Isolation mechanism, detection device and detection method

Abstract

The invention relates to the technical field of surgical robots, and discloses an isolation mechanism, a detection device and a detection method. The isolation mechanism comprises a sterile bag body and a plurality of first identification pieces. The sterile bag body is used for being arranged on a surgical operation arm in a sleeving mode. The first identification pieces are arranged on the sterile bag body, and when the sterile bag body is configured to be arranged on the surgical operation arm in a sleeving mode, each first identification piece is arranged right opposite to one rotating joint on the surgical operation arm. According to the invention, the preoperative preparation efficiency is improved, the difficulty of judging whether the sterile bag is sleeved to a proper position is reduced, and the surgical safety and the durability of the surgical robot are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical robots, and in particular to an isolation mechanism, a detection device and a detection method. Background Art

[0002] Surgical robots are widely used in the medical field. During surgery, the operating space needs to be a sterile environment, and the surgical operating arm and other parts of the operating table are not easy to disassemble and clean. Therefore, a sterile cover is usually used to cover the surgical operating arm during preoperative preparation. On the one hand, it can isolate bacteria, avoid harm to patients, and improve the safety of surgery. On the other hand, it also prevents the surgical operating arm and other parts from contacting liquids and other substances generated during surgery, ensuring the durability of the surgical robot.

[0003] In the prior art, sterile bags are usually made of transparent, thin and flexible materials such as polyethylene films, which have poor elastic properties and are easily broken or fallen off due to pulling, thereby destroying the sterile environment of the operation, affecting the safety of the operation, and also affecting the durability of the surgical robot. In addition, during preoperative preparation, medical staff manually put the sterile cover on the surgical operating arm. After completing the sterile bag, they manually judge whether the sterile cover is put on the appropriate position on the surgical operating arm, resulting in low efficiency of preoperative preparation. In addition, the material of the sterile bag is transparent, which increases the difficulty of judgment. The subjective factor has a greater impact on the judgment result, and the sterile bag's antibacterial effect cannot be guaranteed, affecting the safety of the operation and the durability of the surgical robot.

[0004] Based on this, there is an urgent need for an isolation mechanism, a detection device and a detection method to solve the above-mentioned problems. Summary of the invention

[0005] The purpose of the present invention is to provide an isolation mechanism, a detection device and a detection method to improve the efficiency of preoperative preparation, reduce the difficulty of judging whether the sterile bag is set to the appropriate position, and ensure the safety of the operation and the durability of the surgical robot.

[0006] To achieve this object, the present invention adopts the following technical solutions:

[0007] Isolation institutions, including:

[0008] The sterile bag body is used to be put on the surgical operating arm;

[0009] A plurality of first identification members are arranged on the sterile bag body. When the sterile bag body is configured to be sleeved on the surgical operating arm, each of the first identification members is arranged opposite to a rotating joint on the surgical operating arm.

[0010] As an optional technical solution of the isolation mechanism, the isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members.

[0011] As an optional technical solution of the isolation mechanism, two adjacent first identification members and all the second identification members located between the two adjacent first identification members are evenly spaced and arranged; and / or,

[0012] The second identification piece is ring-shaped and is arranged along the circumference of the sterile bag body.

[0013] As an optional technical solution of the isolation mechanism, two adjacent first identification members and all the second identification members located between the two adjacent first identification members are evenly spaced and arranged, and an odd number of the second identification members are arranged between two adjacent first identification members.

[0014] As an optional technical solution of the isolation mechanism, the first identification member is ring-shaped and is arranged along the circumference of the sterile bag body.

[0015] A detection device, used for detecting the set position of the isolation mechanism as described above on the surgical operating arm, comprises:

[0016] A collection component capable of acquiring the position of the first identification element;

[0017] A controller is electrically connected to the collection component, and the controller is configured to send a first prompt signal when any of the first identification elements is located outside the corresponding first preset space range.

[0018] As an optional technical solution of the detection device, the operating trolley includes a mounting member and the operating arm, wherein the mounting member is arranged on the top of the operating trolley, one end of the operating arm is mounted on the bottom of the mounting member, and the other end of the operating arm extends forward to the front side of the mounting member;

[0019] The collecting component comprises a first collecting member, the first collecting member can obtain the position of the first identification member, and the first collecting member is arranged on the front side wall of the mounting member.

[0020] As an optional technical solution of the detection device, the acquisition component further includes a second acquisition component, and the second acquisition component can obtain the position of the first identification component;

[0021] The second collecting member is provided on at least one side of the operating trolley in the left-right direction, the second collecting member is located in front of the mounting member, and the second collecting member has the same height as the first collecting member.

[0022] As an optional technical solution of the detection device, the second collecting components are provided on opposite sides of the operating table vehicle along the left-right direction.

[0023] As an optional technical solution of the detection device, the isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members;

[0024] The acquisition component is capable of acquiring the position of the second identification element, and the controller is configured to send a second prompt signal when any of the second identification elements is located outside the corresponding second preset spatial range.

[0025] The detection method, applied to the detection device as described above, comprises:

[0026] S1, using a collection component to obtain positions of all first identification components;

[0027] S2. If at least one of the first identification elements is located outside the corresponding first preset space range, a first prompt signal is issued.

[0028] As an optional technical solution of the detection method, the isolation mechanism further includes a plurality of second identification members, the second identification members are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members;

[0029] Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceeding to step S3;

[0030] The detection method further comprises:

[0031] S3, using a collection component to obtain the positions of all the second identification elements;

[0032] S4. If at least one of the second identification elements is located outside the corresponding second preset space range, a second prompt signal is issued.

[0033] As an optional technical solution of the detection method, the acquisition component includes a first acquisition piece and a second acquisition piece, and the first acquisition piece and the second acquisition piece are both capable of acquiring the position of the second identification piece;

[0034] In step S3, it specifically includes: using the first acquisition element to obtain the positions of all the second identification elements;

[0035] Step S4 includes:

[0036] S41, if at least one of the second identification elements is located outside the corresponding second preset space range, proceed to step S42;

[0037] S42, marking the second identification member located outside the corresponding second preset space range as a deviated structure;

[0038] S43, using the second acquisition component to acquire positions of all the deviated structures;

[0039] S44: If all of the deviating structures are located outside the corresponding second preset space range, the second prompt signal is issued.

[0040] As an optional technical solution of the detection method, the step S44 further includes: if at least one of the deviated structures is at least partially located within the corresponding second preset space range, performing step S45;

[0041] Step S4 also includes:

[0042] S45, using the first acquisition component and the second acquisition component to acquire positions of all the deviated structures;

[0043] S46: If the positions of all the deviated structures acquired by the first acquisition component and the second acquisition component are at least partially located within the corresponding second preset space range, a third prompt signal is issued; otherwise, the second prompt signal is issued.

[0044] As an optional technical solution of the detection method, the isolation mechanism further includes a plurality of second identification members, the second identification members are arranged on the sterile bag body, at least one second identification member is arranged between two adjacent first identification members, two adjacent first identification members and all the second identification members located between the two adjacent first identification members are evenly spaced, an odd number of the second identification members are arranged between two adjacent first identification members, and the second identification member located between two adjacent first identification members and in the middle is set as an intermediate identification member;

[0045] Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceeding to step S30;

[0046] The detection method further comprises:

[0047] S30, using the acquisition component to obtain the positions of all intermediate identification components;

[0048] S40: If at least one of the intermediate identification components is located outside the corresponding second preset spatial range, a second prompt signal is issued.

[0049] As an optional technical solution of the detection method, the number of the second identification members arranged between two adjacent first identification members is greater than or equal to three, and all the second identification members arranged between two adjacent first identification members and excluding the intermediate identification member are auxiliary identification members;

[0050] Step S40 further includes: if all the intermediate identification elements are at least partially located within the corresponding second preset space range, proceeding to step S50;

[0051] The detection method further comprises:

[0052] S50, using a collection component to obtain the positions of all the auxiliary identification components;

[0053] S60: If at least one of the auxiliary identification elements is located outside the corresponding second preset spatial range, the second prompt signal is issued.

