioned objectives, in a first aspect, the present application provides a tool device, which includes a tool component and a storage component, and the tool component is configured to have an interface; the storage component is arranged in the tool component, and when the tool component is connected to a target device, the storage component is electrically connected to the target device through the interface, and the storage component is configured to record usage information of the tool component.

[0006] In some embodiments, the storage component is further configured to store characteristic information of the tool component.

[0007] In some embodiments, the tool assembly includes at least one component; the storage assembly is disposed at least in one of the at least one component, and the usage information includes usage information of the at least one component.

[0008] In some embodiments, the tool assembly includes a first component and a second component disposed on the first component, the storage assembly is at least disposed on the first component, and the usage information includes usage information of the first component and usage information of the second component.

[0009] In some embodiments, the storage component includes a first storage element and a second storage element; the first storage element is arranged on the first component, and the first storage element is configured to record the usage information of the first component; the second storage element is arranged on the second component, and the second storage element is configured to record the usage information of the second component.

[0010] In some embodiments, the first component includes a first electrical connection interface; the second component includes a second electrical connection interface, and when the first component is connected to the second component, the first component and the second component are electrically connected to the first electrical connection interface through the second electrical connection interface.

[0011] In some embodiments, the first electrical connection interface includes a plurality of first electrical connection contacts, and the second electrical connection interface includes at least one second electrical connection contact, and the at least one second electrical connection contact matches at least one of the plurality of first electrical connection contacts.

[0012] In some embodiments, the tool device also includes an identification component, which is arranged on the first component; the identification component is configured to be electrically connected to the first electrical connection interface and used to identify the first electrical connection interface information, and determine the usage information of the second component at least based on the first electrical connection interface information; when the first component is respectively connected to the external control component and the second component, the identification component is also configured to be electrically connected to the control component and the second component to send the usage information to the control component, wherein the first electrical connection interface information includes the number of contacts with level changes and / or the positions of the contacts with level changes.

[0013] In some embodiments, the first electrical connection point is a hole, the second electrical connection point is a connector, and when the first component is connected to the second component, the connector is configured to be embedded in the hole.

[0014] In some embodiments, the second electrical connection point is a hole, the first electrical connection point is a connector, and when the first component is connected to the second component, the connector is configured to be embedded in the hole.

[0015] In the second aspect, the present application proposes a recording system, which includes a tool device, a host and a control component as in any embodiment of the first aspect of the present application, the host is configured to send a read instruction; the control component is configured to electrically connect the host and the storage component to obtain usage information in response to the read instruction and send it to the host, the host is also configured to update the usage information, and send the updated usage information as update information to the control component, and the control component sends it to the storage component.

[0016] In the third aspect, the present application proposes a surgical robot system, which includes: a robotic arm device, a host, a control component and a tool device as in any embodiment of the first aspect of the present application, wherein the tool component is arranged on the robotic arm device; the host is configured to send a read instruction; the control component is configured to electrically connect the host and the storage component to obtain usage information in response to the read instruction and send it to the host, and the host is also configured to send an operation instruction to the control component to control the robotic arm device to drive the tool component to perform an action corresponding to the operation instruction; the host is also configured to at least update the usage information after the tool component completes the action, and send the updated usage information as update information to the control component, and the control component sends it to the storage component.

[0017] In some embodiments, the control component is further configured to update the usage information according to the usage duration of the tool component after the tool component completes the action, and send the updated usage information as update information to the storage component.

[0018] In some embodiments, the control component is disposed on the robot arm device and is configured to be electrically connected to the robot arm device; the tool component is detachably connected to the robot arm device and is configured to be electrically connected to the robot arm device, so that the control component confirms that the tool component is installed on the robot arm device when the level value between the tool component and the robot arm device meets a preset level value.

[0019] In some embodiments, the host is further configured to generate a reminder instruction when the usage information meets a preset threshold, and send the reminder instruction to the control component.

[0020] In some embodiments, the storage component is also configured to store characteristic information of the tool component; the surgical robot system also includes a positioning device, which is configured to obtain current posture information of the robot arm device and / or the target object, and the positioning device is configured to be electrically connected to the host; wherein the control component is also configured to obtain the characteristic information in response to the read instruction and send it to the host; the host is also configured to generate an adjustment instruction based on the characteristic information and the current posture information and send it to the control component to control the robot arm device to adjust the posture.

[0021] In a fourth aspect, the present application proposes a data recording method for a surgical robot system such as any embodiment of the third aspect of the present application, the method comprising: in response to a read instruction sent by a host, obtaining usage information of a tool component stored in a storage component; sending the usage information to the host and receiving an operation instruction from the host; based on the operation instruction, controlling a robot arm device to drive the tool component to perform an action corresponding to the operation instruction; receiving updated usage information sent by the host as update information, and sending the update information to the storage component, the update information being generated by the host after the tool component completes the action.

