Surgical retractor fixing device and method and surgical robot system

Abstract

The invention relates to a surgical retractor fixing device and method and a surgical robot system. The surgical retractor fixing device comprises a retractor unit used for pulling tissue, a force sensing unit, an operation unit electrically connected with the force sensing unit and a transmission unit connected between the retractor unit and the operation unit. Wherein the drag hook unit is connected with a handle part, and the drag hook unit moves to a preset position by operating the handle part. The force sensing unit is arranged between the handle part and the drag hook unit and used for detecting the acting force applied to the drag hook unit by the handle part and feeding back the acting force to the operation unit. After the operation unit obtains the acting force, the transmission unit is controlled to act, so that the drag hook unit is kept at the preset position, the external force acting on the handle part can be removed, an assistant does not need to pull the drag hook unit all the time, manpower waste can be reduced, the interference risk can be reduced, and smooth operation is guaranteed.

Description

Technical Field

[0001] The present application relates to the field of medical technology, and in particular to a surgical retractor fixation device, method and surgical robot system. Background Art

[0002] In some surgeries, retractors are an indispensable tool. During the operation, retractors are needed to complete tissue traction, expose the target, and provide doctors with enough operating space to complete the operation. During the operation, the retractors are usually operated by assistants to manually control the angle and strength of traction.

[0003] The operation time is generally long. If the assistant keeps pulling the retractor, it will not only waste manpower, but also cause interference between the assistant and the surgeon, affecting the progress of the operation. Summary of the invention

[0004] Based on this, it is necessary to provide a surgical retractor fixing device to address the problem that the existing retractor structure is inconvenient to use.

[0005] A surgical retractor fixing device, comprising:

[0006] A hook unit, wherein the hook unit is connected to a handle portion;

[0007] A force sensing unit, disposed between the handle and the hook unit, for detecting a force applied by the handle to the hook unit;

[0008] An operating unit, electrically connected to the force sensing unit, and capable of acquiring the force;

[0009] The transmission unit is connected between the hook unit and the operating unit; the operating unit controls the movement of the transmission unit according to the action force so that the hook unit is kept at a preset position.

[0010] In one of the embodiments, the operating unit is further used to convert the force into torque;

[0011] The transmission unit comprises a first rotating part connected between the hook unit and the operating unit; the first rotating part drives the hook unit to deflect around a first axis according to the torque;

[0012] The transmission unit further comprises a second rotating part connected to the first rotating part; the second rotating part drives the hook unit to deflect around a second axis according to the torque;

[0013] The transmission unit further comprises a third rotating part connected to the second rotating part, and the third rotating part is movably connected to the operating unit, and the third rotating part drives the hook unit to deflect around a third axis according to the torque;

[0014] The axial directions of the first axis, the second axis and the third axis are perpendicular to each other.

[0015] In one embodiment, the handle portion is detachably connected to the hook unit; and / or

[0016] The transmission unit is detachably connected to the hook unit; and / or

[0017] The transmission unit is detachably connected to the operating unit.

[0018] In one of the embodiments, the force sensing unit includes a force sensor or a strain gauge.

[0019] In one embodiment, the operating unit includes:

[0020] a receiving unit, the receiving unit being electrically connected to the force sensing unit to receive a signal sent by the force sensing unit; and

[0021] A control unit is electrically connected to the receiving unit; when the receiving unit receives the signal, the control unit controls the transmission unit to operate so that the hook unit is maintained at the preset position.

[0022] In one embodiment, the hook unit comprises:

[0023] A connecting portion, the connecting portion being used to connect with the handle portion and the transmission unit;

[0024] The hook body is connected to the connecting part, and the hook body is used for pulling tissue.

[0025] A surgical robot system comprises the surgical retractor fixing device as described above and a mechanical arm connected to the handle portion, wherein the mechanical arm is used to drive the retractor unit to move to the preset position.

[0026] A surgical retractor fixing method based on the surgical retractor fixing device as described above comprises:

[0027] Obtaining the force applied when the hook unit moves to a preset position;

[0028] The force is applied to the hook unit to keep the hook unit at the preset position.