[0054] Beneficial effects of the present invention:

[0055] The isolation mechanism provided by the present invention comprises a sterile bag body and a first identification piece. The first identification piece is used to judge whether the sterile bag body is installed in a suitable position, thereby simplifying the operation process of preoperative preparation, improving the efficiency of preoperative preparation, relieving the fatigue of medical staff, and preventing the length of the surgical operating arm extending into the sterile bag body from being too short, thereby ensuring that a sufficiently long surgical operating arm is placed in the sterile bag body, reducing the possibility of the patient being infected by bacteria on the surgical operating arm, ensuring the safety of the operation, and ensuring the service life of the surgical operating arm, while avoiding the wrinkles of the sterile bag body on the surgical operating arm. Too many wrinkles may cause the sterile bag to get hooked on the protruding structure of the surgical operating arm or be caught in the rotating joint, which reduces the risk of damage to the sterile bag body and improves the durability of the sterile bag body, thereby ensuring the bacteria-isolating effect of the isolation mechanism, improving the safety of the operation, reducing the obstacles to the rotation of the rotating joint, and ensuring the flexibility of the surgical operating arm; in addition, it avoids the surgical operating arm from extending too long into the sterile bag body, reduces the possibility of the sterile bag body being tightened at the rotating joint, further ensures that the rotating joint can rotate flexibly during the operation, improves the flexibility of the surgical operating arm, and ensures the safety of the operation.

[0056] The detection device provided by the present invention includes a collection component and a controller. The position of the first identification piece is automatically obtained through the collection component, so as to determine whether the sterile bag body is installed in the appropriate position, thereby improving the degree of automation and avoiding the medical staff from manually judging the installation position of the isolation mechanism on the surgical operating arm one by one, simplifying the operation process of preoperative preparation, improving the efficiency of preoperative preparation, and also helping to alleviate the fatigue of medical staff, improving the safety of the operation, and avoiding the risk of medical staff accidentally touching the isolation mechanism during the inspection of the isolation mechanism, resulting in contamination of the isolation mechanism or the isolation mechanism falling off, thereby further ensuring the safety of the operation.

[0057] The detection method provided by the present invention automatically obtains the position of the first identification piece through the acquisition component, so as to judge whether the sterile bag body is installed in the appropriate position, thereby improving the degree of automation, avoiding the medical staff to manually judge the installation position of the isolation mechanism on the surgical operating arm one by one, simplifying the operation process of preoperative preparation, improving the efficiency of preoperative preparation, and also helping to alleviate the fatigue of medical staff, improving the safety of surgery, and avoiding the risk of medical staff accidentally touching the isolation mechanism during the inspection of the isolation mechanism, resulting in contamination of the isolation mechanism or the isolation mechanism falling off, thereby further ensuring the safety of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 is a schematic structural diagram of an operating table trolley provided in Embodiment 1 of the present invention;

[0059] Figure 2 is a structural schematic diagram of an isolation mechanism provided in Embodiment 1 of the present invention;

[0060] Figure 3 It is a structural schematic diagram of an isolation mechanism provided in Embodiment 1 of the present invention being sleeved on a surgical operating arm in an extended state;

[0061] Figure 4 It is a structural schematic diagram of an isolation mechanism provided in Embodiment 1 of the present invention being mounted on a surgical operating arm in a working state;

[0062] Figure 5 is a schematic diagram of the structure of a detection device provided in Embodiment 1 of the present invention;

[0063] Figure 6 is a flow chart of the main steps of the detection method provided in Example 1 of the present invention;

[0064] Figure 7 is a detailed step flow chart of the detection method provided in Example 1 of the present invention;

[0065] Figure 8 is a flow chart of the steps of the detection method provided in Embodiment 2 of the present invention;

[0066] Fig. 9 It is a structural schematic diagram of an isolation mechanism provided in a fourth embodiment of the present invention being mounted on a surgical operating arm in an extended state;

[0067] Fig.10 yes Fig. 9 sectional view of .

[0068] In the figure:

[0069] 100, surgical trolley; 10, surgical operating arm; 101, active arm; 1011, first connecting rod; 1012, second connecting rod; 1013, third connecting rod; 1014, instrument slide; 102, passive arm; 103, rotating joint; 20, mounting part;

[0070] 1. First identification piece; 2. Second identification piece; 3. Sterile bag body;

[0071] 4. First collecting piece; 5. Second collecting piece; 6. First preset space range; 7. Second preset space range; 8. Tightening piece. DETAILED DESCRIPTION

[0072] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0073] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" 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 a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0074] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0075] The technical solution of the present invention is further described below with reference to the accompanying drawings and through specific implementation methods.

[0076] Embodiment 1

[0077] Generally, a surgical robot includes a doctor control end and a patient surgical end. The patient surgical end includes Figure 1 The surgical trolley 100 and the surgical operating arm 10 are shown. The surgical trolley 100 is arranged on the top mounting member 20. One end of the surgical operating arm 10 is rotatably connected to the bottom of the mounting member 20, and the other end of the surgical operating arm 10 extends forward and extends to the front side of the mounting member 20.

[0078] In this embodiment, four surgical operating arms 10 are provided, and the four surgical operating arms 10 are arranged in the left-right direction. It is worth noting that the descriptions of the directions such as front, back, left, and right mentioned in this embodiment are all based on the operating trolley 100 in normal use. The front-to-back direction and the left-to-right direction are both horizontally arranged, and the front-to-back direction is perpendicular to the left-to-right direction. The patient is at the front side of the operating trolley 100, and the side of the operating trolley 100 away from the patient is the rear side.

[0079] Furthermore, if Figure 1-Figure 7 As shown, the surgical operating arm 10 includes an active arm 101 and a passive arm 102, and the passive arm 102 is connected between the active arm 101 and the mounting member 20. The active arm 101 includes an instrument slide 1014, a first connecting rod 1011, a second connecting rod 1012 and a third connecting rod 1013. The active arm 101 also includes a rotary joint 103. The two ends of the third connecting rod 1013 are respectively rotatably connected to the instrument slide 1014 and the second connecting rod 1012 through the rotary joint 103. One end of the second connecting rod 1012 away from the third connecting rod 1013 is rotatably connected to the first connecting rod 1011 through the rotary joint 103. A driving seat is provided on the instrument slide 1014, and the driving seat is used to install surgical instruments. The first connecting rod 1011 is connected to the passive arm 102.

[0080] In this embodiment, three rotating joints 103 are provided, and the axes of all rotating joints 103 are provided horizontally. In other embodiments, the axes of the rotating joints 103 may also be in other directions, which are not limited here.

[0081] Among them, the mounting member 20, the passive arm 102 and other structures of the surgical operating arm 10 can all refer to the prior art, which is not the focus of protection of this embodiment and will not be described in detail here.

[0082] This embodiment provides an isolation mechanism for isolating the surgical operating arm 10. During preoperative preparation, the isolation mechanism needs to be mounted on the surgical operating arm 10 to ensure a sterile surgical environment.

[0083] Specifically, Figure 1-Figure 5 As shown, the isolation mechanism includes a sterile bag body 3 and a plurality of first identification members 1. The sterile bag body 3 is used to be mounted on the surgical operating arm 10. Specifically, the sterile bag body 3 is configured to be a cylinder with an open end, and the surgical operating arm 10 can extend into the sterile bag body 3 from the open end of the sterile bag body 3, and the open end of the sterile bag body 3 can extend to the passive arm 102, and is fixed to the passive arm 102 by a tether, a cable tie or an adhesive tape, so as to ensure a fixed connection between the sterile bag body 3 and the surgical operating arm 10. Preferably, the isolation mechanism also includes a plurality of first identification members 1. The first identification member 1 is disposed on the sterile bag body 3, and when the sterile bag body 3 is mounted on the surgical operating arm 10, each first identification member 1 is disposed opposite a rotating joint 103 on the surgical operating arm 10.

[0084] The isolation mechanism provided in this embodiment includes a sterile bag body 3 and a first identification member 1. The provision of the first identification member 1 is conducive to reducing the difficulty of judging whether the sterile bag body 3 is installed in a suitable position, reducing the influence of subjective factors on the judgment structure, simplifying the operation process of preoperative preparation, and improving the efficiency of preoperative preparation, and relieving the fatigue of medical staff; and on the one hand, it ensures that a sufficiently long surgical operating arm 10 is placed in the sterile bag body 3, reducing the possibility of the patient being infected by bacteria on the surgical operating arm 10, ensuring the safety of the operation and the service life of the surgical operating arm 10, and at the same time avoiding excessive wrinkles of the sterile bag body 3. Hooking on other structures or being involved in the rotating joint 103 reduces the risk of damage to the sterile bag body 3 and improves the durability of the sterile bag body 3, thereby ensuring the bacteria-isolating effect of the isolation mechanism, improving the safety of the operation, and reducing the obstacles to the rotation of the rotating joint 103, thereby ensuring the flexibility of the surgical operating arm 10; on the other hand, it also avoids the surgical operating arm 10 extending too long into the sterile bag body 3, reduces the possibility of the sterile bag body 3 at the rotating joint 103 being tightened, and further ensures that the rotating joint 103 can rotate flexibly during the operation, thereby improving the flexibility of the surgical operating arm 10 and ensuring the safety of the operation.

