Isolation facilities, testing equipment and testing methods

Abstract

This invention relates to the field of surgical robot technology, and discloses an isolation mechanism, a detection device, and a detection method. The isolation mechanism includes a sterile bag body and several first identification elements. The sterile bag body is used to be fitted onto a surgical operating arm; the first identification elements are disposed on the sterile bag body, and when the sterile bag body is configured to be fitted onto the surgical operating arm, each first identification element is directly opposite a rotating joint on the surgical operating arm. This invention improves preoperative preparation efficiency and reduces the difficulty of determining whether the sterile bag is fitted into the appropriate position, ensuring surgical safety and the durability of the surgical robot.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, and in particular to an isolation mechanism, a detection device, and a detection method. Background Technology

[0002] Surgical robots are widely used in the medical field. During surgery, the surgical space needs to be a sterile environment. However, the surgical arms and other parts of the surgical cart are not easily disassembled for cleaning. Therefore, a sterile cover is usually used to cover the surgical arms during preoperative preparation. This serves two purposes: firstly, it isolates bacteria, preventing harm to the patient and improving surgical safety; secondly, it prevents the surgical arms and other parts from coming into contact with liquids or substances generated during surgery, ensuring the durability of the surgical robot.

[0003] In existing technologies, sterile bags are typically made of transparent, thin, and flexible materials such as polyethylene film. Their poor elasticity makes them prone to tearing or detachment due to stretching, thus compromising the sterile environment of the surgery, affecting surgical safety, and impacting the durability of the surgical robot. Furthermore, during preoperative preparation, medical staff manually place the sterile bags onto the surgical arm. After placement, they manually check each bag to ensure it is properly positioned, resulting in low efficiency. The transparent material of the sterile bags increases the difficulty of this assessment, and subjective factors significantly influence the results, compromising the sterile bag's effectiveness in isolating bacteria and affecting surgical safety and the durability of the surgical robot.

[0004] Therefore, there is an urgent need for an isolation mechanism, a detection device, and a detection method to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this 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 determining the appropriate position of the sterile bag, and ensure surgical safety and the durability of the surgical robot.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] Quarantine facilities, including:

[0008] The sterile bag body is used to be fitted onto the surgical arm;

[0009] A plurality of first identification elements are disposed on the sterile bag body, wherein when the sterile bag body is configured to be fitted onto the surgical operating arm, each of the first identification elements is positioned directly opposite a rotating joint on the surgical operating arm.

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

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

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

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

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

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

[0016] The acquisition component is capable of obtaining the position of the first identification element;

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

[0018] As an optional technical solution for the detection device, the operating trolley includes a mounting component and the surgical operating arm. The mounting component is disposed on the top of the operating trolley, one end of the surgical operating arm is mounted on the bottom of the mounting component, and the other end of the surgical operating arm extends forward to the front side of the mounting component.

[0019] The acquisition component includes a first acquisition element, which is capable of acquiring the position of the first identification element, and the first acquisition element is disposed on the front sidewall of the mounting component.

[0020] As an optional technical solution for the detection device, the acquisition component further includes a second acquisition element, which is capable of acquiring the position of the first identification element;

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

[0022] As an optional technical solution for the detection device, the second acquisition element is provided on both opposite sides of the operating table in the left-right direction.

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

[0024] The acquisition component can obtain the position of the second identification element, and the controller is configured to issue 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 apparatus described above, includes:

[0026] S1. Use the acquisition component to obtain the 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 for the detection method, the isolation mechanism further includes a plurality of second identification elements, which are disposed on the sterile bag body, and at least one second identification element is disposed between two adjacent first identification elements;

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

[0030] The detection method further includes:

[0031] S3. Use the acquisition component to obtain the positions of all the second identification components;

[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 for the detection method, the acquisition component includes a first acquisition element and a second acquisition element, both of which are capable of acquiring the position of the second identification element;

[0034] Step S3 specifically includes: using the first acquisition device to obtain the positions of all the second identification devices;

[0035] Step S4 includes:

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

[0037] S42. The second identification element marked as being located outside the corresponding second preset spatial range is an offset structure;

[0038] S43. Use the second acquisition device to obtain the positions of all the deviation structures;

[0039] S44. If all the aforementioned deviation structures are located outside the corresponding second preset space range, then issue the second prompt signal.

[0040] As an optional technical solution for the detection method, step S44 further includes: if at least one of the deviation structures is at least partially located within the corresponding second preset spatial range, then proceed to step S45;

[0041] Step S4 also includes:

[0042] S45. Use the first acquisition device and the second acquisition device to obtain the positions of all the deviation structures;

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

[0044] As an optional technical solution for the detection method, the isolation mechanism further includes a plurality of second identification elements. The second identification elements are disposed on the sterile bag body. At least one second identification element is disposed between two adjacent first identification elements. Two adjacent first identification elements and all the second identification elements located between the two adjacent first identification elements are evenly spaced. An odd number of second identification elements are disposed between two adjacent first identification elements. The second identification element located between two adjacent first identification elements and in the middle is the middle identification element.

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

[0046] The detection method further includes:

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

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

[0049] As an optional technical solution for the detection method, the number of second identification elements set between two adjacent first identification elements is greater than or equal to three, and all the other second identification elements set between two adjacent first identification elements except for the intermediate identification element are auxiliary identification elements;

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

[0051] The detection method further includes:

[0052] S50. Use the acquisition component to obtain the position of all the auxiliary identification components;

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

[0054] The beneficial effects of this invention are:

[0055] The isolation mechanism provided by this invention includes a sterile bag body and a first identification component. The first identification component determines whether the sterile bag body is installed in the appropriate position, simplifying the preoperative preparation process, improving efficiency, reducing fatigue among medical staff, and preventing the surgical arm from being inserted too shortly into the sterile bag body. This ensures a sufficiently long surgical arm within the sterile bag body, reducing the possibility of patient infection from bacteria on the surgical arm, ensuring surgical safety, extending the lifespan of the surgical arm, and preventing wrinkles in the sterile bag body on the surgical arm. Excessive wrinkles that snag on the protruding structures of the surgical arm or get caught in the rotating joint reduce the risk of damage to the sterile bag itself, improve its durability, and thus ensure the sterilization function of the isolation mechanism, improving surgical safety. They also reduce obstruction to the rotation of the rotating joint, ensuring the flexibility of the surgical arm. Furthermore, they prevent the surgical arm from extending too far into the sterile bag, reducing the possibility of the sterile bag becoming taut at the rotating joint, further ensuring the joint can rotate flexibly during surgery, improving the flexibility of the surgical arm, and guaranteeing surgical safety.

