Surgical robot end effector and surgical robot

Abstract

The embodiment of the application provides a surgical robot end execution device and a surgical robot. The surgical robot end execution device comprises: a power box with a power box top plate, an information reader is arranged in the power box, the information reader has a first antenna, the first antenna is arranged around a first shaft hole of the power box top plate; an isolation plate is detachably arranged on the power box; a surgical instrument is detachably arranged on the isolation plate, the surgical instrument has a first transmission shaft, the position of the first transmission shaft corresponds to the first shaft hole, an information storage label is arranged on the first transmission shaft, the information storage label has a second antenna, and the second antenna is arranged on the first transmission shaft; wherein, along the axial direction of the first shaft hole, the signal transmission path between the first antenna and the second antenna is signal conductive. The stability and accuracy of information reading of the surgical instrument are improved.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to a surgical robot end effector and a surgical robot. Background Art

[0002] With the continuous development of medical devices, computer technology, and control technology, minimally invasive surgery has become increasingly widely used due to its advantages such as minimal surgical trauma, short recovery time, and reduced patient pain. Among them, minimally invasive surgical robots, with their high dexterity, high control precision, and intuitive surgical images, can avoid operational limitations such as hand tremors during filtering operations, making them widely applicable to surgical areas such as the abdominal, pelvic, and thoracic cavities.

[0003] The minimally invasive surgical robot consists of a master console and a slave manipulator arm. The master console collects the doctor's operating signals, which are processed by the control system and then generate control signals for the slave manipulator arm, which performs the surgical operation. The slave manipulator arm is equipped with a slide assembly, which is equipped with a power box. The power box is removably connected to the isolation plate and surgical instruments to control the opening and closing, deflection, pitch, rotation, and other movements of the instrument's actuator. Before providing power to the actuator, the power box needs to complete the input of surgical instrument information through program control, such as reading the surgical instrument's product serial number, detecting the engagement status, and writing the number of uses.

[0004] Common methods for reading and writing surgical instrument information include radio frequency identification (RFID) and physical probe transmission. Among them, the RFID method usually includes an electronic tag and a scanner. The tag is installed on the surgical instrument, and the scanner is installed inside the power box; when the surgical instrument is connected to the power box, the scanner reads the instrument information in the tag to determine the corresponding instrument parameters. In the case of a metal layer between the electronic tag and the scanner, the signal sent by the scanner is easily blocked or reflected, affecting the reading of the signal stored in the electronic tag; in order to ensure reading accuracy, the scanner is large and requires to be as close to the electronic tag as possible, which is not conducive to the layout of the structure.

[0005] Related technologies, such as Chinese invention patent CN106102638B, disclose a signal connector for a sterile barrier between surgical instruments and remotely operated actuators. To improve signal reading accuracy and reduce RFID space usage, the scanner is mounted on a protrusion located at the "ear" of the power box. The corresponding "ear" is hollowed out in the isolation plate bottom plate to form a through hole. During assembly, the scanner is inserted into the corresponding through hole in the isolation plate bottom plate, bringing the scanner closer to the surgical instrument's electronic tag.

[0006] However, the limited space in the "ear" of the power box results in a smaller size of the RFID chip and antenna, which limits the antenna power and shortens the recognition distance, potentially leading to unstable signal reading / writing and low accuracy. Summary of the Invention

[0007] The embodiments of the present application provide a surgical robot end effector and a surgical robot, which can increase the size of the RFID chip and antenna, improve the antenna power, and improve the stability and accuracy of reading / writing surgical instrument information.

[0008] On the one hand, an embodiment of the present application provides a surgical robot end effector, comprising:

[0009] A power box having a power box top plate, an information reader is provided in the power box, the information reader has a first antenna, and the first antenna surrounds the first axis hole of the power box top plate;

[0010] An isolation plate is detachably mounted on the power box;

[0011] A surgical instrument is detachably mounted on the isolation plate, the surgical instrument having a first transmission shaft, the position of the first transmission shaft corresponding to the first shaft hole, an information storage tag being provided on the first transmission shaft, the information storage tag having a second antenna, and the second antenna being provided on the first transmission shaft;

[0012] Wherein, along the axial direction of the first axial hole, the signal transmission path between the first antenna and the second antenna is conductive.