[0085] During the preoperative preparation process, the active arm 101 of the surgical operating arm 10 is usually located in front of the mounting member 20, and the active arm 101 is adjusted to an extended state that facilitates the installation of the isolation mechanism. Figure 3 The active arm 101 shown in FIG. 1 is in an extended state. Figure 4 The active arm 101 shown in the figure is in working state. The instrument slide 1014, the first connecting rod 1011, the second connecting rod 1012 and the third connecting rod 1013 of the active arm 101 all extend substantially along the length direction of the surgical operating arm 10. The angle between two adjacent structures of the instrument slide 1014, the third connecting rod 1013, the second connecting rod 1012 and the first connecting rod 1011 is an obtuse angle, which reduces the spatial overlap between the two adjacent structures, avoids the surgical operating arm 10 from folding in the sterile bag body 3, and reduces the possibility of the sterile bag body 3 being tightened due to the extension of the surgical operating arm 10 during the operation.

[0086] In this embodiment, the sterile bag body 3 is made of a transparent flexible material, such as polyethylene or TPU.

[0087] Specifically, the sterile bag body 3 is fixed to the instrument slide 1014 by a fixed structure. In some embodiments, the fixed structure includes a drive seat adapter. The sterile bag body 3 is connected to a drive seat adapter at a position opposite to the drive seat, and the drive seat adapter is detachably connected to the drive seat to fix the sterile bag body 3 to the instrument slide 1014. In some embodiments, the fixed structure includes a puncture adapter. The sterile bag body 3 is connected to a puncture adapter at a position opposite to the end of the instrument slide 1014, and the puncture adapter is detachably connected to the end of the instrument slide 1014 to fix the sterile bag body 3 to the instrument slide 1014. In some embodiments, the fixed structure includes a drive seat adapter and a puncture adapter at the same time. The connection positions of the drive seat adapter and the puncture adapter with the instrument slide 1014 can refer to the prior art and will not be repeated here.

[0088] Preferably, the number of the first identification members 1 and the number of the rotation joints 103 on the surgical operating arm 10 are the same, and all the first identification members 1 are arranged in a one-to-one correspondence with all the rotation joints 103 on the surgical operating arm 10. The number of the first identification members 1 is large, which further ensures that the sterile bag body 3 can be installed in a suitable position. In this embodiment, a total of three rotation joints 103 are provided, so three first identification members 1 are provided.

[0089] Furthermore, the first identification piece 1 is annular, and the first identification piece 1 is arranged along the circumference of the sterile bag body 3. Through the above arrangement, the first identification piece 1 can be observed in any direction of the sterile bag body 3. When the isolation mechanism is mounted on the surgical operating arm 10, the situation that the first identification piece 1 cannot be observed due to the twisting of the sterile bag body 3 is avoided, and the relative position between the first identification piece 1 and the rotating joint 103 is directly observed. Medical staff do not need to further arrange the sterile bag body 3, thereby improving the efficiency of preoperative preparation.

[0090] In the present embodiment, the first identification member 1 may be a fluorescent or colorful annular structure. The first identification member 1 is also made of a soft material. Preferably, the first identification member 1 may be a polyethylene film, and the first identification member 1 is fluorescent or colorful, and is lightweight, so as to prevent the first identification member 1 from pulling the sterile bag body 3 downward, thereby reducing the risk of the sterile bag body 3 being hooked on the protruding structure of the surgical operating arm 10 or being involved in the rotating joint 103, reducing the risk of damage to the sterile bag body 3, and improving the durability of the sterile bag body 3, thereby ensuring the isolation function of the isolation mechanism, improving the safety of the operation, and reducing the obstacles to the rotation of the rotating joint 103, thereby ensuring the flexibility of the surgical operating arm 10. The first identification member 1 is fixed to the sterile bag body 3 by bonding or other means. In other embodiments, the first identification member 1 may also be a fluorescent color ring or a color ring directly smeared and marked on the sterile bag body 3.

[0091] As a preferred solution, the isolation mechanism also includes a plurality of second identification members 2, which are arranged on the sterile bag body 3, and at least one second identification member 2 is arranged between two adjacent first identification members 1. By arranging the second identification member 2, it is possible to further determine whether the sterile bag body 3 is installed in a suitable position, while reducing the risk of the sterile bag body 3 being pulled or even damaged, improving the durability of the sterile bag body 3, and thus ensuring the isolation function of the isolation mechanism, improving the safety of the operation, and ensuring the flexibility of the surgical operating arm 10.

[0092] It can be understood that the second link 1012 and the third link 1013 are both arranged between the two rotating joints 103 , that is, the second identification member 2 corresponds to the second link 1012 or the third link 1013 .

[0093] As a preferred solution, two adjacent first identification members 1 and all second identification members 2 located between the two adjacent first identification members 1 are evenly spaced and arranged. The above arrangement can determine whether the sterile bag body 3 is evenly mounted on the surgical operating arm 10 by the approximate distribution of the second identification members 2 and the first identification members 1, thereby reducing the possibility that the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) and the sterile bag body 3 at the other end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) is tightened, thereby avoiding the sterile bag body 3 from being pulled and damaged, and also reducing the obstruction to the rotation of the rotating joint 103, thereby ensuring the flexibility of the surgical operating arm 10.

[0094] Furthermore, an odd number of second identification members 2 are arranged between two adjacent first identification members 1. The second identification member 2 set between two adjacent first identification members 1 and located in the middle is an intermediate identification member, and all the second identification members 2 except the intermediate identification member are auxiliary identification members. The above arrangement can first roughly judge whether the sterile bag body 3 is evenly mounted on the surgical operating arm 10 through the intermediate identification member. If the intermediate identification member is close to one end of the connecting rod, it is considered that the sterile bag body 3 is not evenly mounted on the surgical operating arm 10, which is conducive to reducing the number of second identification members 2 that need to be observed and improving the efficiency of preoperative preparation.

[0095] In this embodiment, the lengths of the second connecting rod 1012 and the third connecting rod 1013 are relatively short. Figure 2-Figure 4 As shown, only one second identification member 2 is provided between two adjacent first identification members 1. It is understandable that there are two second identification members 2. The two second identification members 2 are respectively the middle identification members corresponding to the two connecting rods (the second connecting rod 1012 or the third connecting rod 1013), and no auxiliary identification member is provided.

[0096] In some embodiments, the number of second identification elements 2 disposed between two adjacent first identification elements 1 can be adaptively selected and is not limited herein.

[0097] Like the first identification element 1, the second identification element 2 can be a fluorescent or colored ring structure, and the second identification element 2 is made of soft material. The second identification element 2 can be a ring-shaped polyethylene film, or a fluorescent color ring or a colored ring directly painted on the sterile bag body 3.

[0098] Furthermore, the second identification piece 2 is annular, and the second identification piece 2 is arranged along the circumference of the sterile bag body 3. Through the above arrangement, the second identification piece 2 can be observed in any direction of the sterile bag body 3. When the isolation mechanism is mounted on the surgical operating arm 10, the situation where the second identification piece 2 cannot be observed due to the twisting of the sterile bag body 3 is avoided, and the relative position between the second identification piece 2 and the rotating joint 103 is directly observed. Medical staff do not need to further arrange the sterile bag body 3, thereby improving the efficiency of preoperative preparation.

[0099] In other embodiments, if the lengths of the second connecting rod 1012 and the third connecting rod 1013 are longer, and the number of second identification members 2 set between two adjacent first identification members 1 is not less than three, the three first identification members 1 can be set to three different colors respectively, the two middle identification members can be set to a fourth color, and all auxiliary identification members can be set to a fifth color. The above five colors are different and are not limited here.

[0100] This embodiment also provides a detection device. During the preoperative preparation process, when the surgical operating arm 10 is in an extended state, the detection device is used to detect the set position of the isolation mechanism as described above on the surgical operating arm 10. Figure 3 The extended state shown. Specifically, the detection device includes a collection component and a controller. The collection component is capable of obtaining the position of the first identification component 1. The controller is electrically connected to the collection component. A number of first preset spatial ranges 6 are planned on the surgical robotic arm 10, and the first preset spatial ranges 6 are arranged one-to-one with the first identification components 1. If the isolation mechanism is fitted to a suitable position of the surgical robotic arm 10, each first identification component 1 should be placed in the corresponding first preset spatial range 6. When any first identification component 1 is located outside the corresponding first preset spatial range 6, the controller sends a first prompt signal.