[0022] According to the tool device of the present application, a storage component is arranged on the tool component, and the tool component has an interface. The storage component can be electrically connected to the target device through the interface, so that the storage component can transmit data with the target device and can update the data stored in the storage component, so that the storage component can record the usage information of the tool component in real time, improve the accuracy of the recording results, and significantly improve the recording efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The features, advantages and technical effects of exemplary embodiments of the present application will be described below with reference to the accompanying drawings.

[0024] Figure 1 is a schematic diagram of the structure of a tool device provided in some embodiments of the present application;

[0025] Figure 2 is a schematic diagram of the structure of a tool device provided in some other embodiments of the present application;

[0026] Figure 3 is a schematic diagram of the structure of a tool device provided in some other embodiments of the present application;

[0027] Figure 4 is a schematic diagram of the structure of a tool device provided by some other embodiments of the present application;

[0028] Figure 5 yes Figure 4 A schematic structural diagram of a first component of the tool device shown;

[0029] Figure 6 yes Figure 4 A schematic structural diagram of a second component of the tool device shown;

[0030] Figure 7 is a schematic diagram of the structure of a first electrical connection interface of a tool device provided in some embodiments of the present application;

[0031] Figure 8 yes Figure 6 A partial enlarged schematic diagram of the second component at position I shown;

[0032] Fig. 9 is a structural schematic diagram of a second component of a tool device provided in some other embodiments of the present application;

[0033] Fig.10 is a schematic diagram of the structure of a tool device provided by some other embodiments of the present application;

[0034] Fig.11 yes Fig.10 The tool device shown is a schematic diagram of a partial explosion structure at a certain angle;

[0035] Fig.12 yes Fig.10 The tool device shown is a schematic diagram of a partial explosion structure at another angle;

[0036] Fig.13 is a structural block diagram of a recording system provided by some embodiments of the present application;

[0037] Fig.14 is a schematic diagram of the structure of a surgical robot system provided in some embodiments of the present application;

[0038] Fig.15 yes Fig.14 A schematic diagram of the local structure of the surgical robot system shown;

[0039] Fig.16 is a flowchart of a data recording method provided by some embodiments of the present application;

[0040] Fig.17 It is a flowchart of the data recording method provided in other embodiments of the present application.

[0041] The drawings are not necessarily drawn to scale.

[0042] Reference numerals in the figures:

[0043] 1000. Surgical robot system;

[0044] 100. Tool device;

[0045] 10. Tool components;

[0046] 11. first component; 111. first electrical connection interface; 1111. first electrical connection point;

[0047] 12. second component; 121. second electrical connection interface; 1211. second electrical connection point;

[0048] 20. storage component; 21. first storage element; 22. second storage element;

[0049] 200, host;

[0050] 300, control component;

[0051] 400. Robotic arm device;

[0052] 500. Positioning device. DETAILED DESCRIPTION

[0053] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0054] In the description of the present application, it should be noted that, unless otherwise specified, "multiple" means more than two; the terms "upper", "lower", "left", "right", "inside", "outside", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly vertical, but is within the allowable error range. "Parallel" is not strictly parallel, but is within the allowable error range.

[0055] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0056] Before leaving the factory, the tool component may be marked with the maximum number of uses or the maximum usage time, which is used to indicate that if the tool component is used more than the maximum number of uses or the usage time exceeds the maximum usage time, unknown risks may occur. In order to avoid the occurrence of unknown risks, the tool component needs to be replaced in time, so the usage information of the tool component needs to be recorded.

[0057] The inventors found that the recording method of tool components in the related art is usually that the clinical engineer manually increases the number of times the tool component is used or records the usage time after the tool component is used; or a QR code with a unique identifier is printed on the tool component, and the clinical engineer uses a handheld terminal to scan and count after the tool component is used. The above recording method is prone to omissions and errors, resulting in deviations in the recorded usage information data and low efficiency.

[0058] In view of the above problems, the inventor proposes a tool device, which includes a tool component and a storage component. The storage component can be electrically connected to a target device through an interface of the tool component, thereby recording the usage information of the tool component. By knowing that the tool component is used through electrical connection, the usage information of the tool component is recorded, which can improve the accuracy of the recording and improve efficiency.

[0059] Next, the specific structure of the tool device of the present application is described.

[0060] like Figure 1 As shown, in some embodiments, the tool device 100 includes a tool component 10 and a storage component 20, and the tool component 10 is configured to have an interface; the storage component 20 is disposed in the tool component 10, and when the tool component 10 is connected to the target device, the storage component 20 is electrically connected to the target device through the interface, and the storage component 20 is configured to record usage information of the tool component 10.