[0029] In one embodiment, before the step of obtaining the force acting on the hook unit to move to the preset position, the method further includes:

[0030] A mapping relationship between parameter information and the acting force is acquired, wherein the parameter information is parameter information of the force sensing unit, the operating unit, and the transmission unit when the hook unit moves to the preset position.

[0031] In one embodiment, the step of obtaining the force acting on the hook unit to move to the preset position includes:

[0032] The operation drives the hook unit to move to the preset position;

[0033] The force applied to the hook unit is obtained.

[0034] The above-mentioned surgical hook fixing device includes a hook unit for pulling the surgical area tissue, a force sensing unit, an operating unit, and a transmission unit connected between the hook unit and the operating unit. The hook unit is connected to a handle portion, and the hook unit is moved to a preset position by operating the handle portion. The force sensing unit is used to detect the force applied to the hook unit and feed it back to the operating unit. After the operating unit obtains the force, it controls the transmission unit to operate so that the hook unit remains in the preset position. Therefore, the external force acting on the handle portion can be removed, and there is no need for the assistant to keep pulling the hook unit. This can not only reduce the waste of manpower, but also reduce the risk of interference between the assistant and the surgeon, thereby ensuring the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A schematic diagram of a surgical retractor fixation device provided in one embodiment of the present application.

[0036] Figure 2 for Figure 1 The schematic diagram of the surgical retractor fixation device without the handle portion is shown.

[0037] Figure 3 A schematic diagram of a transmission unit in a surgical retractor fixation device provided in one embodiment of the present application.

[0038] Figure 4 A flow chart of a method for organizing a traction area provided in one embodiment of the present application.

[0039] Figure 5 A flow chart of a method for organizing a traction area provided in another embodiment of the present application.

[0040] Figure numbers: 10, surgical retractor fixing device; 100, retractor unit; 110, connecting part; 120, hook body; 121, fixing hole; 130, handle part; 200, force sensing unit; 300, operating unit; 310, control part; 320, indicator light; 330, memory; 340, bed connecting part; 400, transmission unit; 410, first rotating part; 420, second rotating part; 430, third rotating part; 510, fixing part. DETAILED DESCRIPTION

[0041] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0042] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0043] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0044] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0045] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0046] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0047] See also Figure 1The surgical hook fixing device 10 provided in one embodiment of the present application includes a hook unit 100, a force sensing unit 200, an operating unit 300 and a transmission unit 400. The hook unit 100 is connected to a handle portion 130, and acts on the handle portion 130 by applying an external force; the force sensing unit 200 is placed between the handle portion 130 and the hook unit 100, and is used to detect the force applied by the handle portion 130 to the hook unit 100, and can drive the hook unit 100 to move to a preset position; the transmission unit 400 is connected between the hook unit 100 and the operating unit 300; the operating unit 300 is electrically connected to the force sensing unit 200, and can obtain the force, and control the transmission unit 400 to move according to the force, so that the hook unit 100 remains in the preset position. It can be understood that when the hook unit 100 is in the preset position, the soft tissue near the target surgical area is pulled, so that the target surgical area can be fully exposed, and the visual field effect is good. At the same time, the hook unit 100 will not interfere with the surgical operation.

[0048] The surgical hook fixing device 10 first moves the hook unit 100 to a preset position by operating the handle portion 130, so that the force sensing unit 200 detects the force applied to the hook unit 100 and feeds the force back to the operating unit 300. After the operating unit 300 obtains the force, it controls the transmission unit 400 to act, so that the hook unit 100 is subjected to an equivalent force or an equivalent torque and remains in the preset position, so that the external force acting on the handle portion 130 can be removed, and there is no need for the assistant to keep pulling the hook, which can not only reduce the waste of manpower, but also reduce the risk of interference between the assistant and the main surgeon, and ensure the smooth progress of the operation.

[0049] like Figure 1 and Figure 2 As shown, in one embodiment, the force sensing unit 200 includes a force sensor disposed between the handle portion 130 and the hook unit 100. When a force is applied to the handle portion 130 to cause the hook unit 100 to move, the force sensor can detect the magnitude of the force. Specifically, the force sensing unit 200 can be a three-dimensional force sensor or a six-dimensional force sensor, which can not only detect the magnitude of the force acting on the hook unit 100, but also obtain the direction of the force, so that the operating unit 300 can more accurately control the movement of the transmission unit 400, so that the hook unit 100 can move to the preset position more efficiently and accurately.