[0101] The detection device provided in this embodiment includes a collection component and a controller. The position of the first identification component 1 is automatically obtained through the collection component, so as to determine whether the sterile bag body 3 is installed in the appropriate position, thereby improving the degree of automation and avoiding the medical staff from manually judging the installation position of the isolation mechanism on the surgical operating arm 10 one by one, simplifying the operation process of preoperative preparation, improving the efficiency of preoperative preparation, and helping to alleviate the fatigue of medical staff, improving the safety of surgery, and avoiding the risk of medical staff accidentally touching the isolation mechanism during the inspection of the isolation mechanism, resulting in contamination of the isolation mechanism or the isolation mechanism falling off, thereby further ensuring the safety of the surgery.

[0102] In this embodiment, when the surgical operating arm 10 is in the extended state, the controller can calculate and determine the position of each link, the position of each rotating joint 103 and the axis of each rotating joint 103 based on the robot kinematics principle and the length, size and angular position (i.e. angular displacement) of each link (first link 1011, second link 1012 and third link 1013), and establish a first preset coordinate system with the midpoint of the axis of the rotating joint 103 as the origin. One of the coordinate axes of the first preset coordinate system coincides with the axis of the corresponding rotating joint 103. The first preset spatial range 6 is a rectangular parallelepiped, Figure 3 The double-dotted line in shows an end face of the first preset spatial range 6, and the geometric midpoint of the first preset spatial range 6 is the origin of the first preset coordinate system. One edge of the first preset spatial range 6 is arranged parallel to the rotation axis of the corresponding rotation joint 103, that is, arranged horizontally.

[0103] It is understandable that the sterile bag body 3 is usually a film made of materials such as polyethylene or TPU, and the elasticity of the sterile bag body 3 is relatively small. In order to facilitate the sleeve on the surgical operating arm 10, the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, so that each structure on the surgical operating arm 10 can enter the sterile bag body 3. Since the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, the width of the first identification member 1 circumferentially arranged on the sterile bag body 3 is also greater than the surgical operating arm 10. Therefore, the width of the first preset space range 6 in the horizontal direction should be as long as possible. Specifically, the horizontal width of the first preset space range 6 is greater than the horizontal width at the corresponding rotating joint 103. Preferably, the horizontal width of the first preset space range 6 is greater than twice the horizontal width at the corresponding rotating joint 103. When the sterile bag body 3 is sleeved to a suitable position on the surgical operating arm 10, it is ensured that the first identification member 1 can fall into the corresponding first preset space range 6.

[0104] It can be understood that, in the present embodiment, three first preset spatial ranges 6 are provided, which are arranged in one-to-one correspondence with the three first identification members 1 .

[0105] In other embodiments, the first preset spatial range 6 may also be determined according to other structures, and the directions of the edges of the first preset spatial range 6 may also be adaptively selected, which are not limited here.

[0106] Among them, the method by which the controller uses the robot kinematics principle to determine the position of the rotating joint 103, the posture of each connecting rod, the axis of each rotating joint 103 and the position of the first preset spatial range 6 can all refer to the existing technology. It is not the protection focus of this embodiment and will not be repeated here.

[0107] Preferably, the acquisition component includes a first acquisition piece 4, which can obtain the position of the first identification piece 1. The first acquisition piece 4 is arranged on the front side wall of the mounting piece 20, that is, the height of the first acquisition piece 4 is higher than the surgical operating arm 10, so that the first acquisition piece 4 can obtain the positions of all the first identification pieces 1 on the same surgical operating arm 10, reducing the possibility that the structure of the surgical operating arm 10 blocks the field of view of the first acquisition piece 4, which is conducive to reducing the number of first acquisition pieces 4, reducing costs, reducing occupied space, and reducing the possibility of interference between the surgical operating arm 10 and the first acquisition piece 4 when moving during the operation, thereby ensuring the safety of the operation.

[0108] In this embodiment, the first acquisition component 4 is an optical tracker, which is arranged in the middle of the front side wall of the mounting component 20. The connection between the first acquisition component 4 and the controller and the principle of the first acquisition component 4 obtaining the position of the first identification component 1 are both prior arts, which are not the focus of this embodiment and will not be described in detail.

[0109] In other embodiments, the first acquisition component 4 may also be a binocular camera or other instruments that can obtain the position of the first identification component 1 .

[0110] Furthermore, the acquisition component also includes a second acquisition component 5, which can obtain the position of the first identification component 1. The first acquisition component 4 and the second acquisition component 5 can jointly obtain the position of the first identification component 1 on the surgical operating arm 10, which improves the reliability of the position result of the first identification component 1, ensures the accuracy of judging whether the sterile bag body 3 is installed in a suitable position through the first identification component 1, reduces the risk of damage to the sterile bag body 3, improves the safety of the operation, and ensures the flexibility of the surgical operating arm 10.

[0111] In this embodiment, the second acquisition component 5 is an optical tracker. The connection between the second acquisition component 5 and the controller and the principle of the second acquisition component 5 obtaining the position of the first identification component 1 are both prior arts, which are not the focus of this embodiment and will not be described in detail.

[0112] In other embodiments, the second acquisition component 5 may also be a binocular camera or other instruments that can obtain the position of the first identification component 1 .

[0113] Preferably, the second acquisition member 5 is provided on at least one side of the surgical trolley 100 along the left-right direction, and the second acquisition member 5 is located in front of the mounting member 20. The second acquisition member 5 has the same height as the first acquisition member 4, and both are higher than the surgical operating arm 10, so that the second acquisition member 5 can obtain the positions of all the first identification members 1 on all the surgical operating arms 10. That is, the height of the second acquisition member 5 is also higher than the surgical operating arm 10. In addition, by arranging the first acquisition member 4 and the second acquisition member 5 at different positions, the position of the first identification member 1 can be obtained from different directions, which avoids the first identification member 1 from being blocked by other structures and cannot be detected, further improves the accuracy of judging whether the sterile bag body 3 is installed in a suitable position by the first identification member 1, reduces the risk of damage to the sterile bag body 3, improves the safety of the operation, and ensures the flexibility of the surgical operating arm 10.

[0114] Since there are four surgical operating arms 10 in this embodiment, when the second acquisition member 5 on the right side of the surgical trolley 100 is used to obtain the position of the first identification member 1 on the surgical operating arm 10 close to the left side, the first identification member 1 on the surgical operating arm 10 close to the left side may be blocked by the structure of other surgical operating arms 10. Preferably, the surgical trolley 100 is provided with second acquisition members 5 on opposite sides along the left and right directions, respectively, and the second acquisition member 5 on the right side of the surgical trolley 100 can be used to obtain the position of the first identification member 1 on the surgical operating arm 10 on the same side. Similarly, the second acquisition member 5 on the left side of the surgical trolley 100 can be used to obtain the position of the first identification member 1 on the surgical operating arm 10 on the same side, thereby avoiding the first identification member 1 on the surgical operating arm 10 from being blocked, further improving the accuracy of judging whether the sterile bag body 3 is installed in a suitable position by the first identification member 1, reducing the risk of damage to the sterile bag body 3, improving the safety of the operation, and ensuring the flexibility of the surgical operating arm 10.

[0115] The surgical robot arm 10 is provided with a plurality of second preset spatial ranges 7, which are arranged one by one with the second identification members 2. Preferably, the acquisition component can obtain the position of the second identification member 2, and when any second identification member 2 is located outside the corresponding second preset spatial range 7, the controller sends a second prompt signal. Furthermore, both the first acquisition member 4 and the second acquisition member 5 can obtain the position of the second identification member 2. When the isolation mechanism is mounted to a suitable position of the surgical robot arm 10, each second identification member 2 should be placed within the corresponding second preset spatial range 7.

[0116] Specifically, the first identification element 1 and the second identification element 2 are optical markers that can be identified and detected by an optical tracker.