[0056] The detection device provided by this invention includes a data acquisition component and a controller. The data acquisition component automatically acquires the position of the first identification element, thereby determining whether the sterile bag body is properly fitted. This improves the level of automation, avoids medical staff manually judging the fitting position of the isolation mechanism on the surgical operating arm one by one, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and also helps to alleviate the fatigue of medical staff, improves the safety of the surgery, and avoids the risk of medical staff accidentally touching the isolation mechanism during the inspection process, resulting in contamination of the isolation mechanism or the isolation mechanism falling off, further ensuring the safety of the surgery.

[0057] The detection method provided by this invention automatically acquires the position of the first identification component through a data acquisition component, thereby determining whether the sterile bag body is properly fitted into the correct position. This improves the level of automation, avoids medical staff manually judging the fitting position of the isolation mechanism on the surgical operating arm one by one, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, helps alleviate the fatigue of medical staff, improves the safety of the surgery, and avoids the risk of medical staff accidentally touching the isolation mechanism during the inspection process, leading to contamination of the isolation mechanism or the isolation mechanism falling off, further ensuring the safety of the surgery. Attached Figure Description

[0058] Figure 1 This is a schematic diagram of the structure of the operating table cart provided in Embodiment 1 of the present invention;

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

[0060] Figure 3 This is a schematic diagram of the structure of the isolation mechanism provided in Embodiment 1 of the present invention mounted on the surgical operating arm in an extended state;

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

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

[0063] Figure 6 This is a flowchart of the main steps of the detection method provided in Embodiment 1 of the present invention;

[0064] Figure 7 This is a detailed flowchart of the detection method provided in Embodiment 1 of the present invention;

[0065] Figure 8 This is a flowchart of the detection method provided in Embodiment 2 of the present invention;

[0066] Figure 9 This is a schematic diagram of the structure of the isolation mechanism provided in Embodiment 4 of the present invention mounted on the surgical operating arm in an extended state;

[0067] Figure 10 yes Figure 9 A sectional view.

[0068] In the picture:

[0069] 100. Operating table; 10. Surgical operating arm; 101. Active arm; 1011. First link; 1012. Second link; 1013. Third link; 1014. Instrument slide; 102. Passive arm; 103. Rotation joint; 20. Mounting components;

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

[0071] 4. First acquisition component; 5. Second acquisition component; 6. First preset spatial range; 7. Second preset spatial range; 8. Tightening component. Detailed Implementation

[0072] 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 with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0073] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0074] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0075] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0076] Example 1

[0077] Typically, a surgical robot includes a surgeon's control unit and a patient's surgical unit. The patient's surgical unit includes, for example,... Figure 1 The surgical cart 100 and surgical operating arm 10 are shown. The surgical cart 100 is mounted on a 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 to the front side of the mounting member 20.

[0078] In this embodiment, four surgical operating arms 10 are provided, arranged in a left-right direction. It is worth noting that the directional descriptions of front, back, left, and right mentioned in this embodiment are based on the operating table 100 in its normal operating state. Both the front-back and left-right directions are horizontally arranged, with the front-back direction perpendicular to the left-right direction. The patient is positioned in front of the operating table 100, and the side of the operating table 100 furthest from the patient is considered the rear side.

[0079] Furthermore, such as Figures 1-7 As shown, the surgical operating arm 10 includes an active arm 101 and a passive arm 102, with the passive arm 102 connected between the active arm 101 and the mounting component 20. The active arm 101 includes an instrument slide 1014, a first link 1011, a second link 1012, and a third link 1013. The active arm 101 also includes a rotary joint 103. Both ends of the third link 1013 are rotatably connected to the instrument slide 1014 and the second link 1012 respectively via the rotary joint 103. The end of the second link 1012 furthest from the third link 1013 is rotatably connected to the first link 1011 via the rotary joint 103. A drive seat is provided on the instrument slide 1014 for mounting surgical instruments. The first link 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 horizontal. In other embodiments, the axes of the rotating joints 103 may be in other directions, which are not limited here.

[0081] Other structures of the mounting component 20, the passive arm 102, and the surgical operating arm 10 can refer to existing technologies and are not the focus of protection in this embodiment, so they 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 fitted onto the surgical operating arm 10 to ensure a sterile surgical environment.

[0083] Specifically, such as Figures 1-5 As shown, the isolation mechanism includes a sterile bag body 3 and several first identification elements 1. The sterile bag body 3 is used to fit onto the surgical operating arm 10. Specifically, the sterile bag body 3 is configured as a cylinder with one open end. The surgical operating arm 10 can extend into the sterile bag body 3 through the open end, and the open end of the sterile bag body 3 can extend to the passive arm 102 and be fixed to the passive arm 102 by means of ropes, cable ties, or tape, ensuring a fixed connection between the sterile bag body 3 and the surgical operating arm 10. Preferably, the isolation mechanism also includes several first identification elements 1. The first identification elements 1 are disposed on the sterile bag body 3. When the sterile bag body 3 is fitted onto the surgical operating arm 10, each first identification element 1 is positioned directly 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 element 1. The first identification element 1 reduces the difficulty of determining whether the sterile bag body 3 is installed in the appropriate position, reduces the influence of subjective factors on the judgment structure, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and helps alleviate the fatigue of medical staff. Furthermore, it ensures that a sufficiently long surgical operating arm 10 is placed inside the sterile bag body 3, reducing the possibility of patient infection by bacteria on the surgical operating arm 10, ensuring the safety of the surgery and the service life of the surgical operating arm 10, while also avoiding excessive wrinkles in the sterile bag body 3. By hooking onto other structures or being rolled into the rotating joint 103, the risk of damage to the sterile bag body 3 is reduced, and the durability of the sterile bag body 3 is improved, thus ensuring the sterilization function of the isolation mechanism, improving the safety of the operation, and reducing the obstruction to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10. On the other hand, it also avoids the surgical operating arm 10 extending too far into the sterile bag body 3, reducing the possibility of the sterile bag body 3 becoming tight at the rotating joint 103, further ensuring that the rotating joint 103 can rotate flexibly during the operation, improving the flexibility of the surgical operating arm 10, and ensuring the safety of the operation.

[0085] During preoperative preparation, the active arm 101 of the surgical operating arm 10 is typically positioned in front of the mounting component 20, and the active arm 101 is adjusted to facilitate the extension of the isolation mechanism. For example... Figure 3 The active arm 101 shown is in an extended state, as... Figure 4 The active arm 101 shown is in its working state. The instrument slide 1014, first link 1011, second link 1012, and third link 1013 of the active arm 101 all extend approximately along the length of the surgical arm 10. The included angles between adjacent structures of the instrument slide 1014, third link 1013, second link 1012, and first link 1011 are obtuse angles, reducing the spatial overlap between adjacent structures and preventing the surgical arm 10 from folding within the sterile bag body 3, thus reducing the possibility of the sterile bag body 3 becoming taut due to the extension of the surgical arm 10 during surgery.