[0061] The tool assembly 10 may include an actuator and / or surgical tools, etc. During the use of the joint surgery tool assembly 10, a hip actuator, a knee actuator, etc. may be installed on the robot arm device 400 according to different types of surgeries, such as a knee replacement surgery that requires the installation of a knee actuator, while a hip replacement surgery that requires the installation of a hip actuator. Different surgical tools are installed on the actuator according to different surgical stages. Surgical tools include hip surgical tools such as acetabular impactors, acetabular rasps, and intramedullary reamer; surgical tools may also include knee surgical tools such as a tool head assembly, etc. The hip actuator is used in conjunction with the hip surgical tool, and the knee actuator is used in conjunction with the knee surgical tool. The tool assembly 10 has an interface, which is an electrical interface for electrically connecting the storage assembly 20 and the target device; for example, the tool assembly 10 and the target device are detachably connected through a mechanical interface, and the connection of the mechanical interface provides the hardware basis for the electrical connection between the storage assembly 20 and the target device. It can be understood that when the mechanical interface is connected, the electrical interface touches and connects. The usage information of the tool assembly 10 may include the number of times the tool assembly 10 is used and / or the usage time, etc., and the usage information is stored by the storage assembly 20. The number of times the tool assembly 10 is used records the number of times the tool assembly 10 is used, which can be reset to zero at the factory and can be read and changed. The usage time records the usage time of the tool assembly 10. For example, the usage time of an actuator, the usage time can be the accumulated power-on time of all surgical tools installed on the actuator; for example, the usage time of a surgical tool, the usage time can be the time the motor drives the surgical tool to work; the usage time can be reset to zero at the factory and can be read and changed.

[0062] There are many ways to set the storage component 20 in the tool component 10, for example, the storage component 20 is set inside the tool component 10, or is set outside the tool component 10, etc. The data stored in the storage component 20 can be changed, for example, the storage component 20 can be an electrically erasable programmable read-only memory (EEPROM), a random access memory (RAM), etc. Generally, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer executable instructions, and when the software is executed (e.g., by one or more processors), it can be operated to perform the operations described with reference to the present application.

[0063] The target device can be considered as an external device or component, such as a control component of a recording system, or a control component of a surgical robot system, etc. The storage component 20 is electrically connected to the control component through the interface of the tool component 10. After the storage component 20 is electrically connected to the control component, the control component can read the data in the storage component 20, such as usage information, and can transmit external data, such as update information, to the storage component 20. The storage component 20 stores the updated usage information, thereby enabling the storage component 20 to record the usage information of the tool component 10 in real time.

[0064] According to the tool device 100 of the present application, a storage component 20 is set on the tool component 10, and the tool component 10 has an interface. The storage component 20 can be electrically connected to the target device through the interface, so that the storage component 20 can transmit data with the target device and can update the data stored in the storage component 20, so that the storage component 20 can record the usage information of the tool component 10 in real time, improve the accuracy of the recording results, and significantly improve the recording efficiency.

[0065] In some embodiments, the storage component 20 is further configured to store characteristic information of the tool component 10. In the present application, the characteristic information may include information such as the product name, product serial number, and product model of the tool component 10, that is, the unique identification information of the tool component 10. The product serial number may be, for example, a unique number of the tool component 10 with a length of 8 bytes, which can only be read and cannot be changed after the factory settings are completed.

[0066] The storage component 20 stores characteristic information of the tool component 10. When the tool device 100 is applied to a recording system or a surgical robot system, the host can confirm the type of the tool component 10 according to the characteristic information, thereby controlling the tool component 10 to perform operations that match its own type. Of course, the storage component 20 may not store the characteristic information of the tool component 10, and the host 200 may confirm the type of the tool component 10 according to other information; or when the recording system or surgical robot system is used with only one specific type of tool device 100, the storage component 20 may not store the characteristic information.

[0067] The tool device 100 of the present application has various structural types, and the structural types of the tool device 100 are described in detail below.

[0068] In some embodiments, the tool assembly 10 includes at least one component; the storage assembly 20 is disposed in at least one of the at least one component, and the usage information includes usage information of the at least one component.

[0069] Please continue reading Figure 1 As some examples, the tool assembly 10 includes a component, the storage assembly 20 is disposed in the component, and the usage information includes usage information of the component. Exemplarily, the component may be an actuator or a surgical tool.

[0070] like Figure 2 As shown, as some other examples, the tool assembly 10 includes more than two components. Exemplarily, the tool assembly 10 includes a first component 11 and a second component 12 disposed on the first component 11, the storage component 20 is at least disposed on the first component 11, and the usage information includes the usage information of the first component 11 and the usage information of the second component 12. Among them, the first component 11 and the second component 12 can be fixedly connected or detachably connected. For example, the actuator and the surgical tool are detachably connected, and an actuator can cooperate with a variety of different surgical tools to achieve different surgical operations.