[0013] In one implementation, a second axial hole is further provided on the top plate of the power box, the first axial hole is located in the middle of the top plate of the power box, and the second axial hole is arranged along the circumference of the first axial hole.

[0014] In one implementation, a first power output disc is passed through the first shaft hole, and the first power output disc is configured to transmit power to the first transmission shaft; the first power output disc is a non-metallic part.

[0015] In one implementation, a mounting plate is provided in the first axial hole, and the first antenna is provided on the mounting plate;

[0016] The mounting plate has a through hole, and the first power output plate is passed through the through hole.

[0017] In one implementation, the first antenna is disposed on a side of the mounting plate facing away from the isolation plate, and the mounting plate is a non-metallic component.

[0018] In one implementation, a circuit board is provided in the power box, the information reader includes a reader body, the reader body is provided on the circuit board, and the first antenna is connected to the reader body.

[0019] In one implementation, the first transmission shaft is disposed in a third shaft hole of a bottom plate of an instrument box of a surgical instrument; the first transmission shaft includes:

[0020] a first shaft configured to transmit power to the end effector;

[0021] The second shaft rod is inserted into the third shaft hole, and the second shaft rod is sleeved on the outer circumference of the first shaft rod. The second shaft rod is fixed to the first shaft rod along the circumference of the first shaft rod; the information storage label is arranged on the second shaft rod; wherein, the second shaft rod is a non-metallic part.

[0022] In one implementation, the third axial hole includes a first hole segment and a second hole segment. Along the axial direction of the third axial hole, the second hole segment is located on the side of the first hole segment facing away from the instrument box; the aperture of the second hole segment is larger than the aperture of the first hole segment, so as to form a limiting step between the second hole segment and the first hole segment; the second shaft includes:

[0023] A shaft body is sleeved on the outer periphery of the first shaft, and the shaft body is passed through the first hole section;

[0024] The power input disc is located at one end of the shaft body away from the first shaft; in the second hole section of the power input disc, the limiting step is configured to limit the axial displacement of the second shaft; and the information storage label is provided on the power input disc.

[0025] In one implementation, the second antenna is annular, is sleeved on the shaft body, and is attached to the power input disc; along the circumference of the second shaft, the second antenna is fixedly connected to the second shaft.

[0026] In one implementation, a boss is provided on a side of the power input disc facing the shaft body, and the second antenna is sleeved on the outer periphery of the boss;

[0027] One of the peripheral wall of the boss and the inner wall of the second antenna is provided with a recessed portion, and the other of the peripheral wall of the boss and the inner wall of the second antenna is provided with a protruding portion; the protruding portion is embedded in the recessed portion to limit the second antenna and the second axis rod along the circumference of the second axis rod.

[0028] In one implementation, a washer is sleeved on the outer periphery of the shaft body, one end of the washer is pressed onto at least one of the boss and the second antenna, and the other end of the washer abuts against the bottom plate of the instrument box.

[0029] In one implementation, the washer is disposed in the first hole section and extends to the second hole section, so that there is a gap between the second antenna and the limiting step;

[0030] And / or, along the axial direction of the second shaft, the thickness of the boss is greater than the thickness of the second antenna, the washer is pressed onto the boss, and the second antenna is fixed on the power input disc.

[0031] In one implementation, the power input disk is provided with a groove, the information storage tag includes a memory chip, and the memory chip is provided on the second antenna; the memory chip is accommodated in the groove.

[0032] On the other hand, an embodiment of the present application provides a surgical robot, comprising:

[0033] Main console;

[0034] The slave operating arm is connected to the master control console for communication;

[0035] The end effector provided in the aforementioned embodiment of the present application is provided on a slave operating arm.