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

[0087] Specifically, the sterile bag body 3 is fixed to the instrument slide 1014 by a fixing structure. In some embodiments, the fixing structure includes a drive seat adapter. The drive seat adapter is connected to the position of the sterile bag body 3 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 fixing structure includes a trocar adapter. The trocar adapter is connected to the end of the sterile bag body 3 opposite to the end of the instrument slide 1014, and the trocar 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 fixing structure includes both a drive seat adapter and a trocar adapter. The connection positions of the drive seat adapter and the trocar adapter to the instrument slide 1014 can refer to the prior art and will not be described in detail here.

[0088] Preferably, the number of first identification elements 1 is the same as the number of rotating joints 103 on the surgical operating arm 10. All first identification elements 1 are configured in a one-to-one correspondence with all rotating joints 103 on the surgical operating arm 10. The large number of first identification elements 1 further ensures that the sterile bag body 3 can be installed in the appropriate position. In this embodiment, a total of three rotating joints 103 are provided, therefore, three first identification elements 1 are provided.

[0089] Furthermore, the first identification element 1 is annular and is arranged circumferentially along the sterile bag body 3. This arrangement ensures that the first identification element 1 can be observed from any direction on the sterile bag body 3. When the isolation mechanism is fitted onto the surgical operating arm 10, it prevents the first identification element 1 from being obscured due to twisting of the sterile bag body 3, facilitating direct observation of the relative position between the first identification element 1 and the rotating joint 103. Medical staff do not need to further adjust the sterile bag body 3, thus improving the efficiency of preoperative preparation.

[0090] In this embodiment, the first identification element 1 can be a fluorescent or colored ring structure. The first identification element 1 is also made of a soft material. Preferably, the first identification element 1 can be a polyethylene film. The first identification element 1 is fluorescent or colored, and its lightweight nature prevents it from pulling downwards on the sterile bag body 3, reducing the risk of the sterile bag body 3 getting caught on the protruding structure of the surgical operating arm 10 or getting caught in the rotating joint 103. This reduces the risk of damage to the sterile bag body 3, improves its durability, ensures the sterilization function of the isolation mechanism, improves surgical safety, and reduces resistance to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10. The first identification element 1 is fixed to the sterile bag body 3 by adhesive or other means. In other embodiments, the first identification element 1 can also be a fluorescent or colored ring directly applied to the sterile bag body 3.

[0091] As a preferred embodiment, the isolation mechanism further includes several second identification elements 2, which are disposed on the sterile bag body 3, with at least one second identification element 2 between two adjacent first identification elements 1. By setting the second identification elements 2, it is possible to further determine whether the sterile bag body 3 is installed in the appropriate 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, thus ensuring the sterilization function of the isolation mechanism, improving the safety of the operation, and ensuring the flexibility of the surgical operating arm 10.

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

[0093] As a preferred embodiment, two adjacent first identification elements 1 and all second identification elements 2 located between the two adjacent first identification elements 1 are evenly spaced. This arrangement allows for the determination of whether the sterile bag body 3 is evenly fitted onto the surgical operating arm 10 based on the approximate distribution of the second identification elements 2 and the first identification elements 1. This reduces the possibility of the sterile bag body 3 stacking at one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) while the sterile bag body 3 at the other end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) becomes taut, preventing the sterile bag body 3 from being pulled and damaged. It also reduces the obstruction to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10.

[0094] Furthermore, an odd number of second identification elements 2 are arranged between two adjacent first identification elements 1. The second identification element 2 located between two adjacent first identification elements 1 and in the middle is designated as the intermediate identification element, and all other second identification elements 2 are designated as auxiliary identification elements. This arrangement allows for a rough assessment of whether the sterile bag body 3 is evenly fitted onto the surgical operating arm 10 using the intermediate identification element. If the intermediate identification element is closer to one end of the connecting rod, it is considered that the sterile bag body 3 is not evenly fitted onto the surgical operating arm 10. This reduces the number of second identification elements 2 that need to be observed, thus improving the efficiency of preoperative preparation.

[0095] In this embodiment, the lengths of the second link 1012 and the third link 1013 are relatively short, such as... Figures 2-4 As shown, only one second identification element 2 is provided between two adjacent first identification elements 1. It can be understood that there are two second identification elements 2 in total. The two second identification elements 2 are the intermediate identification elements corresponding to the two links (second link 1012 or third link 1013), and no auxiliary identification elements are provided.

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

[0097] Similar to 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 a soft material. The second identification element 2 can be a ring-shaped polyethylene film, or it can be a fluorescent or colored ring directly coated and marked on the sterile bag body 3.

[0098] Furthermore, the second identification element 2 is annular and is arranged circumferentially along the sterile bag body 3. This arrangement ensures that the second identification element 2 can be observed from any direction on the sterile bag body 3. When the isolation mechanism is fitted onto the surgical operating arm 10, it prevents the second identification element 2 from being obscured due to twisting of the sterile bag body 3, facilitating direct observation of the relative position between the second identification element 2 and the rotating joint 103. Medical staff do not need to further adjust the sterile bag body 3, thus improving the efficiency of preoperative preparation.

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

[0100] This embodiment also provides a detection device. During preoperative preparation, when the surgical arm 10 is in an extended state, the detection device is used to detect the mounting position of the isolation mechanism, as described above, on the surgical arm 10. Figure 3 The extended state is shown. Specifically, the detection device includes a data acquisition component and a controller. The data acquisition component can acquire the position of the first identification element 1. The controller is electrically connected to the data acquisition component. Several first preset space ranges 6 are planned on the surgical robotic arm 10, and each first preset space range 6 corresponds one-to-one with a first identification element 1. When the isolation mechanism is fitted into the appropriate position on the surgical robotic arm 10, each first identification element 1 should be placed within its corresponding first preset space range 6. When any first identification element 1 is located outside its corresponding first preset space range 6, the controller issues a first prompt signal.

[0101] The detection device provided in this embodiment includes a data acquisition component and a controller. The data acquisition component automatically acquires the position of the first identification element 1, thereby determining whether the sterile bag body 3 is properly fitted. This improves the level of automation, avoids medical staff manually judging the fitting position of the isolation mechanism on the surgical operating arm 10 one by one, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and also helps to alleviate the fatigue of medical staff, improves the safety of the surgery, and avoids the risk of medical staff accidentally touching the isolation mechanism during the inspection process, which could lead to contamination of the isolation mechanism or the isolation mechanism falling off, further ensuring the safety of the surgery.

[0102] In this embodiment, when the surgical arm 10 is in the extended state, the controller, based on the principles of robot kinematics and considering the length, dimensions, and angular positions (i.e., angular displacements) of each link (first link 1011, second link 1012, and third link 1013), can calculate and determine the pose of each link, the position of each rotary joint 103, and the axis of each rotary joint 103. A first preset coordinate system is established with the midpoint of the axis of the rotary joint 103 as the origin. One of the coordinate axes of the first preset coordinate system coincides with the axis of the corresponding rotary joint 103. The first preset spatial range 6 is rectangular. Figure 3 The double-dotted line in the figure represents one 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 set parallel to the rotation axis of the corresponding rotation joint 103, that is, it is set horizontally.