[0071] like Figure 3As shown, the storage component 20 can be arranged in the first component 11 and the second component 12. Exemplarily, the storage component 20 includes a first storage component 21 and a second storage component 22, the first storage component 21 is arranged in the first component 11, and the first storage component 21 is configured to record the use information of the first component 11; the second storage component 22 is arranged in the second component 12, and the second storage component 22 is configured to record the use information of the second component 12. For example, the first component 11 is a knee actuator, the second component 12 is a cutter head assembly, and the knee actuator is connected to the cutter head assembly; the knee actuator is provided with a first storage component 21, the first storage component 21 can be arranged inside the knee actuator, or at the connection between the knee actuator and the robot arm device, and the first storage component 21 is used to save the use information of the knee actuator; the cutter head assembly is provided with a second storage component 22, the second storage component 22 can be arranged inside the cutter head assembly, or at the connection between the cutter head assembly and the robot arm device, and the second storage component 22 is used to save the use information of the cutter head assembly. The first storage element 21 and the second storage element 22 can both be electrically connected to the target device to perform data transmission with the target device. For example, the target device reads and updates the usage information stored in the first storage element 21, and the target device reads and updates the usage information stored in the second storage element 22. Exemplarily, the first storage element 21 and the second storage element 22 can be electrically erasable programmable read-only memory (EEPROM), random access memory (RAM), etc.

[0072] The storage component 20 may also be disposed only on the first component 11 or the second component 12. In this article, the storage component 20 is disposed on the first component 11 as an example for explanation. Exemplarily, the first component 11 is a hip actuator, and the second component 12 is a hip surgical tool.

[0073] The first component 11 includes a first electrical connection interface 111, and the second component 12 includes a second electrical connection interface 121. The first component 11 and the second component 12 are detachably connected. When the first component 11 and the second component 12 are connected through a mechanical interface, the first component 11 and the second component 12 are electrically connected to the first electrical connection interface 111 through the second electrical connection interface 121.

[0074] The first electrical connection interface 111 includes a first electrical connection point 1111, and the second electrical connection interface 121 includes a second electrical connection point 1211. The number of the first electrical connection points 1111 can be the same as the number of the second electrical connection points 1211. In this way, the first electrical connection interface 111 and the second electrical connection interface 121 match each other. In order to facilitate the matching of the first component 11 and various types of second components 12, the number of the first electrical connection points 1111 and the number of the second electrical connection points 1211 can be different. For example, the first electrical connection interface 111 includes a plurality of first electrical connection points 1111, and the second electrical connection interface 121 includes at least one second electrical connection point 1211, and at least one second electrical connection point 1211 matches at least one of the plurality of first electrical connection points 1111; when the first component 11 and the second component 12 are connected and powered on, the first component 11 and the second component 12 are electrically connected by at least some of the contacts in the second electrical connection interface 121 touching at least some of the contacts in the first electrical connection interface 111. The type of the second component 12 can be determined according to the preset contact level change rule before processing and forming. Specifically, the first component 11 is a hip actuator, which has a plurality of first electrical connection contacts 1111; the second component 12 is an acetabular impactor, an acetabular reamer or an intramedullary reamer, and the number of second electrical connection contacts 1211 of the acetabular impactor, the acetabular reamer or the intramedullary reamer can be different, but can all match at least one of the plurality of first electrical connection contacts 1111.

[0075] The first electrical connection point 1111 and the second electrical connection point 1211 have a variety of structural forms, and the structural forms of the first electrical connection point 1111 and the second electrical connection point 1211 are related to each other.

[0076] The first electrical connection point 1111 may be a hole, and the second electrical connection point 1211 may be a connector. When the first component 11 is connected to the second component 12, the connector is configured to be embedded in the hole. Alternatively, the first electrical connection point 1111 may be a hole, and the second electrical connection point 1211 may be a connector. When the first component 11 is connected to the second component 12, the connector is configured to be embedded in the hole. Optionally, the connector may be an elastic member such as an elastic contact.

[0077] The first electrical connection point 1111 may be an electromagnetic connection point, and the second electrical connection point 1211 may be an electromagnetic connection point. When the two are attracted to each other, the first electrical connection point 1111 and the second electrical connection point 1211 are electrically connected; when the two are away from each other, the first electrical connection point 1111 and the second electrical connection point 1211 are disconnected. The first electrical connection point 1111 and the second electrical connection point 1211 may also be set to other structural forms, such as infrared sensing points, etc., which are not repeated here. In order to facilitate the identification of the use information of the second component 12 installed on the first component 11, in some embodiments, the tool device 100 also includes an identification component, which is arranged on the first component 11; the identification component is configured to be electrically connected to the first electrical connection interface 111 and used to identify the first electrical connection interface information, and obtain the use information of the second component 12 at least according to the first electrical connection interface information; when the first component 11 is connected to the external control component and the second component 12 respectively, the identification component is also configured to be electrically connected to the control component and the second component 12 to send the use information to the control component. In the embodiment of the present application, the usage information may be the number of times used, etc. It should be noted that the identification component may be integrated with the storage component 20 in the same module, such as in the same circuit board, and of course the identification component may also be provided separately.