[0050] In another embodiment, the force sensor can be arranged between the operating unit and the hook unit, so that the force detected by the force sensor can be directly received by the operating unit, thereby improving the feedback efficiency. In other embodiments, the force sensing unit can also be a strain gauge, which senses the magnitude of the force applied to the handle portion through the strain gauge. In some other embodiments, in addition to the force sensor or strain gauge, the force sensing unit can also include an airbag and an air pressure sensor arranged between the hook unit and the handle portion. When an external force acts on the handle portion, the force will be transmitted to the airbag, which will be squeezed by the force, and the internal air pressure will change. The external sensor receives the air pressure change and measures the applied force.

[0051] like Figure 1 As shown, in one embodiment, after the force sensing unit 200 obtains the force acting on the hook unit 100, the force is fed back to the operating unit 300. After the operating unit 300 obtains the force, the force can be converted into torque, and the torque value is fed back to the transmission unit 400, so that the transmission unit 400 produces a corresponding action, thereby driving the hook unit 100 to remain in a preset position. More specifically, the torque is obtained according to the product of the force and the lever arm, wherein the lever arm is the length of the hook unit 100. After the torque is calculated, the specific action direction of the transmission unit 400 is determined in combination with the direction of the force.

[0052] like Figure 1 and Figure 3 As shown, in a specific embodiment, the transmission unit 400 includes a first rotating part 410 connected between the hook unit 100 and the operating unit 300; the first rotating part 410 drives the hook unit 100 to deflect around the first axis according to the torque; the transmission unit 400 also includes a second rotating part 420 connected to the first rotating part 410; the second rotating part 420 drives the hook unit 100 to deflect around the second axis according to the torque; the transmission unit 400 also includes a third rotating part 430 connected to the second rotating part 420, and the third rotating part 430 is movably connected to the operating unit 300, and the third rotating part 430 drives the hook unit 100 to deflect around the third axis according to the torque; the axial directions of the first axis, the second axis and the third axis are perpendicular to each other. Figure 3 As shown, the first axis, the second axis and the third axis are indicated by dashed lines. Taking three-dimensional coordinates as an example, the first axis can be parallel to the X coordinate axis, the second axis can be parallel to the Y coordinate axis, and the third axis can be parallel to the Z coordinate axis.

[0053] Specifically, after the force sensing unit 200 measures the direction and magnitude of the applied force, for example, if the yaw direction of the hook unit 100 is parallel to the first axis, that is, the direction of the applied force is parallel to the first axis, the first rotating part 410 is actuated accordingly. The value obtained by multiplying the applied force by the length of the hook unit 100 is the torque to be output by the first rotating part 410. Similarly, if the yaw direction of the hook unit 100 is parallel to the second axis, the second rotating part 420 is actuated accordingly, and the specific output torque is calculated.

[0054] When the yaw direction of the hook unit is at an angle with the first axis, the second axis and the third axis, the force is decomposed to make it equivalent to the first force component along the first axis, the second force component along the second axis and the third force component along the third axis, respectively. The angle between the first force component and the force is the first angle, the angle between the second force component and the force is the second angle, and the angle between the third force component and the force is the third angle. The magnitude of the first force component is the force multiplied by the cosine of the first angle, the first lever arm is the length of the hook unit multiplied by the cosine of the first angle, and the output torque of the first rotating part is the product of the magnitude of the first force component and the first lever arm. Similarly, the output torque of the second rotating part and the output torque of the third rotating part can be calculated respectively according to this equivalent calculation method. The first rotating part, the second rotating part and the third rotating part act in sequence to drive the hook unit connected thereto to move and remain in a preset position. The first rotating part, the second rotating part and the third rotating part can all include a rotating motor.