[0103] It is understood that the sterile bag body 3 is typically a thin film made of materials such as polyethylene or TPU, and the sterile bag body 3 has relatively low elasticity. To facilitate its fitting onto the surgical arm 10, the width of the sterile bag body 3 is usually greater than the width of the surgical arm 10, allowing all structures on the surgical arm 10 to enter the sterile bag body 3. Since the width of the sterile bag body 3 is usually greater than the width of the surgical arm 10, the width of the first identification element 1, which is circumferentially arranged on the sterile bag body 3, is also greater than the width of the surgical 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 rotation joint 103. Preferably, the horizontal width of the first preset space range 6 is more than twice the horizontal width at the corresponding rotation joint 103. When the sterile bag body 3 is fitted onto the surgical arm 10 at the appropriate position, it ensures that the first identification element 1 can fall into the corresponding first preset space range 6.

[0104] It is understood that in this embodiment, there are three first preset space ranges 6, which correspond one-to-one with the three first identifiers 1.

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

[0106] The methods by which the controller uses the principles of robot kinematics to determine the position of the rotating joint 103, the pose of each link, the axis of each rotating joint 103, and the position of the first preset spatial range 6 can all refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0107] Preferably, the acquisition component includes a first acquisition element 4, which can acquire the position of the first identification element 1. The first acquisition element 4 is disposed on the front side wall of the mounting component 20, that is, the height of the first acquisition element 4 is higher than that of the surgical operating arm 10. This makes it easier for the first acquisition element 4 to acquire the position of all the first identification elements 1 on the same surgical operating arm 10, reducing the possibility that the structure of the surgical operating arm 10 will obstruct the field of view of the first acquisition element 4, which helps to reduce the number of first acquisition elements 4, reduce costs, reduce space occupation, and reduce the possibility of interference between the surgical operating arm 10 and the first acquisition element 4 during the operation, thus ensuring the safety of the operation.

[0108] In this embodiment, the first acquisition element 4 is an optical tracker, which is disposed in the middle of the front sidewall of the mounting component 20. The connection method between the first acquisition element 4 and the controller, as well as the principle by which the first acquisition element 4 acquires the position of the first identification element 1, are existing technologies and are not the focus of this embodiment; therefore, they will not be elaborated upon here.

[0109] In other embodiments, the first acquisition element 4 may also be a binocular camera or other instrument capable of acquiring the position of the first identification element 1.

[0110] Furthermore, the acquisition component also includes a second acquisition element 5, which is capable of acquiring the position of the first identification element 1. The first acquisition element 4 and the second acquisition element 5 can jointly acquire the position of the first identification element 1 on the surgical operating arm 10, improving the reliability of the obtained position result of the first identification element 1, ensuring the accuracy of determining whether the sterile bag body 3 is installed in the appropriate position through the first identification element 1, reducing the risk of damage to the sterile bag body 3, improving the safety of the operation, and also ensuring the flexibility of the surgical operating arm 10.

[0111] In this embodiment, the second acquisition device 5 is an optical tracker. The connection method between the second acquisition device 5 and the controller, as well as the principle by which the second acquisition device 5 acquires the position of the first identification device 1, are existing technologies and are not the focus of this embodiment; therefore, they will not be elaborated upon here.

[0112] In other embodiments, the second acquisition element 5 may also be a binocular camera or other instrument capable of acquiring the position of the first identification element 1.

[0113] Preferably, a second acquisition element 5 is provided on at least one side of the operating table 100 along the left-right direction. The second acquisition element 5 is located in front of the mounting element 20. The second acquisition element 5 has the same height as the first acquisition element 4, both being higher than the surgical operating arm 10, so that the second acquisition element 5 can acquire the position of all the first identification elements 1 on the entire surgical operating arm 10. That is, the height of the second acquisition element 5 is also higher than the surgical operating arm 10. In addition, by setting the first acquisition element 4 and the second acquisition element 5 in different positions, the position of the first identification element 1 can be acquired from different directions, avoiding the first identification element 1 being undetectable due to being blocked by other structures. This further improves the accuracy of determining whether the sterile bag body 3 is installed in the appropriate position through the first identification element 1, reduces the risk of damage to the sterile bag body 3, improves the safety of the operation, and also ensures the flexibility of the surgical operating arm 10.

[0114] Since there are four surgical operating arms 10 in this embodiment, when the position of the first identification element 1 on the surgical operating arm 10 near the left side is obtained using the second acquisition element 5 on the right side of the surgical cart 100, the first identification element 1 on the surgical operating arm 10 near the left side may be blocked by the structure of other surgical operating arms 10. Preferably, the surgical cart 100 is provided with second acquisition elements 5 on opposite sides in the left-right direction. The position of the first identification element 1 on the same side of the surgical operating arm 10 can be obtained using the second acquisition element 5 on the right side of the surgical cart 100. Similarly, the position of the first identification element 1 on the same side of the surgical operating arm 10 can be obtained using the second acquisition element 5 on the left side of the surgical cart 100. This avoids the first identification element 1 on the surgical operating arm 10 being blocked, further improves the accuracy of judging whether the sterile bag body 3 is installed in the appropriate position by the first identification element 1, reduces the risk of damage to the sterile bag body 3, improves the safety of the operation, and also ensures the flexibility of the surgical operating arm 10.

[0115] The surgical robotic arm 10 is equipped with several second preset space ranges 7, each corresponding to a second identification element 2. Preferably, the acquisition component can acquire the position of the second identification element 2, and when any second identification element 2 is located outside its corresponding second preset space range 7, the controller issues a second prompt signal. Further, both the first acquisition element 4 and the second acquisition element 5 can acquire the position of the second identification element 2. When the isolation mechanism is fitted into the appropriate position on the surgical robotic arm 10, each second identification element 2 should be placed within its corresponding second preset space range 7.

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

[0117] In this embodiment, the surgical arm 10 is positioned as follows: Figure 3In the extended state shown, based on the pose and length of the second link 1012 and the third link 1013 determined earlier, several 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 cuboid in shape, such as... Figure 3 The double-dotted line in the middle shows one end face of the second preset spatial range 7, and 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 set horizontally.