[0036] The surgical robot end effector and surgical robot provided in the embodiments of the present application have an information reader disposed within a power box, wherein the first antenna of the information reader surrounds a first axial hole disposed on a top plate of the power box. This allows full utilization of the space in the first axial hole, provides sufficient space for the first antenna, and increases the size of the first antenna. The surgical instrument is disposed on an isolation plate disposed on the power box, with the first transmission shaft of the surgical instrument corresponding to the first axial hole. This facilitates transmission of power from the power box to the first transmission shaft through the first axial hole. The information storage tag is disposed on the first transmission shaft, and the second antenna of the information storage tag is disposed on the second transmission shaft. This increases the size of the second antenna, thereby increasing the area of ​​mutual induction between the first and second antennas. In addition, the signal transmission path between the first and second antennas is conductive along the axial direction of the first axial hole. That is, there is no signal shielding member between the first and second antennas, facilitating communication between the first and second antennas. Compared with related technologies, the sizes of the first and second antennas can be increased, and the power of the first and second antennas can be increased, thereby improving the stability and accuracy of the information reader in reading / writing information from the information storage tag.

[0037] In addition, in an embodiment of the present application, the first antenna of the information reader is arranged around the first shaft hole, and the second antenna of the information storage tag is arranged on the first transmission shaft; in this way, the first antenna does not need to occupy the space of the "ear" of the power box, and the second antenna does not need to occupy the space of the "ear" of the instrument box, which facilitates the setting of other signal transmission channels between the power box and the instrument box. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 is a schematic diagram of the overall structure of the surgical robot end effector provided in some embodiments of the present application;

[0040] Figure 2 is a schematic diagram of the exploded structure of the surgical robot end effector provided in some embodiments of the present application;

[0041] Figure 3 This is a schematic diagram of the internal structure of a power box in the end effector of a surgical robot provided in some embodiments of the present application;

[0042] Figure 4 is a schematic structural diagram of an instrument box in an end effector of a surgical robot provided in some embodiments of the present application;

[0043] Figure 5 This is a schematic diagram of the structure of the cooperation between the power box top plate and the first antenna in the surgical robot end effector provided in some embodiments of the present application;

[0044] Figure 6 This is a schematic diagram of the structure of a circuit board in the end effector of a surgical robot provided in some embodiments of the present application;

[0045] Figure 7 This is a schematic diagram of the structure of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the end effector of the surgical robot provided in some embodiments of the present application;

[0046] Figure 8 This is a schematic diagram of the exploded structure of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the end effector of the surgical robot provided in some embodiments of the present application;

[0047] Figure 9 is a cross-sectional view of the cooperation between the first transmission shaft and the bottom plate of the instrument box in the end effector of the surgical robot provided in some embodiments of the present application;

[0048] Figure 10 yes Figure 9 A partial enlarged view of point A in the middle;

[0049] Figure 11 is a schematic structural diagram of a second shaft in the end effector of a surgical robot provided in some embodiments of the present application;

[0050] Figure 12 This is a schematic diagram of the structure of the information storage tag in the end effector of the surgical robot provided in some embodiments of the present application.

[0051] Description of reference numerals:

[0052] 10-end effector;

[0053] 100-power box; 200-isolation board; 300-surgical instruments;

[0054] 110 - power box body; 120 - power box top plate; 210 - transmission plate; 310 - instrument box; 320 - instrument box bottom plate; 330 - slender shaft; 340 - first transmission shaft; 350 - information storage tag;

[0055] 111 - first antenna; 112 - fixing plate; 113 - drive motor; 114 - circuit board; 121 - first shaft hole; 122 - first power output disk; 123 - mounting plate; 124 - second power output disk; 321 - third shaft hole; 341 - first shaft rod; 342 - second shaft rod; 351 - second antenna; 352 - memory chip;

[0056] 1141-first through hole; 1142-second through hole; 1231-through hole; 3211-first hole section; 3212-second hole section; 3213-limiting step; 3421-shaft body; 3422-power input disc; 3423-boss; 3424-recess; 3425-washer; 3426-groove; 3511-protrusion. DETAILED DESCRIPTION

[0057] The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

[0058] In some places in this specification, many specific technical details are described. However, it should be understood that the embodiments of the present invention can be practiced without these specific technical details. Such detailed descriptions should not be construed as limiting, and the scope of protection of the present invention is defined solely by the claims. In other places, well-known structures, circuits, and other details are not shown in detail to avoid misunderstanding the main points of the present invention.