[0055] In other embodiments, the transmission unit can be a semi-soft robot module in the prior art, such as an elephant trunk robot, and the semi-soft robot module is deformed so that the hook unit moves to a preset position. Wherein, the semi-soft robot module includes a left airbag, a middle airbag and a right airbag. When compressed air is filled into the cavities inside the left airbag, the middle airbag and the right airbag, the left airbag, the middle airbag and the right airbag expand under the action of air pressure. Since the lower walls of the left airbag, the middle airbag and the right airbag are embedded with a fiber fabric mesh with a high tensile modulus, the lower wall expands less than the upper wall, so the robot module bends downward. When the airbag, the airbag and the airbag are deflated, the airbag shrinks, and the protrusion on the upper wall of the right airbag returns to a plane, so that the semi-soft robot module can be naturally reset.

[0056] In some other embodiments, the transmission unit can also be a deformable structure such as a flexible metal hose to drive the hook unit to move to a preset position, or other plastic materials or structures that can apply force to the hook unit to drive the hook unit to move to a preset position, and can apply force to the hook unit to keep it in the preset position.

[0057] like Figure 1 and Figure 2 As shown, in some embodiments, one end of the transmission unit 400 is detachably connected to the hook unit 100, and the other end of the transmission unit 400 is detachably connected to the operating unit 300. Through this arrangement, the transmission unit 400, the hook unit 100 and the operating unit 300 can be stored separately before being used, reducing the storage space occupied. At the same time, when a component is damaged, it is not necessary to replace the entire component, but only the partially damaged component can be replaced, reducing the replacement and maintenance costs.

[0058] like Figure 1 and Figure 2 As shown, in one embodiment, the hook unit 100 includes a connecting portion 110 and a hook body 120, and the connecting portion 110 is used to be detachably connected to the handle portion 130 and the transmission unit 400. The hook body 120 is connected to the connecting portion 110, and the hook body 120 is used to pull the tissue so that the target surgical area is exposed. Specifically, a fixing hole 121 is provided on the hook body 120, and the fixing member 510 passes through the fixing hole 121 and the bone surface, so that the hook is fixed to the bone surface, thereby improving the stability of the hook unit 100 and reducing the risk of the hook unit 100 slipping during surgery. Furthermore, the fixing member 510 and the fixing hole 121 are not completely tightened, that is, there is a certain gap between the head of the fixing member 510 and the fixing hole 121, so that the hook unit 100 has a certain degree of freedom of movement and improves its flexibility of movement. In this way, not only the risk of the tip of the hook body 120 slipping off the bone surface can be reduced, but also the mobility of the hook body 120 can be improved to meet actual surgical needs.

[0059] In a specific embodiment, the above-mentioned retractor unit can be a reverse hip retractor, a thyroid retractor and a grab hook, etc., and its shape can be designed according to actual surgical needs, so as to expose different surgical areas.

[0060] like Figure 1 and Figure 2 As shown, in one embodiment, the handle portion 130 is detachably connected to the hook unit 100. In this way, after the transmission unit 400 controls the hook unit 100 to move and remain at a preset position, the handle portion 130 connected to the hook unit 100 can be removed, which can not only reduce the overall occupied space of the surgical hook fixing device 10, but also reduce the possibility of interference between the handle portion 130 and the surgical position. Specifically, the hook unit 100 and the handle portion 130 can be detachably connected by fasteners such as screws.

[0061] like Figure 1 and Figure 2As shown, in one embodiment, the operating unit 300 includes a receiving part and a control part 310, and the receiving part is electrically connected to the force sensing unit 200 to receive the signal sent by the force sensing unit 200, that is, the magnitude and direction of the force applied to the handle part 130. The control part 310 is electrically connected to the receiving part, so that when the receiving part receives the signal, the transmission unit 400 is controlled to perform a corresponding action so that the hook unit 100 remains in a preset position. It can be understood that the operating unit 300 also includes a processing part electrically connected to the receiving part. After the receiving part receives the magnitude of the force, the processing part is used to convert it into an equivalent torque and feed it back to the control part 310, so as to control the transmission unit 400 to act through the control part 310. Among them, the receiving part can be specifically a signal receiver, the control part can be specifically a controller, and the processing part can be a processor.

[0062] like Figure 1 As shown, in some embodiments, the operating unit 300 includes a bed connection portion 340, which is connected to the operating bed through the bed connection portion 340, so that the surgical retractor fixation device 10 is installed on the operating bed, so that the retractor unit 100 pulls the patient's tissue, reducing the cost required for manual fixation.