[0078] The first electrical connection interface information includes the number of contacts with level changes and / or the positions of contacts with level changes. When the identification component is not connected to the first electrical connection interface 111, the level between the identification component and the first electrical connection interface 111 is high; when the identification component is connected to the first electrical connection interface 111, the level between the identification component and the first electrical connection interface 111 is low; the identification component can determine whether it is electrically connected to the first electrical connection interface 111 by identifying the level change of the first electrical connection interface 111, and can confirm the number of contacts and / or the position of contacts of the first electrical connection interface 111 electrically connected to it, thereby confirming the usage information of the second component 12.

[0079] The identification component can obtain usage information of the second component 12 such as the number of times it is used according to the identified first electrical connection interface information, for example, by recording the number of times the second component 12 is electrically connected to the first electrical connection interface 111 .

[0080] Furthermore, the identification component is also configured to record usage information of the second component 12, such as usage duration, etc. The identification component can record the usage duration of the second component 12 according to the duration of the motor-driven tool component 10 working, and after the identification component obtains the usage information of the second component 12, the usage information of the second component 12 is sent to the control component for further processing by the control component.

[0081] Specifically, the first component 11 is a hip actuator, and the second component 12 is an acetabular impactor, an acetabular reamer or an intramedullary reamer. When different hip surgical tools are installed on the hip actuator, the different surgical tools will trigger different first electrical connection points 1111 on the hip actuator. The control component determines the type of the installed hip surgical tool according to the states of the different first electrical connection points 1111 in the first electrical connection interface 111, and sends the characteristic information of the hip surgical tool to the host for setting the surgical process, etc.

[0082] For example, the first electrical connection interface 111 of the hip actuator may be arranged on the bottom and side of the hip actuator, and the plurality of first electrical connection points 1111 include contact A, contact B, and contact C. If contact A and contact B are located on the bottom of the hip actuator, contact A and contact B may be arranged symmetrically (it can be understood that the two are arranged at 180 degrees), such as Figure 7 As shown, Figure 7 It is a schematic diagram of the structure of the first electrical connection interface of the tool assembly (hip actuator); of course, contact A and contact B can also be staggered; contact C can be located on the side of the hip actuator.

[0083] Figure 6 and Figure 8 The second component is a schematic diagram of the structure of the acetabulum grinding rasp, as shown in Figures 6 to 8 As shown, the second electrical connection point 1211 of the second electrical connection interface 121 of the acetabular grinding rasp is four groups of contact joints. The four groups of contact joints are arranged at intervals along the circumferential direction, and the four groups of contact joints can be evenly arranged, for example, two adjacent groups are arranged at 90 degrees, and the two symmetrically arranged groups of contact joints are respectively configured to be electrically connected to the contact A and the contact B on the hip actuator. When the contact A and the contact B on the hip actuator are symmetrically arranged, when the acetabular grinding rasp is installed on the hip actuator, any two symmetrical contact joints of the four groups of contact joints of the acetabular grinding rasp can be connected to the contact A and the contact B, thereby having multiple connection methods, which is conducive to the rapid installation of the acetabular grinding rasp on the hip actuator.

[0084] Fig. 9 The second component is a schematic diagram of the structure of the intramedullary reamer, as shown in FIG. Fig. 9As shown, the second electrical connection point 1211 of the second electrical connection interface 121 of the intramedullary reamer is two groups of contact joints. The two groups of contact joints are arranged at intervals along the circumferential direction, for example, they can be arranged at 90 degrees; any group of the two groups of contact joints can be configured to be electrically connected to the contact A on the hip actuator, or any group of the two groups of contact joints can be configured to be electrically connected to the contact B on the hip actuator. When the contacts A and B on the hip actuator are symmetrically arranged, when the intramedullary reamer is installed on the hip actuator, any group of the two groups of contact joints of the intramedullary reamer can be electrically connected to the contact A on the hip actuator, or to the contact B on the hip actuator, thereby having multiple connection methods, which is conducive to the rapid installation of the intramedullary reamer on the hip actuator.

[0085] Figures 10 to 12 The second component is a schematic structural diagram of an acetabular impactor, as shown in FIG. Figures 10 to 12 As shown, the second electrical connection point 1211 of the second electrical connection interface 121 of the acetabular impactor is a group of contact joints. The group of contact joints is configured to be electrically connected to the contact C. When the acetabular impactor is installed on the hip actuator, the group of contact joints is electrically connected to the contact C.