[0117] In this embodiment, the surgical operating arm 10 is in the following Figure 3In the extended state shown, according to the positions and lengths of the second link 1012 and the third link 1013 determined in the foregoing text, a number of corresponding points are determined on the second link 1012 and the third link 1013, and a second preset coordinate system is established with the corresponding points as the origin. One of the coordinate axes of the second preset coordinate system is set horizontally. The corresponding points between two adjacent rotation joints 103 are located on the line connecting the midpoints of the axes of the two rotation joints 103. The second preset spatial range 7 is a rectangular parallelepiped, such as Figure 3 The double-dotted line in the middle shows an end face of the second preset spatial range 7. The geometric midpoint of the second preset spatial range 7 is the origin of the second preset coordinate system. One edge of the second preset spatial range 7 is arranged horizontally.

[0118] It is understandable that the sterile bag body 3 is usually a film made of materials such as polyethylene or TPU, and the elasticity of the sterile bag body 3 is relatively small. In order to facilitate the sleeve on the surgical operating arm 10, the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, so that each structure on the surgical operating arm 10 can enter the sterile bag body 3. Since the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, the width of the second identification member 2 circumferentially arranged on the sterile bag body 3 is also greater than the surgical operating arm 10. Therefore, the width of the second preset space range 7 in the horizontal direction should be as long as possible, and it can also avoid the second preset space range 7 from being too large in other directions, resulting in overlap with the first preset space range 6 and other second preset space ranges 7. Specifically, the horizontal width of the second preset space range 7 is greater than the horizontal width of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) at the corresponding corresponding point. Preferably, the horizontal width of the second preset space range 7 is greater than twice the horizontal width of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) at the corresponding corresponding point. When the sterile bag body 3 is mounted on the appropriate position on the surgical operating arm 10, it is ensured that the second identification element 2 can fall into the corresponding second preset space range 7.

[0119] According to the description in the foregoing text that "the second identification member 2 corresponds to the second connecting rod 1012 or the third connecting rod 1013", and "the two adjacent first identification members 1 and all the second identification members 2 located between the two adjacent first identification members 1 are evenly spaced and arranged", the relationship between the second identification member 2 and the corresponding point is described by taking the second connecting rod 1012 as an example. Specifically, the second identification member 2 corresponding to the second connecting rod 1012 has the same number of corresponding points as those on the second connecting rod 1012 and is arranged one-to-one, and the midpoints of the axes of the two rotating joints 103 at both ends of the second connecting rod 1012 are set to be the first midpoint and the second midpoint, respectively. The first midpoint, the second midpoint and all the corresponding points on the second connecting rod 1012 are evenly spaced. Similarly, the relationship between the second identification member and the corresponding point on the third connecting rod 1013 is the same as that of the second connecting rod 1012, and will not be repeated here. It can be understood that in the present embodiment, only one corresponding point is set on each of the second connecting rod 1012 and the third connecting rod 1013.

[0120] In other embodiments, the second preset spatial range 7 may also be determined according to other structures, and the directions of the edges of the second preset spatial range 7 may also be adaptively selected, which is not limited here.

[0121] In this embodiment, the second preset spatial range 7 is spaced apart from the first preset spatial range 6 , and each second preset spatial range 7 is also spaced apart from each other.

[0122] Among them, the method for the controller to determine the position of the corresponding point using the robot kinematics principle and the method for determining the position of the second preset spatial range 7 according to the position of the corresponding point can refer to the existing technology, which is not the protection focus of this embodiment and will not be repeated here.

[0123] Specifically, the detection device also includes an alarm module, which is electrically connected to the controller and can receive a first prompt signal and a second prompt signal. When the alarm module receives the first prompt signal, it sends a first alarm signal; when the alarm module receives the second prompt signal, it sends a second alarm signal. The alarm module can be an audible and visual alarm provided with an indicator light and a speaker.

[0124] In some embodiments, the sound and light alarm may be provided with one, and the sound and light alarm includes a plurality of indicator lights. The first alarm signal may be an indicator light of a first color, or the first alarm signal may be a sound emitted by a speaker; similarly, the second alarm signal may be an indicator light of a second color, the first color and the second color may be the same or different, and the second alarm signal may be a sound emitted by a speaker, which is not limited here.

[0125] In some embodiments, four sound and light alarms may be provided, and the sound and light alarms include a plurality of indicator lights, and one sound and light alarm is provided on each surgical operating arm 10. If a first identification member 1 is located outside the first preset spatial range 6, the first prompt signal includes the position information of the first identification member 1, and the controller can control the first color indicator light of the sound and light alarm on the corresponding surgical operating arm 10 to light up. If a second identification member 2 is located outside the second preset spatial range 7, the second prompt signal includes the position information of the second identification member 2, and the controller can control the second color indicator light of the sound and light alarm on the corresponding surgical operating arm 10 to light up. The first color and the second color may be the same or different.

[0126] Furthermore, the doctor control terminal is provided with a screen, and the screen is in communication connection with the controller. In some embodiments, the doctor control terminal may also receive the first alarm signal and the second alarm signal, and then display the corresponding alarm signal on the screen to prompt the medical staff. The content displayed on the screen of the first alarm signal and the second alarm signal may be the same or different.

[0127] Furthermore, if the controller determines that each first identification component 1 is at least partially located within the corresponding first preset spatial range 6 based on the position structure of the first identification component 1 obtained by the second acquisition component 5 and the first acquisition component 4, and if the controller determines that each second identification component 2 is at least partially located within the corresponding second preset spatial range 7 based on the position structure of the second identification component 2 obtained by the second acquisition component 5 and the first acquisition component 4, the controller can issue a third prompt signal.

[0128] The alarm module can receive the third prompt signal. When the alarm module receives the third prompt signal, it sends out the third alarm signal. If there is one sound and light alarm, the third alarm signal can be a third color indicator light, the third color is different from the first color, and the third color is different from the second color.

[0129] In some embodiments, the doctor's control end can receive the third alarm signal and display relevant information "prompting medical staff to complete the suit position detection of the isolation mechanism" on the screen; or, the doctor's control end can directly receive the third prompt signal and then display the third prompt signal on the screen, prompting medical staff to complete the suit position detection of the isolation mechanism.

[0130] Among them, the connection principle between the alarm module and the controller, the connection principle between the screen and the controller, the specific structure of the alarm module and the principle of the alarm module sending an alarm signal after receiving the prompt signal can all refer to the existing technology. They are not the protection focus of this embodiment and will not be repeated here.

[0131] This embodiment also provides a detection method, which is applied to the detection device described above. Figure 1-Figure 7 As shown, the detection method includes:

[0132] S1, using a collection component to obtain the positions of all first identification elements 1;

[0133] S2. If at least one first identification element 1 is located outside the corresponding first preset space range 6, a first prompt signal is issued.

[0134] The detection method provided in this embodiment automatically obtains the position of the first identification component 1 through the acquisition component, so as to determine whether the sterile bag body 3 is installed in the appropriate position, thereby improving the degree of automation, avoiding the medical staff from manually judging the installation position of the isolation mechanism on the surgical operating arm 10 one by one, simplifying the operation process of preoperative preparation, improving the efficiency of preoperative preparation, and also helping to alleviate the fatigue of medical staff, improving the safety of surgery, and avoiding the risk of medical staff accidentally touching the isolation mechanism during the inspection of the isolation mechanism, resulting in contamination of the isolation mechanism or the isolation mechanism falling off, thereby further ensuring the safety of the surgery.

[0135] In this embodiment, before step S1 , the detection method further includes: step S0 , determining the position of the first preset spatial range 6 .

[0136] The specific process of determining the position of the first preset spatial range 6 has been described above and will not be repeated here.

[0137] It can be understood that before performing step S0 , the surgical operating arm 10 is in an extended state.

[0138] Further, in step S2, the controller is specifically used to determine the relationship between the position of the first identification element 1 and the position of the first preset spatial range 6. If the first identification element 1 is located outside the first preset spatial range 6, it is determined that the first identification element 1 does not fall within the first preset spatial range 6, a first prompt signal is issued, the alarm module issues a first alarm signal, and / or the doctor control terminal displays an alarm signal on the screen.

[0139] Furthermore, step S2 also includes: if all the first identification elements 1 are at least partially located within the corresponding first preset space range 6, then step S3 is performed.

[0140] After step S2, the detection method further comprises:

[0141] S3. Obtain the positions of all second identification elements 2 using a collection component.

[0142] S4. If at least one second identification element 2 is located outside the corresponding second preset space range 7, a second prompt signal is issued.