[0059] In this specification, the accompanying drawings illustrate schematic diagrams of several embodiments of the present invention. However, the drawings are merely illustrative, and it should be understood that other embodiments or combinations may be utilized, and that mechanical structures, physical components, electrical components, and process steps may be varied without departing from the spirit and scope of the present invention.

[0060] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present invention. Spatially relative terms, such as "below", "bottom", "above", "upper", etc., may be used to describe the relationship between an element or feature illustrated in the figure and another element or feature for ease of explanation. It should be understood that spatially relative terms are intended to cover different orientations of the device in use or operation except for the orientation depicted in the figure. For example, if the device in the figure is turned over, the element described as being "below" other elements or features will become "above" other elements or features. Therefore, the exemplary term "below" can cover the orientation above and below. The device can be oriented in other ways (e.g., rotated 90 ° or in other orientations), and the spatially relative descriptors used herein are interpreted accordingly.

[0061] As used herein, "several," the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It should be further understood that the terms "include" and / or "comprise" specify the presence of stated features, steps, operations, elements, and / or components but do not preclude the presence of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0062] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object," "component," "portion," "part," and "item" are used interchangeably.

[0063] The terms "instrument," "surgical instrument," and "surgical instrument" are used herein to describe medical devices, including end instruments, that are configured to be inserted into a patient and used to perform a surgical or diagnostic procedure. An end instrument can be a surgical tool associated with one or more surgical tasks, such as forceps, needle holders, scissors, bipolar cauterizers, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices (e.g., endoscopes or ultrasound probes), and the like. Some instruments used in embodiments of the present invention further provide an articulated support for the surgical tool (sometimes referred to as a "wrist") that allows the position and orientation of the end instrument to be manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Furthermore, many end instruments include functional mechanical degrees of freedom, such as jaws that open or close or a knife that translates along a path. Instruments may also contain stored (e.g., on a PCBA within the instrument) information that is either permanent or updateable by the surgical system. Accordingly, the system can provide one-way or two-way communication of information between the instrument and one or more system components.

[0064] The term "mating" can be broadly understood as any situation in which two or more objects are connected in a manner that allows the mating objects to operate in conjunction with each other. It should be noted that mating does not require a direct connection (e.g., a direct physical or electrical connection), but rather many objects or components can be used to mate two or more objects. For example, objects A and B can be mated using object C. In addition, the terms "removably coupled" or "removably mating" can be interpreted as meaning a non-permanent connection or mating situation between two or more objects. This means that the removably coupled objects can be uncoupled and separated so that they no longer operate in conjunction.

[0065] Finally, the terms "or" and "and / or" as used herein should be interpreted as inclusive or meaning any one or any combination. Thus, "A, B, or C" or "A, B, and / or C" means any one of the following: A; B; C; A and B; A and C; B and C; A, B, and C. An exception to this definition would only occur if a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0066] Overview of Master-Slave Teleoperated Laparoscopic Surgical Robot

[0067] Laparoscopic surgical robots typically consist of a surgeon's control platform, a patient operating platform, and an imaging platform. The surgeon, seated at the surgeon's control platform, views a 2D or 3D image of the surgical area transmitted by a laparoscope placed inside the patient's body. The surgeon then controls the movements of a robotic arm on the patient operating platform, as well as the surgical instruments or laparoscope attached to it. The robotic arm simulates a human arm, and the surgical instruments simulate a human hand. Together, they provide the surgeon with a range of movements that mimic the human wrist while filtering out inherent hand tremors.