[0063] During the operation, the operating unit 300 is first connected to the operating bed through the bed connection part 340, and then the hook unit 100 is connected to the transmission unit 400, and the transmission unit 400 is connected to the operating unit 300 to complete the construction of the device. Before the operation begins, the operator connects the handle part 130 to the hook unit 100, and by operating the handle part 130, the hook unit 100 is caused to swing until the hook unit 100 moves to the preset position. After debugging, the force sensing unit 200 obtains the force and feeds it back to the operating unit 300. The operating unit 300 converts the force into a torque signal and transmits it to the transmission unit 400. The transmission unit 400 applies an equivalent torque to the hook unit 100, so that the hook unit 100 remains in the preset position.

[0064] like Figure 1 and Figure 2As shown, further, an indicator light 320 is provided on the operating unit 300. When the indicator light 320 is red, the operator still needs to act on the handle portion 130. After the indicator light 320 is green, the operator can loosen the handle portion 130 and choose whether to remove the handle portion 130 according to actual needs. If the position of the hook unit 100 needs to be changed, the external force acting on the hook unit 100 by the transmission unit 400 is removed, the handle portion 130 is reinstalled on the hook unit 100, and the hook unit 100 is adjusted to move to a new preset position, and the hook unit 100 is maintained at the preset position through the cooperation of the operating unit 300 and the transmission unit 400, and this cycle is repeated. When the operation is completed and the surgical hook fixing device 10 is no longer needed, the fixing member 510 can be removed.

[0065] Furthermore, an embodiment of the present application also provides a surgical robot system, including the above-mentioned surgical hook fixing device and a mechanical arm connected to the handle portion, the mechanical arm is used to drive the hook unit to move to a preset position, so there is no need for an operator to act on the handle portion to pull the hook unit to the preset position, thereby reducing manpower waste. Specifically, during use, the mechanical arm can act on the handle portion all the time to keep the hook unit in the preset position, making the pulling operation easier. After the force sensing unit obtains the force, the operating unit can control the transmission unit to keep the hook unit in the preset position. At this time, the mechanical arm can be separated from the hook unit and withdraw from the current position, thereby reducing the risk of interference between the mechanical arm and the main surgeon and ensuring the smooth progress of the operation.

[0066] like Figure 1 and Figure 5 As shown, an embodiment of the present application also provides a surgical hook fixing method based on the above-mentioned surgical hook fixing device 10. First, the force when the hook unit 100 moves to the preset position is obtained; secondly, an equivalent force is applied to the hook unit 100 to keep the hook unit 100 at the preset position.

[0067] Specifically, the hook unit 100 is driven to move to the preset position by operating the handle 130, the force applied to the hook unit 100 is detected by the force sensing unit 200, and after the force is obtained by the operating unit 300, the transmission unit 400 is controlled to operate so that the hook unit 100 remains in the preset position. Therefore, the external force acting on the handle 130 can be removed, and there is no need for the assistant to keep pulling the hook unit 100, which can not only reduce the waste of manpower, but also reduce the risk of interference between the assistant and the surgeon, and ensure the smooth progress of the operation.

[0068] like Figure 1 and Figure 4As shown, in another embodiment, the mapping relationship between parameter information and force is directly obtained without operating the handle 130 to drive the hook unit 100 to move to the preset position. The parameter information is the parameter information of the force sensing unit 200, the operating unit 300 and the transmission unit 400 when the hook unit 100 moves to the preset position.

[0069] Specifically, the mapping relationship between parameter information and force is data collected in advance and stored in the memory 330 of the operating unit 300 so that it can be directly obtained when used, shortening the adjustment time, reducing the consumption of manpower and material resources, and improving the efficiency of the operation.