[0118] Understandably, the sterile bag body 3 is typically a thin film made of materials such as polyethylene or TPU, and its elasticity is relatively low. To facilitate its mounting on the surgical arm 10, the width of the sterile bag body 3 is usually greater than the width of the surgical arm 10, allowing all structures on the surgical arm 10 to fit into the sterile bag body 3. Since the width of the sterile bag body 3 is usually greater than the width of the surgical arm 10, the width of the second identification element 2, which is circumferentially arranged on the sterile bag body 3, is also greater than that of the surgical arm 10. Therefore, the width of the second preset space range 7 in the horizontal direction should be as long as possible, while also preventing the other directions of the second preset space range 7 from being too large, causing 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 corresponding connecting rod (second connecting rod 1012 or third connecting rod 1013). Preferably, the horizontal width of the second preset space range 7 is more than twice the horizontal width of the corresponding connecting rod (second connecting rod 1012 or third connecting rod 1013) at the corresponding point, so that when the sterile bag body 3 is fitted onto the appropriate position on the surgical operating arm 10, the second identification element 2 can fall into the corresponding second preset space range 7.

[0119] Based on the preceding description that "the second identification element 2 corresponds to the second link 1012 or the third link 1013," and that "two adjacent first identification elements 1 and all second identification elements 2 located between the two adjacent first identification elements 1 are evenly spaced," the relationship between the second identification element 2 and its corresponding point is described using the second link 1012 as an example. Specifically, the number of corresponding points on the second link 1012 and the number of corresponding second identification elements 2 corresponding to the second link 1012 are the same and are set in a one-to-one correspondence. The midpoints of the axes of the two rotating joints 103 at both ends of the second link 1012 are set as the first midpoint and the second midpoint, respectively. The first midpoint, the second midpoint, and all corresponding points on the second link 1012 are evenly spaced. Similarly, the relationship between the second identification element and its corresponding point on the third link 1013 is the same as that on the second link 1012, and will not be repeated here. It can be understood that in this embodiment, only one corresponding point is set on both the second link 1012 and the third link 1013.

[0120] In other embodiments, the second preset space range 7 can also be determined according to other structures, and the direction of each edge of the second preset space range 7 can also be adaptively selected, which is not limited here.

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

[0122] The methods by which the controller determines the position of the corresponding point using the principles of robot kinematics and the method of determining the position of the second preset spatial range 7 based on the position of the corresponding point can refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0123] Specifically, the detection device also includes an alarm module, which is electrically connected to the controller. The alarm module is capable of receiving a first alert signal and a second alert signal. Upon receiving the first alert signal, the alarm module issues a first alarm signal; upon receiving the second alert signal, the alarm module issues a second alarm signal. The alarm module can be an audible and visual alarm equipped with indicator lights and a speaker.

[0124] In some embodiments, an audible and visual alarm may be provided, and the audible and visual alarm includes several indicator lights. The first alarm signal may be the illumination of an indicator light of a first color, or the first alarm signal may be a sound emitted through a speaker; similarly, the second alarm signal may be the illumination of 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 also be a sound emitted through a speaker, without any limitation.

[0125] In some embodiments, four audible and visual alarms may be provided, each including several indicator lights, with one alarm on each surgical arm 10. If a first identification element 1 is located outside the first preset space range 6, a first prompt signal includes the position information of the first identification element 1, and the controller can control the first color indicator light of the corresponding audible and visual alarm on the surgical arm 10 to illuminate. If a second identification element 2 is located outside the second preset space range 7, a second prompt signal includes the position information of the second identification element 2, and the controller can control the second color indicator light of the corresponding audible and visual alarm on the surgical arm 10 to illuminate. The first color and the second color may be the same or different.

[0126] Furthermore, the doctor's control terminal is equipped with a screen, which is communicatively connected to the controller. In some embodiments, the doctor's control terminal can also receive a first alarm signal and a second alarm signal, and then display the corresponding alarm signal on the screen to alert medical staff. The content displayed on the screen for 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 element 1 is at least partially located within the corresponding first preset space range 6 based on the position structure of the first identification element 1 obtained by the second acquisition element 5 and the first acquisition element 4, and determines that each second identification element 2 is at least partially located within the corresponding second preset space range 7 based on the position structure of the second identification element 2 obtained by the second acquisition element 5 and the first acquisition element 4, the controller can issue a third prompt signal.

[0128] The alarm module can receive a third prompt signal. Upon receiving the third prompt signal, the alarm module issues a third alarm signal. If the audible and visual alarm is set up, the third alarm signal can be the illumination of a third-colored indicator light, which is different from the first color and also different from the second color.

[0129] In some embodiments, the doctor's control terminal can receive a third alarm signal and display relevant information on the screen such as "reminding medical staff to complete the kit location detection of the isolation facility"; or, the doctor's control terminal can directly receive a third prompt signal and then display the third prompt signal on the screen to prompt medical staff to complete the kit location detection of the isolation facility.

[0130] 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 issuing an alarm signal after receiving a prompt signal can all refer to existing technologies and are not the focus of protection in this embodiment, so they will not be described in detail here.

[0131] This embodiment also provides a detection method applied to the detection device described above. Specifically, as... Figures 1-7 As shown, the detection methods include:

[0132] S1. Use the acquisition 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 acquires the position of the first identification component 1 through the acquisition component, thereby determining whether the sterile bag body 3 is properly fitted into the correct position. This improves the level of automation, avoids medical staff manually judging the fitting position of the isolation mechanism on the surgical operating arm 10 one by one, simplifies the preoperative preparation process, improves the efficiency of preoperative preparation, and also helps to alleviate the fatigue of medical staff, improves the safety of the operation, and avoids the risk of medical staff accidentally touching the isolation mechanism during the inspection process, which could lead to contamination of the isolation mechanism or the isolation mechanism falling off, further ensuring the safety of the operation.

[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] Understandably, the surgical arm 10 is in an extended state before step S0.

[0138] Further, in step S2, the controller specifically uses the relationship between the position of the first identification element 1 and the position of the first preset space range 6. If the first identification element 1 is located outside the first preset space range 6, it is determined that the first identification element 1 has not fallen into the first preset space range 6, a first prompt signal is issued, the alarm module issues a first alarm signal, and / or the doctor's control terminal displays the 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 includes:

[0141] S3. Use the acquisition component to obtain the positions of all second identification elements 2.

[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, steps S1 and S2 are performed first, followed by steps S3 and S4. First, by determining whether the first identification element 1 is located at the rotation joint 103, it is roughly determined whether the sterile bag body 3 is fitted into the appropriate position on the surgical operating arm 10. Then, by determining whether the second identification element 2 is located at the corresponding point on the connecting rod (second connecting rod 1012 or third connecting rod 1013), it is further determined whether the sterile bag body 3 is stacked on one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013). The first identification element 1 and the second identification element 2 are used together to determine the sterile bag body. 3. Check whether it is installed in the appropriate position, and at the same time check whether the sterile bag body 3 is evenly fitted on the surgical operating arm 10. This avoids excessive wrinkles of the sterile bag body 3 that may get caught on other structures. It also reduces the possibility that the sterile bag body 3 may be stacked at one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) while the sterile bag body 3 at the other end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) is taut. This avoids the sterile bag body 3 being pulled and damaged, and also reduces the obstruction to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10.