[0068] The patient surgical platform includes a chassis, a column, a robotic arm connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each robotic arm. The surgical instrument and / or laparoscope is detachably attached to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes that are operated at the surgical site in the patient's body. The relevant surgical instruments can be provided in various forms that allow each surgical instrument manipulator to move with one or more mechanical degrees of freedom (e.g., all six Cartesian degrees of freedom, five or less Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is restricted by mechanical or software constraints to rotate the relevant surgical instrument around a center of motion on the surgical instrument that remains stationary relative to the patient. The center of motion is typically located at the position where the surgical instrument enters the body, and the center of motion is called the "telecentric point."

[0069] The imaging platform typically includes a video image capture function (most commonly an endoscope) and one or more video displays for displaying the surgical instruments in the captured images. In some laparoscopic surgical robots, the laparoscope includes optical devices that transmit images from the patient's body to one or more imaging sensors (e.g., CCD or CMOS sensors) at the distal end of the endoscope. The video images are then transmitted to the imaging platform's host computer through steps such as photoelectric conversion. Subsequently, the processed images are displayed on the video display for observation by the assistant through image processing.

[0070] The doctor control platform may be at a single location in the surgical system consisting of a laparoscopic surgical robot or it may be distributed at two or more locations in the system. Remote control master / slave operation can be performed according to a preset degree of control. In some embodiments, the doctor control platform includes one or more manually operated input devices, such as joysticks, exoskeleton gloves, power and gravity compensation manipulators, etc. These input devices collect the surgeon's operating signals, which are processed by the control system to generate control signals for the robotic arm and surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, which in turn controls the movement of the surgical instrument.

[0071] Typically, the force generated by the remote motor is transmitted through a transmission system, transferring the force from the remote motor to the end instrument of the surgical instrument. In some telesurgery embodiments, the input device controlling the manipulator may be located remotely from the patient, either inside or outside the patient's room, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with telemanipulation, telecontrol, and telepresence surgery will be familiar with such systems and their components.

[0072] For some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 provided in the embodiment of the present application may include a power box 100 .

[0073] For some examples, refer to Figure 1-Figure 3 As shown, the power box 100 may include a power box body 110. The power box body 110 may be made of metal materials such as aluminum alloy or stainless steel. The power box body 110 may be made of non-metallic materials such as hard plastic or engineering plastic.

[0074] It can be understood that in some examples of the embodiments of the present application, the materials used to make the power box body 110 are only shown as some specific examples, and are not intended to limit the material of the power box body 110 .

[0075] For some examples, refer to Figure 1-Figure 3As shown, the power box 100 may include a power box top plate 120. The power box top plate 120 may be disposed at the opening of the power box body 110. The power box top plate 120 and the power box body 110 together form a receiving space. Since the power box 100 is fixedly mounted on the surgical robot end effector 10, the isolation plate needs to be disassembled and assembled multiple times. In order to improve durability (reduce wear, etc.), the power box top plate 120 may generally be made of metal materials such as stainless steel.

[0076] For some examples, refer to Figure 3 As shown, the accommodating space can accommodate a fixing plate 112. The fixing plate 112 can be fixedly connected to the power box body 110.

[0077] In some examples, the fixing plate 112 can be fixedly connected to a surgical slide (not shown) of the die forging execution device 10. The power box body 110 can be surrounded on a side of the fixing plate 112 facing away from the surgical slide.

[0078] For some examples, refer to Figure 3 As shown, the accommodating space can accommodate a driving motor 113. The driving motor 113 can be fixedly arranged on the fixing plate 112.

[0079] In some examples, the driving motor 113 may include one.

[0080] In some examples, the driving motor 113 may include multiple motors. In some examples of the embodiments of the present application, the driving motor 113 may include multiple motors as a specific example.

[0081] For some examples, refer to Figure 2 and Figure 3 As shown, the power box top plate 120 may be provided with a first shaft hole 121. The output shaft of the drive motor 113 may be passed through the first shaft hole 121, so that the power of the drive motor 113 is output outwardly through the first shaft hole 121.

[0082] For some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 may include an isolation plate 200. The isolation plate 200 may be detachably disposed on the power box 100.