[0143] Specifically, first perform steps S1 and S2, and then perform steps S3 and S4, that is, first determine whether the first identification member 1 is located at the rotating joint 103 to roughly determine whether the sterile bag body 3 is mounted in the appropriate position of the surgical operating arm 10, and then determine whether the second identification member 2 is located at the corresponding point on the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) to further determine whether the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013), and use the first identification member 1 and the second identification member 2 to jointly determine whether the sterile bag body 3 is located. 3 is installed in a suitable position, and at the same time, it is judged whether the sterile bag body 3 is evenly mounted on the surgical operating arm 10, which avoids the sterile bag body 3 from being too wrinkled and hooked on other structures, and reduces the possibility that the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) and the sterile bag body 3 at the other end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) is tightened, thereby avoiding the sterile bag body 3 from being pulled and damaged, and reducing the obstruction to the rotation of the rotating joint 103, thereby ensuring the flexibility of the surgical operating arm 10.

[0144] Compared with detecting and judging the positions of all the first identification elements 1 and the second identification elements 2 at one time, in the detection method provided in this embodiment, if it is first judged that any first identification element 1 is located outside the corresponding first preset space range 6, it can be judged that the sterile bag body 3 is not installed in the appropriate position, and there is no need to further obtain and judge the position of the second identification element 2. This simplifies the judgment process of step S3, reduces the difficulty of judgment, improves the accuracy of the judgment result, and can quickly and accurately send out a second prompt signal to prompt medical staff that they need to adjust the installation position of the isolation mechanism, which is beneficial to improving the efficiency of preoperative preparation and ensuring the safety of the operation.

[0145] Specifically, in step S1 , the position of the first identification element 1 is acquired by using the first acquisition element 4 .

[0146] In this embodiment, there are three first identification members 1 and two second identification members 2, and one second identification member 2 is arranged between two adjacent first identification members 1, so the first identification members 1 and the second identification members 2 are arranged alternately and spaced along the length direction of the surgical operating arm 10, that is, the first preset spatial range 6 and the second preset spatial range 7 are arranged alternately and spaced along the length direction of the surgical operating arm 10. When the first acquisition member 4 acquires the image of the surgical operating arm 10, for all five identification members (three first identification members 1 and two second identification members 2) on the same surgical operating arm 10, the five identification members are arranged in sequence along the front-to-back direction, and in the direction from front to back, the first, third and fifth identification members are the first identification members 1, and the second and fourth identification members are the second identification members 2. For all five preset spatial ranges (three first preset spatial ranges 6 and two second preset spatial ranges 7) on the same surgical operating arm 10, the five preset spatial ranges are arranged in sequence along the front-to-back direction, and in the direction from front to back, the first, third and fifth preset spatial ranges are the first preset spatial range 6, and the second and fourth preset spatial ranges are the second preset spatial range 7. In summary, the controller can determine whether the identification member is located within the corresponding preset spatial range through the distance between the identification member and the preset spatial range and the mounting member 20 .

[0147] In this embodiment, the five identification elements are distinguished by position. In other embodiments, the five identification elements may also be distinguished by color, which is not limited here.

[0148] In other embodiments, the second acquisition component 5 may also be used to obtain the position of the first identification component 1 in step S1, which is not limited here.

[0149] Preferably, the instrument slide 1014, the first connecting rod 1011, the second connecting rod 1012 and the third connecting rod 1013 are all arranged to be inclined in the vertical direction, so that the first collecting member 4 can distinguish the first identification member 1 and the second identification member 2 according to the relative position in the front-to-back direction, and it is also convenient to distinguish the first preset space range 6 and the second preset space range 7, thereby facilitating the judgment process in the subsequent steps S2 and S4.

[0150] Preferably, step S3 specifically includes: using the first acquisition component 4 to obtain the positions of all the second identification components 2 .

[0151] Step S4 includes:

[0152] S41. If at least one second identification element 2 is located outside the corresponding second preset space range 7, proceed to step S42.

[0153] S42, marking the second identification member 2 located outside the corresponding second preset space range 7 as a deviated structure.

[0154] S43, using the second acquisition component 5 to obtain the positions of all deviation structures.

[0155] S44: If all the deviating structures are located outside the corresponding second preset space range 7, a second prompt signal is issued.

[0156] In other words, the position of the second identification part 2 collected by the first collection part 4 is first used to screen out the deviated structure, and then the position of the deviated structure is collected again by the second collection part 5 and judged to verify whether the position of the deviated structure is outside the corresponding second preset space range 7. If the positions of the deviated structures obtained by the first collection part 4 and the second collection part 5 are both outside the corresponding second preset space range 7, a second prompt signal is issued to remind the medical staff to adjust the position of the sterile bag. The above setting realizes two judgments based on the positions of the deviated structures collected twice by the second collection part 5 and the first collection part 4, respectively, avoiding the influence of the setting position and angle of the second collection part 5 and the first collection part 4 on the accuracy of the judgment of the deviated structure position, and also reducing the influence of the second collection part 5 or the first collection part 4 on the accuracy of the judgment of the deviated structure position when the second collection part 5 or the first collection part 4 fails, improving the accuracy of the judgment of the deviated structure position, avoiding increasing the number of times the medical staff adjusts the isolation mechanism, and helping to speed up the efficiency of preoperative preparation.

[0157] Step S41 also includes: if all the second identification elements 2 are at least partially located within the corresponding second preset space range 7, a third prompt signal is issued.

[0158] Preferably, step S44 further comprises: if at least one deviation structure is at least partially located within the corresponding second preset spatial range 7, performing step S45.

[0159] Step S4 also includes:

[0160] S45, using the first acquisition component 4 and the second acquisition component 5 to acquire the positions of all deviation structures;

[0161] S46. If the positions of all the deviated structures acquired by the first acquisition component 4 are at least partially located within the corresponding second preset spatial range 7, and the positions of all the deviated structures acquired by the second acquisition component 5 are at least partially located within the corresponding second preset spatial range 7, a third prompt signal is issued; if at least one of the positions of all the deviated structures acquired by the first acquisition component 4 is located outside the corresponding second preset spatial range 7, or at least one of the positions of all the deviated structures acquired by the second acquisition component 5 is located outside the corresponding second preset spatial range 7, a second prompt signal is issued.

[0162] That is, in step S44, if the collection results of the first collection piece 4 and the second collection piece 5 for the position of the deviated structure are different, then step S45 is performed. In step S45 and step S46, the first collection piece 4 and the second collection piece 5 are used again to simultaneously obtain the positions of all the deviated structures, and then the controller is used to judge the positions of all the deviated structures obtained by the first collection piece 4 and the positions of all the deviated structures obtained by the second collection piece 5 again. Regardless of whether the collection results of the first collection piece 4 and the second collection piece 5 for the position of the deviated structure are the same, if the judgment result is still that at least one position of the deviated structure deviates from the second preset space range 7, then it is determined that the sterile bag body 3 is stacked at one end of the second connecting rod 1012 or the third connecting rod 1013, and a second prompt signal is issued to prompt the medical staff to adjust the position of the sterile bag body 3. The above arrangement reduces the possibility that the first collecting component 4 and the second collecting component 5 may have different judgment results due to temporary external interference during steps S3, S41, S42, S43 and S44, improves the accuracy of the first collecting component 4 and the second collecting component 5 in judging the deviation from the structural position, avoids increasing the number of times that medical staff adjust the isolation mechanism, and is conducive to speeding up the efficiency of preoperative preparation.

[0163] In some embodiments, the detection method can gradually detect and judge the first identification member 1 and the second identification member 2 in the isolation mechanism on all surgical operating arms 10. In some embodiments, the detection method can also gradually detect and judge the first identification member 1 and the second identification member 2 mounted on the isolation mechanism of one surgical operating arm 10, and then repeat steps S0 to S4 until the mounting position of the isolation mechanism on all surgical operating arms 10 is detected.

[0164] Embodiment 2

[0165] This embodiment provides an isolation mechanism, a detection device and a detection method. The structures of the surgical robot, the isolation mechanism and the detection device in this embodiment are basically the same as those in the first embodiment, and only the detection method is different. This embodiment will not repeat the same structure.

[0166] In this embodiment, if Figure 1-Figure 8 As shown, an odd number of second identification elements 2 are arranged between two adjacent first identification elements 1. The second identification element 2 set between two adjacent first identification elements 1 and located in the middle is a middle identification element.

[0167] Step S2 also includes: if all the first identification elements 1 are at least partially located within the corresponding first preset space range 6, then step S30 is performed.

[0168] Testing methods also include:

[0169] S30, using the acquisition component to obtain the positions of all intermediate identification components;

[0170] S40: If at least one intermediate identification element is located outside the corresponding second preset space range 7, a second prompt signal is issued.