[0144] Compared to detecting and determining the positions of all first identification elements 1 and second identification elements 2 at once, the detection method provided in this embodiment can determine that the sterile bag body 3 is not properly fitted if it is first determined that any first identification element 1 is located outside the corresponding first preset space range 6. There is no need to further obtain and determine the position of the second identification element 2, which simplifies the judgment process of step S3, reduces the difficulty of judgment, improves the accuracy of judgment results, and can quickly and accurately issue a second prompt signal to remind medical staff to adjust the fitting position of the isolation mechanism, which is conducive to improving the efficiency of preoperative preparation and ensuring the safety of surgery.

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

[0146] In this embodiment, there are three first identification elements 1 and two second identification elements 2. A second identification element 2 is positioned between every two adjacent first identification elements 1. Therefore, the first identification elements 1 and second identification elements 2 are arranged alternately and spaced apart along the length of the surgical arm 10. That is, the first preset spatial range 6 and the second preset spatial range 7 are arranged alternately and spaced apart along the length of the surgical arm 10. When the first acquisition element 4 acquires images of the surgical arm 10, for all five identification elements (three first identification elements 1 and two second identification elements 2) on the same surgical arm 10, the five identification elements are arranged sequentially in the front-to-back direction. In the front-to-back direction, the first, third, and fifth identification elements are first identification elements 1, and the second and fourth identification elements are second identification elements 2. For all five preset spatial ranges (three first preset spatial ranges 6 and two second preset spatial ranges 7) on the same surgical arm 10, the five preset spatial ranges are arranged sequentially in the front-to-back direction. In the front-to-back direction, the first, third, and fifth preset spatial ranges are first preset spatial ranges 6, and the second and fourth preset spatial ranges are second preset spatial ranges 7. In summary, the controller can determine whether the identification element is located within the corresponding preset space range by using the identification element and the distance between the preset space range and the installation element 20.

[0147] In this embodiment, the five identifiers are distinguished by their position. In other embodiments, the five identifiers can also be distinguished by their color. This is not a limitation here.

[0148] In other embodiments, the position of the first identification element 1 can also be obtained using the second acquisition element 5 in step S1, which is not limited here.

[0149] Preferably, the instrument slide 1014, the first link 1011, the second link 1012 and the third link 1013 are all inclined in the vertical direction, which makes it easier for the first acquisition element 4 to distinguish the first identification element 1 and the second identification element 2 according to the relative position in the front and rear directions, and also makes it easier to distinguish the first preset space range 6 and the second preset space range 7, thereby facilitating the judgment process in subsequent steps S2 and S4.

[0150] Preferably, step S3 specifically includes: using the first acquisition element 4 to obtain the positions of all the second identification elements 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, then proceed to step S42.

[0153] S42, the second identification element 2, which is located outside the corresponding second preset space range 7, is an offset structure.

[0154] S43. Use the second acquisition device 5 to obtain the positions of all deviations from the structure.

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

[0156] In other words, the deviation structure is first identified by using the position of the second identification element 2 collected by the first acquisition element 4. Then, the position of the deviation structure is collected again by the second acquisition element 5 and judged to verify whether the position of the deviation structure is outside the corresponding second preset space range 7. If the positions of the deviation structure obtained by both the first acquisition element 4 and the second acquisition element 5 are outside the corresponding second preset space range 7, a second prompt signal is issued to remind medical staff to adjust the position of the sterile bag. The above setting realizes two judgments based on the positions of the deviation structure collected by the second acquisition element 5 and the first acquisition element 4 respectively. This avoids the influence of the setting position and angle of the second acquisition element 5 and the first acquisition element 4 on the accuracy of the deviation structure position judgment, and also reduces the impact of the second acquisition element 5 or the first acquisition element 4 malfunction on the accuracy of the deviation structure position judgment. This improves the accuracy of the deviation structure position judgment, avoids increasing the number of times medical staff need to adjust the isolation device, and helps to speed up the efficiency of preoperative preparation.

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

[0158] Preferably, step S44 further includes: if at least one deviating structure is at least partially located within the corresponding second preset space range 7, then step S45 is performed.

[0159] Step S4 also includes:

[0160] S45. Use the first acquisition element 4 and the second acquisition element 5 to obtain the positions of all deviations from the structure;

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

[0162] In other words, if the acquisition results of the first acquisition element 4 and the second acquisition element 5 for the position of the deviation structure are different in step S44, then step S45 is performed. In steps S45 and S46, the positions of all deviation structures are acquired simultaneously by the first acquisition element 4 and the second acquisition element 5 again. Then, the controller judges the positions of all deviation structures acquired by the first acquisition element 4 and the second acquisition element 5 again. Regardless of whether the acquisition results of the first acquisition element 4 and the second acquisition element 5 for the position of the deviation structure are the same, if the judgment result is still that at least one deviation structure is deviated 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 medical staff to adjust the position of the sterile bag body 3. The above settings reduce the possibility that the first collection unit 4 and the second collection unit 5 may have different judgment results due to temporary external interference during steps S3, S41, S42, S43 and S44, improve the accuracy of the first collection unit 4 and the second collection unit 5 in judging the position of deviation from the structure, avoid increasing the number of times medical staff adjust the isolation mechanism, and help speed up the efficiency of preoperative preparation.

[0163] In some embodiments, the detection method may progressively detect and determine the first identification element 1 and the second identification element 2 in the isolation mechanism on all surgical operating arms 10. In some embodiments, the detection method may also progressively detect and determine the first identification element 1 and the second identification element 2 mounted on the isolation mechanism of one of the surgical operating arms 10, and then repeat steps S0-S4 until the mounting position of the isolation mechanisms on all surgical operating arms 10 is detected.

[0164] Example 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 Embodiment 1, except for the detection method. This embodiment will not describe the same structure again.

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

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

[0168] The detection methods also include:

[0169] S30. Use 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 element can be obtained by using the first acquisition element 4, or by using the second acquisition element 5, or by using both the first acquisition element 4 and the second acquisition element 5 together to obtain the position of the intermediate identification element, without any specific limitation.

[0172] First, steps S1 and S2 are performed, followed by steps S30 and S40. First, by determining whether the first identification element 1 is located at the rotating joint 103, it is roughly determined whether the sterile bag body 3 is fitted into the appropriate position on the surgical operating arm 10. Then, by determining whether the second identification element 2 is located at the corresponding point on the connecting rod (second connecting rod 1012 or third connecting rod 1013), it is further determined whether the sterile bag body 3 is stacked on one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013). The first identification element 1 and the second identification element 2 jointly determine whether the sterile bag body 3 is installed in the appropriate position. The system determines whether the sterile bag body 3 is evenly fitted onto the surgical operating arm 10, preventing excessive wrinkles on the sterile bag body 3 that could snag on protruding structures or other structures on the surgical operating arm 10. It also reduces the possibility of the sterile bag body 3 stacking at one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) while the sterile bag body 3 at the other end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) becomes taut, thus preventing the sterile bag body 3 from being pulled and damaged. It also reduces the obstruction to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10.