[0083] In some examples, the isolation plate 200 may be provided on the power box top plate 120. Figure 2 As shown, a transmission disc 210 may be provided on the isolation plate 200. The transmission disc 210 may be in driving connection with the output shaft of the drive motor 113. The drive motor 113 may drive the transmission disc 210 to rotate, thereby transmitting power to the transmission disc 210.

[0084] For example, in some examples, the drive motor 113 can be connected to the first power output disc 122 (refer to the detailed description of subsequent examples of the embodiments of the present application), and the drive motor 113 transmits power to the first power output disc 122, driving the first power output disc 122 to rotate, and the first power output disc 122 is engaged with the transmission disc 210, thereby transmitting power to the transmission disc 210 and driving the transmission disc 210 to rotate.

[0085] For some examples, refer to Figure 1 and Figure 2 As shown, the surgical robot end effector 10 may include a surgical instrument 300. The surgical instrument 300 may be detachably mounted on the isolation plate 200.

[0086] For some examples, refer to Figure 2 As shown, the surgical instrument 300 may include an instrument box 310. The instrument box 310 may be provided on the isolation plate 200.

[0087] For some examples, refer to Figure 1 and Figure 2 As shown, surgical instrument 300 may include an elongated shaft 330. The elongated shaft 330 may be provided in instrument box 310. The elongated shaft 330 may be rotatably connected to the instrument box 310.

[0088] In some examples, an end effector may be provided on the elongated shaft 330. The end effector may include forceps, needle holders, scissors, monopolar / bipolar cautery devices, tissue stabilizers or retractors, clip appliers, stapling devices, imaging devices, etc., as described in detail in the previous embodiments of this application.

[0089] For some examples, refer to Figure 4 As shown, the surgical instrument 300 may have a first transmission shaft 340. The first transmission shaft 340 may be provided in the instrument box 310. The first transmission shaft 340 may be in transmission connection with the elongated shaft 330, thereby driving the elongated shaft 330 and the end effector to move.

[0090] In some examples, the position of the first transmission shaft 340 may correspond to the first shaft hole 121 .

[0091] In some examples, the first transmission shaft 340 can be coaxial with the first shaft hole 121. That is, the output shaft of the drive motor 113 can transmit power to the first transmission shaft 340 through the first shaft hole 121. For example, the output shaft of the drive motor 113 can pass through the first shaft hole 121 and connect with the transmission disk 210 on the isolation plate 200, thereby transmitting power to the transmission disk 210. Alternatively, the first transmission shaft 340 can connect with the transmission disk 210 on the isolation plate 200, allowing the transmission disk 210 to transmit power from the drive motor 113 to the first transmission shaft 340.

[0092] In some examples, after the instrument box 310 is installed on the isolation plate 200, it is necessary to read relevant information of the surgical instrument 300. For example, information such as the type, model, and number of uses of the surgical instrument 300 is read to ensure that the surgical instrument 300 is accurately installed and improve the safety of the operation.

[0093] In some examples, in order to facilitate reading of relevant information of the surgical instrument 300 , the power box 100 may be provided with an information reader (not shown in the figures).

[0094] In some examples, the surgical instrument 300 (eg, the instrument box 310) may be provided with an information storage tag 350 (see Figure 9 The information storage tag 350 may be an RFID chip.

[0095] In some examples, the stability and accuracy of the information storage tag 350 stored in the information reader is improved. Figure 5 As shown, the information reader may have a first antenna 111. The first antenna 111 may surround a first shaft hole 121 of a top plate 120 of the power box.

[0096] In some examples, the first antenna 111 can be arranged around the outer periphery of the first axial hole 121. In this way, the space around the first axial hole 121 can be fully utilized, and the size of the first antenna 111 can be increased within a limited space, thereby increasing the power of the first antenna 111 and improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0097] In some examples, a fixing member for fixing and supporting the first antenna 111 may be disposed in the first axial hole 121 , and the first antenna 111 may be wound around the fixing member.