[0070] Each preset position corresponds to a set of parameter information, including parameter information of the force sensing unit 200, parameter information of the operating unit 300, and parameter information of the transmission unit 400. When the hook unit 100 moves to the preset position, the parameter information of the force sensing unit 200 corresponds to the magnitude and direction of the force acting on the hook unit 100; the parameter information of the operating unit 300 corresponds to the torque value after the force is converted into torque; and the parameter information of the transmission unit 400 corresponds to the output torque of the transmission unit 400. For example, in one embodiment, the length of the hook unit 100 is 0.3m. When the hook unit 100 moves to the preset position, the parameter information of the force sensing unit 200, that is, the magnitude of the force applied to the hook unit 100 is 30N, and the direction of the force is parallel to the first axis of the first rotating part 410. Then, the parameter information of the operating unit 300, that is, the equivalent torque is 9N·m, and the parameter information of the transmission unit 400, that is, the output torque of the first rotating part 410 is 9N·m, so that the hook unit 100 moves and remains in the preset position.

[0071] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A surgical retractor fixing device, characterized in that: The device comprises: A retractor unit (100), wherein the retractor unit (100) is connected to a handle portion (130); A force sensing unit (200) is disposed between the handle portion (130) and the hook unit (100) and is used to detect the force applied by the handle portion (130) to the hook unit (100); An operating unit (300) is electrically connected to the force sensing unit (200), and the operating unit (300) is capable of acquiring the applied force; The transmission unit (400) is connected between the hook unit (100) and the operating unit (300); the operating unit (300) controls the movement of the transmission unit (400) according to the action force, so that the hook unit (100) is kept at a preset position.

2. The surgical retractor fixation device according to claim 1, characterized in that: The operating unit (300) is also used to convert the action force into torque; The transmission unit (400) comprises a first rotating part (410) connected between the hook unit (100) and the operating unit (300); the first rotating part (410) drives the hook unit (100) to deflect around a first axis according to the torque; The transmission unit (400) further comprises a second rotating part (420) connected to the first rotating part (410); the second rotating part (420) drives the hook unit (100) to deflect around a second axis according to the torque; The transmission unit (400) further comprises a third rotating part (430) connected to the second rotating part (420), and the third rotating part (430) is movably connected to the operating unit (300), and the third rotating part (430) drives the hook unit (100) to deflect around a third axis according to the torque; The axial directions of the first axis, the second axis and the third axis are perpendicular to each other.

3. The surgical retractor fixation device according to claim 1, characterized in that: The handle portion (130) is detachably connected to the hook unit (100); and / or The transmission unit (400) is detachably connected to the hook unit (100); and / or The transmission unit (400) is detachably connected to the operating unit (300).

4. The surgical retractor fixation device according to claim 1, characterized in that: The force sensing unit (200) comprises a force sensor or a strain gauge.

5. The surgical retractor fixation device according to claim 1, characterized in that: The operating unit (300) comprises: a receiving unit, the receiving unit being electrically connected to the force sensing unit (200) so as to receive a signal sent by the force sensing unit (200); and A control unit (310), the control unit (310) being electrically connected to the receiving unit; when the receiving unit receives the signal, the control unit (310) controls the transmission unit (400) to operate so as to keep the hook unit (100) at the preset position.

6. The surgical retractor fixation device according to claim 1, characterized in that: The hook unit (100) comprises: A connecting portion (110), the connecting portion (110) being used to connect with the handle portion (130) and the transmission unit (400); The hook body (120) is connected to the connecting part (110), and the hook body (120) is used for pulling tissue.

7. A surgical robot system, characterized in that: It comprises the surgical retractor fixing device (10) according to any one of claims 1 to 6 and a mechanical arm connected to the handle portion (130), wherein the mechanical arm is used to drive the retractor unit (100) to move to the preset position.

8. A surgical retractor fixing method based on the surgical retractor fixing device according to any one of claims 1 to 6, characterized in that: include: Obtaining the force applied when the hook unit (100) moves to a preset position; The acting force is applied to the hook unit (100) so that the hook unit (100) is maintained at the preset position.

9. The method according to claim 8, characterized in that Before the step of obtaining the force acting on the hook unit (100) to move to the preset position, the method further comprises: A mapping relationship between parameter information and the action force is obtained, wherein the parameter information is parameter information of the force sensing unit (200), the operating unit (300) and the transmission unit (400) when the hook unit (100) moves to the preset position.

10. The method according to claim 8, characterized in that The step of obtaining the force acting on the hook unit (100) to move to the preset position comprises: The operation drives the hook unit (100) to move to the preset position; The force applied to the hook unit (100) is obtained.

Images