[0086] Each set of contact connectors (and each set of contacts) includes two points (the two adjacent circles in the figure). The two points of the contact connector are simply short-circuited. The two points of the contact can be connected to the identification components respectively. In this way, when a set of contacts contacts a set of contact connectors, a path will be formed between the two sets of points, and the identification component connected to the contacts will receive the level signal of the contact path, and then identify the tool signal according to the number of connected groups, and identify the number of times used according to the number of times connected, and count the usage time according to the power-on time. When the hip actuator is equipped with an acetabular reamer, contact switch A and contact switch B are always turned on at the same time; when the hip actuator is equipped with a medullary reamer, only one of contact A and contact B is turned on. When the hip actuator is equipped with an acetabular impactor, contact C is turned on to identify the type of tool installed in the hip actuator.

[0087] The tool device 100 of the present application is applicable to a surgical robot system 1000, and of course may also be applicable to other non-surgical systems such as a recording system.

[0088] like Fig.13 As shown, the recording system of the present application includes a tool device 100, a host 200 and a control component 300, the host 200 is configured to send a read instruction; the control component 300 is configured to electrically connect the host 200 and the storage component 20 of the tool device 100, so as to obtain the usage information of the tool component 10 in response to the read instruction and send it to the host 200, the host 200 is also configured to update the usage information, and send the updated usage information as update information to the control component 300, and the control component 300 sends it to the storage component 20.

[0089] The host 200 can be considered as a device with computing capabilities, for example, the host 200 may include a central processing unit (CPU) or an application specific integrated circuit (ASIC). Exemplarily, the host 200 is an industrial computer, etc. The control component 300 may include one or more integrated circuits, and exemplarily, the control component 300 is a control chip. The host 200 can be electrically connected to the industrial computer through a 485 communication cable (using RS485 protocol), and can also be electrically connected to the industrial computer through an RS232 communication cable (using RS232 protocol).

[0090] The host 200 can monitor and control the operating status of the tool device 100, and transmits information through the control component 300. Exemplarily, the host 200 sends a read instruction to the control component 300, and the control component 300 reads the usage information of the tool component 10 and sends the usage information to the host 200; after receiving the usage information, the host 200 will perform calculations on the usage information. For example, if the usage information is the number of times used, the host 200 can add one usage number to the current number of times as the updated number of times used, and send the updated usage information to the control component 300, and the control component 300 then sends it to the storage component 20, and the storage component 20 stores the updated usage information. The present application can simplify the use process of the tool component 10 and optimize the management of the tool component 10.

[0091] like Fig.14 and Fig.15 As shown, the surgical robot system 1000 of the present application includes a robot arm device 400, a tool device 100, a host 200 and a control component 300, wherein the tool component 10 is arranged on the robot arm device 400; the host 200 is configured to send a read instruction; the control component 300 is configured to electrically connect the host 200 and the storage component 20, so as to obtain the usage information in response to the read instruction and send it to the host 200, and the host 200 is also configured to send an operation instruction to the control component 300 to control the robot arm device 400 to drive the tool component 10 to perform an action corresponding to the operation instruction; the host 200 is also configured to update at least the usage information after the tool component 10 completes the action, and send the updated usage information as update information to the control component 300, and the control component 300 sends it to the storage component 20. In the present application, the usage information may include information such as the number of times or the length of time of use.

[0092] According to the surgical robot system 1000 of the embodiment of the present application, the usage information stored in the storage component 20 can be updated through the host 200 and the control component 300, thereby being able to timely record the usage information of the tool component 10 and improve the recording efficiency.

[0093] In some embodiments, the control component 300 is further configured to update the usage information according to the usage time of the tool component 10 after the tool component 10 completes the action, and send the updated usage information as update information to the storage component 20. Exemplarily, when the time when the tool component 10, such as a hip surgery tool, is driven by a motor to perform work is considered to be the usage time of the tool component 10, the control component 300 updates the usage time information of the tool component 10 according to the usage time of the tool component 10, and then sends the updated usage time information to the storage component 20 for storage by the storage component 20.

[0094] In some embodiments, the control component 300 is disposed on the robot arm device 400 and is configured to be electrically connected to the robot arm device 400; the tool component 10 is detachably connected to the robot arm device 400 and is configured to be electrically connected to the robot arm device 400, so that the control component 300 confirms that the tool component 10 is installed on the robot arm device 400 when the level value between the tool component 10 and the robot arm device 400 meets the preset level value.

[0095] The tool assembly 10 is detachably connected to the robot arm device 400, so that the tool assembly 10 can be assembled to the robot arm device 400 or removed from the robot arm device 400. The storage assembly 20 can be arranged in the tool assembly 10, or can be arranged at the interface where the tool assembly 10 is connected to the robot arm device 400.

[0096] When the tool assembly 10 is not connected to the robot arm device 400, the level between the tool assembly 10 and the robot arm device 400 is high; when the tool assembly 10 is connected to the robot arm device 400, the level between the tool assembly 10 and the robot arm device 400 is low; the control component 300 can compare the level value between the tool assembly 10 and the robot arm device 400 with the preset level value to determine whether the tool assembly 10 is assembled on the robot arm device 400 and make an electrical connection. After confirming that the tool assembly 10 is installed on the robot arm device 400, the control component 300 can read the information in the storage component 20, and update the information such as the number of uses in the storage component 20 in response to the instruction of the host 200 after the operation is received.