[0098] In some examples, since the information reader is disposed within the power box 100, in order to reduce the distance between the first antenna 111 and the information storage tag 350, the first antenna 111 can be placed close to the wall of the first shaft hole 121 and extended from the wall of the first shaft hole 121 to the side of the power box top plate 120 facing the isolation plate 200. In this way, the distance between the first antenna 111 and the information storage tag 350 can be reduced, thereby improving the stability and accuracy of the first antenna 111 in reading the information stored in the information storage tag 350. In addition, the metal material of the power box top plate 120 can be avoided from blocking and shielding the signal, making it easier for the first antenna 111 to read the information of the information storage tag 350.

[0099] In some examples, the information storage tag 350 may be disposed on the first transmission shaft 340 (see Figure 9 The information storage tag 350 has a second antenna 351 (see Figure 11As shown). In this way, the second antenna 351 and the first antenna 111 can be arranged opposite each other, which can reduce the distance between the second antenna 351 and the first antenna 111, thereby improving the stability and accuracy of the first antenna 111 in reading the information stored in the information storage tag 350.

[0100] In some examples, the information storage tag 350 may have a second antenna 351 . The second antenna 351 may be disposed on the first transmission shaft 340 .

[0101] In some examples, the second antenna can be disposed around the outer circumference of the first transmission shaft 340. This can increase the size of the second antenna 351, thereby increasing the power of the second antenna 351. This can increase the power of the signal transmitted between the first antenna 111 and the second antenna 351, thereby improving the accuracy and stability of the information reader in reading the information storage tag 350.

[0102] In some examples, along the axial direction of the first axial hole 121 , the signal transmission path between the first antenna 111 and the second antenna 351 is conductive.

[0103] That is, along the axial direction of the first axial hole 121, there is no signal shielding member between the first antenna 111 and the second antenna 351. For example, the member between the first antenna 111 and the second antenna 351 can be non-metallic, thus facilitating signal conduction between the first antenna 111 and the second antenna 351.

[0104] The surgical robot end effector 10 provided in an embodiment of the present application comprises an information reader disposed within the power box 100. The information reader's first antenna 111 surrounds a first axial hole 121 disposed on the power box's top plate 120. This allows full utilization of the space surrounding the first axial hole 121, providing ample space for the first antenna 111 and increasing its size. The surgical instrument 300 is disposed on an isolation plate 200 disposed on the power box 100, with the first transmission shaft 340 of the surgical instrument 300 corresponding to the first axial hole 121. This facilitates power transmission from the power box 100 to the first transmission shaft 340 through the first axial hole 121. The information storage tag 350 is disposed on the first transmission shaft 340, with the second antenna 351 of the information storage tag 350 disposed on the second transmission shaft. This increases the size of the second antenna 351, thereby increasing the area of ​​mutual induction between the first antenna 111 and the second antenna 351. Furthermore, along the axial direction of the first axial hole 121, the signal transmission path between the first antenna 111 and the second antenna 351 is continuous. That is to say, there is no signal shielding component between the first antenna 111 and the second antenna 351, which facilitates communication between the first antenna 111 and the second antenna 351; compared with the relevant technology, the size of the first antenna 111 and the second antenna 351 can be increased, and the power of the first antenna 111 and the second antenna 351 can be increased, thereby improving the stability and accuracy of the information reader reading information from the information storage tag 350.

[0105] In addition, in an embodiment of the present application, the first antenna 111 of the information reader is arranged around the outer periphery of the first axial hole 121, and the second antenna 351 of the information storage tag 350 is arranged on the first transmission shaft 340; in this way, the first antenna 111 does not need to occupy the space of the "ear" of the power box, and the second antenna 351 does not need to occupy the space of the "ear" of the instrument box, which facilitates the setting of other signal transmission channels between the power box and the instrument box.

[0106] For some examples, refer to Figure 5 As shown, a second axial hole (not numbered in the figure) may be provided on the power box top plate 120.

[0107] In some examples, the first shaft hole 121 may be located in the middle of the power box top plate 120. The second shaft holes may be arranged on the outer periphery of the first shaft hole 121 along the circumference of the first shaft hole 121.

[0108] It should be noted that the second axial holes are arranged along the circumference of the first axial hole 121 , which does not mean that the second axial holes need to be arranged along the circumference. In the embodiment of the present application, it may mean that the second axial holes are located around the outline of the first axial hole 121 .