[0173] Compared to detecting and determining the positions of all first identification elements 1 and second identification elements 2 at once, the detection method provided in this embodiment can determine that the sterile bag body 3 is not properly fitted when the first identification element 1 is located outside the corresponding first preset space range 6. There is no need to further obtain and determine the position of the second identification element 2, which simplifies the detection process and can quickly issue a first prompt signal to remind medical staff to adjust the fitting position of the isolation device, which helps to improve the efficiency of preoperative preparation and ensure the safety of the operation.

[0174] Furthermore, by determining the position of the intermediate identification element, it can be roughly determined whether the sterile bag body 3 is stacked on one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013). The number of second identification elements 2 whose positions need to be obtained in steps S30 and S40 is small, which helps to improve the efficiency of the detection process and thus improves the efficiency of preoperative preparation.

[0175] Furthermore, in this embodiment, the number of second identification elements 2 disposed between two adjacent first identification elements 1 is greater than or equal to three, and all second identification elements 2 disposed between two adjacent first identification elements 1 except for the intermediate identification element are designated as auxiliary identification elements. It is understood that in other embodiments, only one second identification element 2 may be disposed between two adjacent first identification elements 1, and this second identification element 2 is the intermediate identification element.

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

[0177] The detection methods also include:

[0178] S50. Use the acquisition component to obtain the position 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 by using the second acquisition component 5, or by using both the first acquisition component 4 and the second acquisition component 5 together to obtain the position of the auxiliary identification component, without any specific limitation.

[0181] First, steps S30 and S40 are performed, followed by steps S50 and S60. First, by determining the position of the intermediate identification element, it is roughly determined whether the sterile bag body 3 is stacked on one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013). Then, by determining the position of the auxiliary identification element, it is further determined whether the sterile bag body 3 is evenly fitted onto the connecting rod (second connecting rod 1012 or third connecting rod 1013). The intermediate and auxiliary identification elements are used to determine whether the sterile bag body 3 is evenly fitted. The surgical operating arm 10 avoids excessive wrinkles on one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013) that could cause the sterile bag body 3 to snag on protruding structures or other structures on the surgical operating arm 10. It also reduces the possibility of the sterile bag body 3 becoming taut at the other end of the connecting rod (second connecting rod 1012 or third connecting rod 1013), preventing the sterile bag body 3 from being pulled and damaged. It also reduces the obstruction to the rotation of the rotating joint 103, ensuring the flexibility of the surgical operating arm 10.

[0182] Furthermore, compared to detecting and determining the position of all second identification components 2 at once in step S30, the detection method provided in this embodiment first determines that the intermediate identification component is not in the middle part of the connecting rod (second connecting rod 1012 or third connecting rod 1013), which can then determine that the sterile bag body 3 is stacked at one end of the connecting rod (second connecting rod 1012 or third connecting rod 1013). There is no need to further obtain and determine the position of the auxiliary identification component, which simplifies the judgment process in step S30, reduces the difficulty of judgment, improves the accuracy of the judgment result, and can quickly and accurately issue a second prompt signal to remind medical staff to adjust the position of the isolation mechanism, which is conducive to improving the efficiency of preoperative preparation and ensuring the safety of the operation.

[0183] Example 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 Embodiment 1, except for the detection method. This embodiment will not describe the same structure again.

[0185] like Figures 1-5 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] Understandably, because the sterile bag body 3 is relatively wide, the widths of the first identification element 1 and the second identification element 2 set on the sterile bag body 3 are also relatively large. If the sterile bag body 3 is tilted and fitted onto the surgical operating arm 10, the first identification element 1 may be partially located within the second preset space range 7, and the second identification element 2 may 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 if at least one first identification element 1 is at least partially located within the second preset space range 7, then a first prompt signal is issued.

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

[0191] By determining whether the first identification element 1 is located within the second preset space range 7, the sterile bag body 3 can be prevented from being tilted and fitted onto the surgical operating arm 10, thus ensuring the flexibility of the surgical operating arm 10.

[0192] Similarly, step S46 includes:

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

[0194] S47. Use 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 space range 6, a second prompt signal is issued; if all second identification elements 2 are partially located outside the first preset space range 6, a third prompt signal is issued.

[0196] Example 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, except that the isolation mechanism is different. This embodiment will not describe the same structure again.

[0198] like Figures 1-10 As shown, according to the preceding description, the width of the sterile bag body 3 is usually greater than the width of the surgical operating arm 10, so that all structures on the surgical operating arm 10 can enter the sterile bag body 3. Figures 9-10 As shown, as a preferred embodiment, the isolation mechanism further includes an elastic tightening member 8. The tightening member 8 is disposed on the sterile bag body 3 and extends circumferentially along the sterile bag body 3. When the sterile bag body 3 is fitted onto the surgical operating arm 10, the tightening member 8 can use its own elastic restoring force to tighten and fix the sterile bag body 3 onto the surgical operating arm 10. During the movement of the surgical operating arm 10, relative sliding between the sterile bag body 3 and the surgical operating arm 10 is avoided, reducing the possibility of the sterile bag body 3 becoming tense at the rotating joint 103, ensuring the flexibility of the surgical operating arm 10, and also reducing the risk of damage to the sterile bag body 3. 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, reducing the possibility of the sterile bag body 3 snagging on other structures, further reducing the risk of damage to the sterile bag body 3. Specifically, the tightening member 8 can be fixedly bonded to the sterile bag body 3 through an adhesive layer.

[0199] Preferably, the tightening member 8 is spaced apart from the rotating joint 103, which avoids the tightening member 8 from hindering 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 that the sterile bag body 3 will be rolled into the rotating joint along with the tightening member 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 arranged circumferentially around the sterile bag body 3. In other embodiments, the tightening member 8 includes multiple elastic segments, which are spaced apart circumferentially around the sterile bag body 3. In other embodiments, adhesive tape or cable ties can be used instead of the tightening member 8. The sterile bag body 3 can be tightened and fixed to the surgical operating arm 10 by wrapping the adhesive tape around it, or the sterile bag body 3 can be directly tightened and fixed to the surgical operating arm 10 by cable ties.

[0201] Understandably, 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 element 2, which is circumferentially arranged on the sterile bag body 3, is also greater than the width of the surgical operating arm 10. As a preferred embodiment, the tightening element 8 is arranged opposite to the second identification element 2, which fixes the second identification element 2 to the surgical operating arm 10 through the tightening element 8. When the surgical operating arm 10 moves, it avoids the second identification element 2 from moving relative to the surgical operating arm 10, ensuring that the second identification element 2 is always in an accurate position. Moreover, due to the elastic restoring force of the tightening element 8, the volume of the second identification element 2 at the tightening element 8 is also reduced, avoiding the possibility of the second identification element 2 overlapping with other second identification elements 2 or first identification elements 1. This improves the accuracy of using the second identification element 2 to determine whether the sterile bag body 3 is installed in the appropriate position and whether the sterile bag body 3 is evenly fitted on the second connecting rod 1012 or the third connecting rod 1013.