[0097] Please continue reading Fig.14 and Fig.15, exemplarily, the robot arm device 400 includes a base end and a terminal end, the terminal end is provided with a robot arm flange interface, and the control component 300 can be provided on the robot arm flange interface of the terminal end. When the tool component 10, such as an actuator, is installed at the terminal end of the robot arm device 400, the interface of the tool component 10 is electrically connected to the interface of the robot arm device 400, one end of the control component 300 is electrically connected to the storage component 20, and the other end is electrically connected to the host 200. The host 200 sends a read instruction to the control component 300, and the control component 300 obtains the information stored in the storage component 20 and uploads it to the host 200.

[0098] In some embodiments, the host 200 is further configured to generate a reminder instruction when the usage information meets a preset threshold, and send the reminder instruction to the control component 300. The number of times and / or the duration of use of the tool component 10 has an upper limit, and the preset threshold can be considered as the upper limit of use. When the number of times and / or the duration of use of the tool component 10 reaches the upper limit, the host 200 will send a reminder instruction to the control component 300, and the control component 300 controls the tool component 10 to stop operating.

[0099] In some embodiments, the host 200 may also be configured to generate a reminder instruction when the update information meets a preset threshold, and send the reminder instruction to the control component 300. That is, after the tool component 10 completes the operation, the host 200 determines that the tool component 10 has reached the upper limit of use, and reminds the control component 300, and the control component 300 controls the tool component 10 to stop operating, so as to replace the tool component 10 in time.

[0100] In some embodiments, the storage component 20 is also configured to store characteristic information of the tool component 10; the surgical robot system 1000 also includes a positioning device 500, which is configured to obtain current posture information of the robot arm device 400 and / or the target object, and the positioning device 500 is configured to be electrically connected to the host 200; wherein the control component 300 is also configured to obtain characteristic information in response to a read instruction and send it to the host 200; the host 200 is also configured to generate an adjustment instruction based on the characteristic information and the current posture information and send it to the control component 300, so as to control the robot arm device 400 to adjust the posture.

[0101] Different tool assemblies 10 correspond to different characteristic information, that is, the tool assemblies 10 correspond to unique characteristic information. After the control component 300 recognizes that the tool assembly 10 is installed on the robot arm device 400, the type of the tool assembly 10 is confirmed by reading the characteristic information accessed by the storage component 20. Due to differences in weight and other factors, different tool assemblies 10 correspond to different loads of the robot arm device 400 and different settings of the surgical procedures. After the host 200 obtains the characteristic information of the tool assembly 10, it can determine the type of the tool assembly 10 and control the robot arm device 400 to adjust the posture according to the type of the tool assembly 10 and the current posture information.

[0102] In some embodiments, the control component 300 is further configured to be electrically connected to the identification component to obtain usage information of the second component 12 , such as usage frequency information and / or usage duration information of the second component 12 .

[0103] Based on the same inventive concept, the present application also proposes a data recording method, which is used in a surgical robot system.

[0104] like Fig.16 As shown, the method includes:

[0105] S100, in response to a read instruction sent by a host, obtaining usage information of a tool component stored in a storage component;

[0106] S200, sending usage information to a host and receiving an operation instruction from the host;

[0107] S300, based on the operation instruction, controlling the robot arm device to drive the tool assembly to perform an action corresponding to the operation instruction;

[0108] S400, receiving updated usage information sent by the host as update information, and sending the update information to the storage component, the update information is generated by the host after the tool component completes the action.

[0109] The usage information may include the number of times the tool component is used and / or the duration of use. For example, if the tool component is a cutter head component, after the cutter head component completes the osteotomy operation, the host adds 1 to the number of times the cutter head component is used stored in the storage component as update information and sends it to the storage component for storage. Because the hip actuator drives the cutter head assembly to work, the number of times the hip actuator is used can also be synchronously added and updated. The record update of the usage duration can be similar to the number of times it is used.

[0110] The method according to the embodiment of the present application is easy to operate and can improve the accuracy of information recording and the recording efficiency.

[0111] like Fig.17As shown, the method described in the present application, after receiving the updated usage information sent by the host as the update information and sending the update information to the storage component, further includes:

[0112] S500, usage time of statistical tool components;

[0113] It can be understood that after the tool component completes an action, the usage time corresponding to the action of the tool component is counted.

[0114] S600: Update usage information according to the usage duration of the tool component, and send the updated usage information as update information to the storage component.

[0115] The usage information includes the usage time of the tool component.

[0116] According to the method of the embodiment of the present application, the control component can count and update the usage time of the tool component without the involvement of the host, which is convenient and fast.