[0171] Specifically, in step S30, the position of the intermediate identification component can be obtained by using the first acquisition component 4, or by using the second acquisition component 5, or by using both the first acquisition component 4 and the second acquisition component 5, without specific limitation.

[0172] First, perform steps S1 and S2, and then perform steps S30 and S40, that is, first determine whether the first identification member 1 is located at the rotating joint 103 to roughly determine whether the sterile bag body 3 is mounted in the appropriate position of the surgical operating arm 10, and then determine whether the second identification member 2 is located at the corresponding point on the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) to further determine whether the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013). The first identification member 1 and the second identification member 2 are used to jointly determine whether the sterile bag body 3 is installed in the appropriate position. When judging whether the sterile bag body 3 is evenly mounted on the surgical operating arm 10, it is avoided that the sterile bag body 3 on the surgical operating arm 10 has too many wrinkles and is hooked on the protruding structure or other structures on the surgical operating arm 10. It also reduces the possibility that the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) and the sterile bag body 3 at the other end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) is tightened, thereby avoiding the sterile bag body 3 from being pulled and damaged, reducing the resistance to the rotation of the rotating joint 103, and ensuring the flexibility of the surgical operating arm 10.

[0173] Compared with detecting and judging the positions of all the first identification pieces 1 and the second identification pieces 2 at one time, the detection method provided in this embodiment can judge that the sterile bag body 3 is not installed in the proper position when it is first judged that the first identification piece 1 is located outside the corresponding first preset space range 6. There is no need to further obtain and judge the position of the second identification piece 2, which simplifies the detection process and can send out the first prompt signal as soon as possible to prompt medical staff that they need to adjust the installation position of the isolation mechanism, which is beneficial to improve the efficiency of preoperative preparation and ensure the safety of the operation.

[0174] In addition, by the position of the intermediate identification piece, it is possible to roughly determine whether the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013). The number of second identification pieces 2 whose positions need to be acquired in steps S30 and S40 is relatively small, which is conducive to improving the efficiency of the detection process and thus improving the efficiency of preoperative preparation.

[0175] Furthermore, in this embodiment, the number of second identification members 2 disposed between two adjacent first identification members 1 is greater than or equal to three, and all the second identification members 2 disposed between two adjacent first identification members 1 and excluding the intermediate identification member are auxiliary identification members. It is understandable that, in other embodiments, only one second identification member 2 may be disposed between two adjacent first identification members 1, and this second identification member 2 is the intermediate identification member.

[0176] Step S40 further includes: if all the intermediate identification elements are at least partially located within the corresponding second preset space range 7, proceeding to step S50;

[0177] Testing methods also include:

[0178] S50: Using the acquisition component to obtain the positions of all auxiliary identification components.

[0179] S60: If at least one auxiliary identification element is located outside the corresponding second preset space range 7, a second prompt signal is issued.

[0180] Specifically, in step S50, the position of the auxiliary identification component can be obtained by using the first acquisition component 4, or the position of the auxiliary identification component can be obtained by using the second acquisition component 5, or the position of the auxiliary identification component can be obtained by using the first acquisition component 4 and the second acquisition component 5 together, without specific limitation.

[0181] First, perform steps S30 and S40, and then perform steps S50 and S60, that is, first, by judging the position of the intermediate identification member, roughly judge whether the sterile bag body 3 is stacked on one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013), and then by judging the position of the auxiliary identification member, further judge whether the sterile bag body 3 is evenly mounted on the connecting rod (the second connecting rod 1012 or the third connecting rod 1013). The intermediate identification member and the auxiliary identification member are used to judge whether the sterile bag body 3 is evenly mounted. On the surgical operating arm 10, it is prevented that the sterile bag body 3 at one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) has too many wrinkles and gets hooked on the protruding structure or other structures on the surgical operating arm 10, and the possibility of the sterile bag body 3 at the other end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013) being tightened is reduced, thereby preventing the sterile bag body 3 from being pulled and damaged, and reducing the resistance to the rotation of the rotating joint 103, thereby ensuring the flexibility of the surgical operating arm 10.

[0182] In addition, compared with detecting and judging the positions of all the second identification elements 2 at one time in step S30, the detection method provided in this embodiment first determines that the intermediate identification element is not in the middle part of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013), and can judge that the sterile bag body 3 is stacked at one end of the connecting rod (the second connecting rod 1012 or the third connecting rod 1013). There is no need to further obtain and judge the position of the auxiliary identification element, which simplifies the judgment process of step S30, reduces the difficulty of judgment, and improves the accuracy of the judgment result. It can quickly and accurately send out a second prompt signal to prompt medical staff to adjust the set position of the isolation mechanism, which is beneficial to improve the efficiency of preoperative preparation and ensure the safety of the operation.

[0183] Embodiment 3

[0184] This embodiment provides an isolation mechanism, a detection device and a detection method. The structures of the surgical robot, the isolation mechanism and the detection device in this embodiment are basically the same as those in the first embodiment, and only the detection method is different. This embodiment will not repeat the same structure.

[0185] like Figure 1-Figure 5 As shown, step S0 also includes: determining the position of the second preset spatial range 7.

[0186] The specific process of determining the position of the second preset spatial range 7 has been described above and will not be repeated here.

[0187] It is understandable that, since the width of the sterile bag body 3 is relatively large, the widths of the first identification member 1 and the second identification member 2 provided on the sterile bag body 3 are also relatively large. If the sterile bag body 3 is tilted and mounted on the surgical operating arm 10, the first identification member 1 may be partially located within the second preset space range 7, and the second identification member 2 may also be partially located within the first preset space range 6.

[0188] Step S2 specifically includes:

[0189] If at least one first identification element 1 is located outside the corresponding first preset space range 6, or at least one first identification element 1 is at least partially located within the second preset space range 7, a first prompt signal is issued;

[0190] If all the first identification elements 1 are at least partially located within the corresponding first preset spatial range 6 and all the first identification elements 1 are located outside the second preset spatial range 7, step S3 is performed.

[0191] By judging whether the first identification element 1 is located within the second preset space range 7 , it is possible to prevent the sterile bag body 3 from being tiltedly mounted on the surgical operating arm 10 , thereby ensuring the flexibility of the surgical operating arm 10 .

[0192] Similarly, step S46 includes:

[0193] If the positions of all deviated structures acquired by the first acquisition component 4 are at least partially located within the corresponding second preset spatial range 7, and the positions of all deviated structures acquired by the second acquisition component 5 are at least partially located within the corresponding second preset spatial range 7, then step S47 is performed:

[0194] S47, using the acquisition component to obtain the positions of all second identification elements 2;

[0195] S48. If at least one second identification element 2 is at least partially located within the first preset spatial range 6, a second prompt signal is issued; if all second identification elements 2 are partially located outside the first preset spatial range 6, a third prompt signal is issued.

[0196] Embodiment 4

[0197] This embodiment provides an isolation mechanism, a detection device and a detection method. The structure of the surgical robot, the detection device and the detection method in this embodiment are basically the same as those in Embodiment 1 and Embodiment 2, and only the isolation mechanism is different. This embodiment will not repeat the same structure.

[0198] like Figure 1-Figure 10 As shown, according to the above description, the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, so that each structure on the surgical operating arm 10 can enter the sterile bag body 3. Figure 9-10 As shown, as a preferred solution, the isolation mechanism also includes an elastic tightening member 8, which is arranged on the sterile bag body 3 and extends along the circumference of the sterile bag body 3. When the sterile bag body 3 is mounted on the surgical operating arm 10, the tightening member 8 can tighten and fix the sterile bag body 3 on the surgical operating arm 10 by using its own elastic restoring force. When the surgical operating arm 10 moves, the relative sliding of the sterile bag body 3 and the surgical operating arm 10 is avoided, the possibility of the sterile bag body 3 being tightened at the rotating joint 103 is reduced, the flexibility of the surgical operating arm 10 is ensured, and the risk of damage to the sterile bag body 3 is also reduced; moreover, due to the elastic restoring force of the tightening member 8, the volume of the sterile bag body 3 at the tightening member 8 is also reduced, the possibility of the sterile bag body 3 being hooked on other structures is reduced, and the risk of damage to the sterile bag body 3 is further reduced. Specifically, the tightening member 8 can be fixedly bonded to the sterile bag body 3 through an adhesive layer.