[0202] Preferably, the tightening member 8 is located inside the sterile bag body 3, avoiding obstruction of the second identification member 2 caused by the tightening member 8 being located outside the second identification member 2. This ensures that the second identification member 2 can be accurately identified, improving the accuracy of using the second identification member 2 to determine whether the sterile bag body 3 is installed in the appropriate position and whether the sterile bag body 3 is evenly fitted on the second connecting rod 1012 or the third connecting rod 1013. More preferably, the tightening member 8 is made of rubber, which has good durability, and the friction 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 its natural state, the circumference of the tightening member 8 is smaller than the circumference of the second link 1012 or the third link 1013. When the tightening member 8 is fitted onto the second link 1012 or the third link 1013, the tightening member 8 is in a stretched state.

[0204] In this embodiment, the size of the tightening member 8 is smaller than the size of the second identification member 2 in the direction along the axial direction of the second link 1012 or the third link 1013, so that the tightening member 8 can be completely covered by the corresponding second identification member 2, avoiding the tightening member 8 being too wide and affecting the positional accuracy of the 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 implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An isolating mechanism, characterized in that include: The sterile bag body is used to be fitted onto the surgical arm; A plurality of first identification elements are disposed on the sterile bag body. When the sterile bag body is configured to be fitted onto the surgical operating arm, each of the first identification elements is disposed opposite to a rotating joint on the surgical operating arm. The first identification elements are annular and are disposed along the circumference of the sterile bag body. The isolation mechanism also includes a plurality of second identification elements, which are disposed on the sterile bag body, and at least one second identification element is disposed between two adjacent first identification elements.

2. The isolation mechanism of claim 1, wherein, Two adjacent first identification elements and all second identification elements located between the two adjacent first identification elements are evenly spaced; and / or, The second identification element is ring-shaped and is arranged circumferentially along the body of the sterile bag.

3. The isolation mechanism according to claim 1, characterized in that, Two adjacent first identification elements and all the second identification elements located between the two adjacent first identification elements are evenly spaced, and an odd number of second identification elements are arranged between two adjacent first identification elements.

4. A detection device for detecting the mounting position of the isolation mechanism as described in any one of claims 1-3 on the surgical operating arm, characterized in that, include: The acquisition component is capable of obtaining the position of the first identification element; A controller, electrically connected to the acquisition component, is configured to issue a first prompt signal when any of the first identification elements is located outside the corresponding first preset spatial range.

5. The detection device according to claim 4, characterized in that, The operating trolley includes a mounting component and the surgical operating arm. The mounting component is disposed on the top of the operating trolley, one end of the surgical operating arm is mounted on the bottom of the mounting component, and the other end of the surgical operating arm extends forward to the front side of the mounting component. The acquisition component includes a first acquisition element, which is capable of acquiring the position of the first identification element, and the first acquisition element is disposed on the front sidewall of the mounting component.

6. The detection device according to claim 5, characterized in that, The acquisition component further includes a second acquisition element, which is capable of acquiring the position of the first identification element; The second acquisition element is provided on at least one side of the operating table in the left-right direction. The second acquisition element is located in front of the mounting element and has the same height as the first acquisition element.

7. The detection device according to claim 6, characterized in that, The second acquisition device is installed on both opposite sides of the operating table in the left-right direction.

8. The detection device according to claim 4, characterized in that, The isolation mechanism also includes a plurality of second identification elements, which are disposed on the sterile bag body, and at least one second identification element is disposed between two adjacent first identification elements; The acquisition component can obtain the position of the second identification element, and the controller is configured to issue a second prompt signal when any of the second identification elements is located outside the corresponding second preset spatial range.

9. A detection method, applied to the detection apparatus as described in any one of claims 4-8, characterized in that, include: S1. Use the acquisition component to obtain the positions of all first identification components; 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.

10. The detection method according to claim 9, characterized in that, The isolation mechanism also includes a plurality of second identification elements, which are disposed on the sterile bag body, and at least one second identification element is disposed between two adjacent first identification elements; Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceed to step S3; The detection method further includes: S3. Use the acquisition component to obtain the positions of all the second identification components; 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.

11. The detection method according to claim 10, characterized in that, The acquisition component includes a first acquisition element and a second acquisition element, both of which are capable of acquiring the position of the second identification element; Step S3 specifically includes: using the first acquisition device to obtain the positions of all the second identification devices; Step S4 includes: S41. If at least one of the second identification elements is located outside the corresponding second preset space range, then proceed to step S42. S42. The second identification element marked as being located outside the corresponding second preset spatial range is an offset structure; S43. Use the second acquisition device to obtain the positions of all the deviation structures; S44. If all the aforementioned deviation structures are located outside the corresponding second preset space range, then issue the second prompt signal.

12. The detection method according to claim 11, characterized in that, Step S44 further includes: if at least one of the deviation structures is at least partially located within the corresponding second preset space range, then proceed to step S45; Step S4 also includes: S45. Use the first acquisition device and the second acquisition device to obtain the positions of all the deviation structures; S46. If the positions of all the deviation structures acquired by the first acquisition element and the second acquisition element are at least partially located within the corresponding second preset space range, then a third prompt signal is issued; otherwise, the second prompt signal is issued.

13. The detection method according to claim 9, characterized in that, The isolation mechanism further includes a plurality of second identification elements, which are disposed on the sterile bag body. At least one second identification element is disposed between two adjacent first identification elements. Two adjacent first identification elements and all the second identification elements located between the two adjacent first identification elements are evenly spaced. An odd number of second identification elements are disposed between two adjacent first identification elements. The second identification element disposed between two adjacent first identification elements and located in the middle is the middle identification element. Step S2 further includes: if all the first identification elements are at least partially located within the corresponding first preset space range, then proceed to step S30; The detection method further includes: S30. Use the acquisition component to obtain the positions of all intermediate identification components; S40. If at least one of the intermediate identification elements is located outside the corresponding second preset space range, a second prompt signal is issued.

14. The detection method according to claim 13, characterized in that, The number of second identification elements set between two adjacent first identification elements is greater than or equal to three, and all the other second identification elements set between two adjacent first identification elements except for the intermediate identification element are auxiliary identification elements; Step S40 further includes: if all the intermediate identification elements are at least partially located within the corresponding second preset space range, then proceed to step S50; The detection method further includes: S50. Use the acquisition component to obtain the position of all the auxiliary identification components; S60. If at least one of the auxiliary identification components is located outside the corresponding second preset spatial range, then the second prompt signal is issued.

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