[0117] The storage component involved in the present application may include one or more memories, and the control component and the identification component may include one or more processors.

[0118] Although the present application has been described with reference to preferred embodiments, various modifications may be made thereto and parts thereof may be replaced with equivalents without departing from the scope of the present application. In particular, the various technical features mentioned in the various embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A tool device, characterized in that: include: a tool component configured to have an interface; as well as a storage component, arranged in the tool component, when the tool component is connected to the target device, the storage component is electrically connected to the target device through the interface, and the storage component is configured to record usage information of the tool component; The tool assembly includes a first component and a second component arranged on the first component, the storage assembly is at least arranged on the first component, and the usage information includes usage information of the first component and usage information of the second component; The first component includes a first electrical connection interface; the second component includes a second electrical connection interface, and when the first component is connected to the second component, the first component and the second component are electrically connected to the first electrical connection interface through the second electrical connection interface; The tool device further comprises an identification component, which is arranged on the first member; the identification component is configured to be electrically connected to the first electrical connection interface and used to identify the first electrical connection interface information, and determine the use information of the second member at least according to the first electrical connection interface information; when the first member is connected to the external control component and the second member respectively, the identification component is also configured to be electrically connected to the control component and the second member to send the use information to the control component, The first electrical connection interface information includes the number of contacts with level changes and / or the positions of contacts with level changes.

2. The tool device according to claim 1, characterized in that The storage component is further configured to store characteristic information of the tool component.

3. The tool device according to claim 1, characterized in that The storage component comprises: A first storage element, disposed on the first component, the first storage element being configured to record usage information of the first component; and The second storage element is disposed on the second component, and the second storage element is configured to record usage information of the second component.

4. The tool device according to claim 1, characterized in that The first electrical connection interface includes a plurality of first electrical connection contacts, and the second electrical connection interface includes at least one second electrical connection contact, and the at least one second electrical connection contact matches at least one of the plurality of first electrical connection contacts.

5. The tool device according to claim 1, characterized in that: The first electrical connection point is a hole, the second electrical connection point is a connector, and when the first component is connected to the second component, the connector is configured to be embedded in the hole; or The second electrical connection point is a hole, and the first electrical connection point is a connecting piece. When the first component is connected to the second component, the connecting piece is configured to be embedded in the hole.

6. A recording system, characterized in that: include: The tool device according to any one of claims 1 to 5; The host is configured to send a read command; as well as a control component configured to electrically connect the host and the storage component to obtain usage information in response to the read instruction and send the usage information to the host, The host is further configured to update the usage information, and send the updated usage information as update information to the control component, and then the control component sends the updated usage information to the storage component.

7. A surgical robot system, characterized in that: include: Robotic arm device; The tool device according to any one of claims 1 to 5, wherein the tool assembly is arranged on the robot arm device; The host is configured to send a read command; as well as a control component configured to electrically connect the host and the storage component to obtain usage information in response to the read instruction and send the usage information to the host, The host is further configured to send an operation instruction to the control component to control the robot arm device to drive the tool component to perform an action corresponding to the operation instruction; The host is also configured to update at least the usage information after the tool component completes the action, and send the updated usage information as update information to the control component, and then send it to the storage component by the control component.

8. The surgical robot system according to claim 7, characterized in that: The control component is also configured to update the usage information according to the usage duration of the tool component after the tool component completes the action, and send the updated usage information as update information to the storage component.

9. The surgical robot system according to claim 7, characterized in that: The control component is disposed on the robot arm device and is configured to be electrically connected to the robot arm device; The tool assembly is detachably connected to the robot arm device and is configured to be electrically connected to the robot arm device so that the control assembly confirms that the tool assembly is installed on the robot arm device when the level value between the tool assembly and the robot arm device meets a preset level value.

10. The surgical robot system according to claim 7, characterized in that: The host is also configured to generate a reminder instruction when the usage information meets a preset threshold, and send the reminder instruction to the control component.

11. The surgical robot system according to claim 7, characterized in that: The storage component is further configured to store characteristic information of the tool component; The surgical robot system further comprises a positioning device, which is configured to obtain current posture information of the robot arm device and / or the target object, and the positioning device is configured to be electrically connected to the host; Wherein, the control component is further configured to obtain the characteristic information in response to the read instruction and send it to the host; The host is also configured to generate an adjustment instruction according to the feature information and the current posture information and send it to the control component to control the robot arm device to adjust the posture.

12. A data recording method for a surgical robot system according to any one of claims 7 to 11, characterized in that: The method comprises: In response to a read instruction sent by the host, obtaining usage information of the tool component stored by the storage component; Sending the usage information to the host and receiving an operation instruction from the host; Based on the operation instruction, the robot arm device is controlled to drive the tool assembly to perform an action corresponding to the operation instruction; The updated usage information sent by the host is received as update information, and the update information is sent to the storage component, wherein the update information is generated by the host after the tool component completes the action.

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