[0199] Preferably, the tightening piece 8 is spaced apart from the rotating joint 103, thereby preventing the tightening piece 8 from obstructing the rotation of the surgical operating arm 10 at the rotating joint 103, ensuring the flexibility of the surgical operating arm 10, reducing the possibility of the sterile bag body 3 being drawn into the rotating joint along with the tightening piece 8, and further reducing the risk of damage to the sterile bag body 3.

[0200] In this embodiment, the tightening member 8 is annular, and the tightening member 8 is arranged along the circumference of the sterile bag body 3. In some other embodiments, the tightening member 8 includes a plurality of elastic segments, and the plurality of elastic segments are arranged at intervals along the circumference of the sterile bag body 3. In other embodiments, the tightening member 8 can also be replaced by a structure such as an adhesive tape or a cable tie, and the sterile bag body 3 is tightened and fixed on the surgical operating arm 10 by wrapping the adhesive tape around it, or the sterile bag body 3 is directly tightened and fixed on the surgical operating arm 10 by a cable tie.

[0201] It is understandable that, since the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, the width of the second identification member 2 circumferentially arranged on the sterile bag body 3 is also greater than the surgical operating arm 10. As a preferred solution, the tightening member 8 is arranged opposite to the second identification member 2, so that the second identification member 2 is fixed to the surgical operating arm 10 by the tightening member 8. When the surgical operating arm 10 moves, the second identification member 2 is prevented from moving relative to the surgical operating arm 10, ensuring that the second identification member 2 is always in an accurate position. In addition, due to the elastic restoring force of the tightening member 8, the volume of the second identification member 2 at the tightening member 8 is also reduced, avoiding the possibility of the second identification member 2 overlapping with other second identification members 2 or the first identification member 1, thereby improving the accuracy of using the second identification member 2 to judge whether the sterile bag body 3 is installed in a suitable position and whether the sterile bag body 3 is evenly mounted on the second connecting rod 1012 or the third connecting rod 1013.

[0202] Preferably, the tightening member 8 is located on the inner side of the sterile bag body 3, so as to avoid the tightening member 8 being arranged on the outer side of the second identification member 2 and thus blocking the second identification member 2, thereby ensuring that the second identification member 2 can be accurately identified, and improving the accuracy of using the second identification member 2 to judge whether the sterile bag body 3 is installed in a suitable position and whether the sterile bag body 3 is evenly fitted on the second connecting rod 1012 or the third connecting rod 1013. Further preferably, the tightening member 8 is made of rubber material, which has good durability, and the friction force generated between the rubber and the surgical operating arm 10 is large, further reducing the risk of the tightening member 8 sliding relative to the surgical operating arm 10.

[0203] In a natural state, the circumference of the tightening member 8 is smaller than the circumference of the second connecting rod 1012 or the third connecting rod 1013. When the tightening member 8 is sleeved on the second connecting rod 1012 or the third connecting rod 1013, the tightening member 8 is in a stretched state.

[0204] In this embodiment, along the axial direction of the second connecting rod 1012 or the third connecting rod 1013, the size of the tightening member 8 is smaller than the size of the second identification member 2, so that the tightening member 8 can be completely covered by the corresponding second identification member 2, thereby avoiding the tightening member 8 being too wide and affecting the position accuracy of the obtained second identification member 2.

[0205] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An isolation mechanism, characterized in that: include: The sterile bag body is used to be put on the surgical operating arm; A plurality of first identification members are arranged on the sterile bag body. When the sterile bag body is configured to be sleeved on the surgical operating arm, each of the first identification members is arranged opposite to a rotating joint on the surgical operating arm.

2. The isolation mechanism according to claim 1, characterized in that: The isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members.

3. The isolation mechanism according to claim 2, characterized in that: Two adjacent first identification members and all the second identification members between the two adjacent first identification members are evenly spaced; and / or, The second identification piece is ring-shaped and is arranged along the circumference of the sterile bag body.

4. The isolation mechanism according to claim 2, characterized in that: Two adjacent first identification members and all the second identification members located between the two adjacent first identification members are evenly spaced and arranged, and an odd number of the second identification members are arranged between two adjacent first identification members.

5. The isolation mechanism according to any one of claims 1 to 4, characterized in that: The first identification piece is ring-shaped and is arranged along the circumference of the sterile bag body.

6. A detection device for detecting the installation position of the isolation mechanism according to any one of claims 1 to 5 on the surgical operating arm, characterized in that: include: A collection component capable of acquiring the position of the first identification element; A controller is electrically connected to the collection component, and the controller is configured to send a first prompt signal when any of the first identification elements is located outside the corresponding first preset space range.

7. The detection device according to claim 6, characterized in that: The operating trolley comprises a mounting member and the operating arm, wherein the mounting member is arranged on the top of the operating trolley, one end of the operating arm is mounted on the bottom of the mounting member, and the other end of the operating arm extends forward to the front side of the mounting member; The collecting component comprises a first collecting member, the first collecting member can obtain the position of the first identification member, and the first collecting member is arranged on the front side wall of the mounting member.

8. The detection device according to claim 7, characterized in that: The acquisition component further includes a second acquisition component, and the second acquisition component is capable of acquiring the position of the first identification component; The second collecting member is provided on at least one side of the operating trolley in the left-right direction, the second collecting member is located in front of the mounting member, and the second collecting member has the same height as the first collecting member.

9. The detection device according to claim 8, characterized in that: The second collecting parts are arranged on opposite sides of the operating table vehicle along the left-right direction.

10. The detection device according to claim 6, characterized in that: The isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members; The acquisition component is capable of acquiring the position of the second identification element, and the controller is configured to send a second prompt signal when any of the second identification elements is located outside the corresponding second preset spatial range.

11. A detection method, applied to the detection device according to any one of claims 6 to 10, characterized in that: include: S1, using a collection component to obtain positions of all first identification elements; S2. If at least one of the first identification elements is located outside the corresponding first preset space range, a first prompt signal is issued.

12. The detection method according to claim 11, characterized in that: The isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, and at least one second identification member is arranged between two adjacent first identification members; Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceeding to step S3; The detection method further comprises: S3, using a collection component to obtain the positions of all the second identification elements; S4. If at least one of the second identification elements is located outside the corresponding second preset space range, a second prompt signal is issued.

13. The detection method according to claim 11, characterized in that: The collecting component comprises a first collecting piece and a second collecting piece, and both the first collecting piece and the second collecting piece are capable of obtaining the position of the second identification piece; In step S3, it specifically includes: using the first acquisition element to obtain the positions of all the second identification elements; Step S4 includes: S41, if at least one of the second identification elements is located outside the corresponding second preset space range, proceed to step S42; S42, marking the second identification member located outside the corresponding second preset space range as a deviated structure; S43, using the second acquisition component to acquire positions of all the deviated structures; S44: If all of the deviating structures are located outside the corresponding second preset space range, the second prompt signal is issued.

14. The detection method according to claim 13, characterized in that: The step S44 further includes: if at least one of the deviating structures is at least partially located within the corresponding second preset space range, proceeding to step S45; Step S4 also includes: S45, using the first acquisition component and the second acquisition component to acquire positions of all the deviated structures; S46: If the positions of all the deviated structures acquired by the first acquisition component and the second acquisition component are at least partially located within the corresponding second preset space range, a third prompt signal is issued; otherwise, the second prompt signal is issued.

15. The detection method according to claim 11, characterized in that: The isolation mechanism further includes a plurality of second identification members, which are arranged on the sterile bag body, at least one second identification member is arranged between two adjacent first identification members, two adjacent first identification members and all the second identification members between the two adjacent first identification members are arranged evenly spaced, an odd number of the second identification members are arranged between two adjacent first identification members, and the second identification member located between two adjacent first identification members and in the middle is a middle identification member; Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceeding to step S30; The detection method further comprises: S30, using the acquisition component to obtain the positions of all intermediate identification components; S40: If at least one of the intermediate identification components is located outside the corresponding second preset spatial range, a second prompt signal is issued.

16. The detection method according to claim 15, characterized in that: The number of the second identification members arranged between two adjacent first identification members is greater than or equal to three, and all the second identification members arranged between two adjacent first identification members except the intermediate identification member are auxiliary identification members; Step S40 further includes: if all the intermediate identification elements are at least partially located within the corresponding second preset space range, proceeding to step S50; The detection method further comprises: S50, using a collection component to obtain the positions of all the auxiliary identification components; S60: If at least one of the auxiliary identification elements is located outside the corresponding second preset spatial range, the second prompt signal is issued.

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