[0109] In some examples, the functions of the first axial hole 121 and the second axial hole can be the same, similar, or similar. In other words, the power box 100 can be provided with multiple drive motors 113. Each drive motor 113 can correspond to a axial hole (the first axial hole 121 or the second axial hole). In this way, the end effector can be driven from multiple degrees of freedom, improving the flexibility of the end effector.

[0110] It is understood that in some examples, the second shaft hole may be provided in the middle of the power box top plate 120, and the first shaft holes 121 may be arranged on the periphery of the second shaft hole along the circumference of the second shaft hole. In some examples of the embodiments of the present application, only the first shaft hole 121 being provided in the middle of the power box top plate 120 is shown as a specific example.

[0111] In some examples of the embodiments of the present application, the first axial hole 121 is provided in the middle of the power box top plate 120, and the second axial holes are arranged along the circumference of the first axial hole 121 on the periphery of the first axial hole 121. In this way, there is more space on the periphery of the first axial hole 121 to arrange the first antenna 111, which can increase the size of the first antenna 111 and improve the receiving power of the first antenna 111, thereby improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0112] For some examples, refer to Figure 5 As shown, a first power output disc 122 may be provided in the first shaft hole 121. The first power output disc 122 is rotatably provided in the first shaft hole 121 along the circumference of the first shaft hole 121.

[0113] In some examples, the first power output disc 122 can be inserted into the first shaft hole 121. The output shaft of the drive motor 113 can be in driving connection with the first power output disc 122. In other words, the power of the drive motor 113 is transmitted to the first power output disc 122 and outputted outwardly through the first power output disc 122.

[0114] In some examples, the first power output disk 122 can be configured to transmit power to the first transmission shaft 340. For example, the first transmission shaft 340 can be connected to the transmission disk 210, and the power transmitted from the first power output disk 122 to the transmission disk 210 is transmitted to the first transmission shaft 340 through the transmission disk 210.

[0115] In some examples, the first power output disk 122 may be a non-metallic member. This can reduce the impact of the first power output disk 122 on the signal transmission between the first antenna 111 and the second antenna 351, thereby improving the stability and accuracy of the signal transmission between the first antenna 111 and the second antenna 351.

[0116] In some examples, the first power output disc 122 may be a plastic component. For example, the first power output disc 122 may be a hard plastic component or an engineering plastic component.

[0117] In some examples, a second power take-off disc 124 may be disposed in the second shaft hole.

[0118] In some examples, the second power output disc 124 may be a metal part, such as an aluminum alloy part, a stainless steel part, or a cast iron part.

[0119] In some examples, the second power output disc 124 may be a non-metallic component. For example, the second power output disc 124 may be a hard plastic component or an engineering plastic component.

[0120] It can be understood that in some examples of the embodiments of the present application, the material of the second power output disc 124 can be the same, similar or similar to that in the related art, and the material of the second power output disc 124 is not limited in the embodiments of the present application.

[0121] For some examples, refer to Figure 5 As shown, a mounting plate 123 may be provided in the first axial hole 121 , and the first antenna 111 may be provided on the mounting plate 123 .

[0122] In some examples, the diameter of the first axial hole 121 may be larger than the diameter of the second axial hole, so as to facilitate the installation of the mounting plate 123 in the first axial hole 121 .

[0123] In some examples of the embodiments of the present application, a mounting plate 123 is provided in the first axial hole 121 , and the first antenna 111 is mounted on the mounting plate 123 , thereby facilitating the installation and arrangement of the first antenna 111 .

[0124] For some examples, refer to Figure 5 As shown, the mounting plate 123 may have a through hole 1231. The through hole 1231 may penetrate two surfaces of the mounting plate along the axial direction.

[0125] In some examples, the first power output disc 122 may be inserted into the through hole 1231 .

[0126] In some examples, the diameter of through-hole 1231 can be the same, similar, or similar to the diameter of the second shaft hole. Thus, the diameters of first power take-off disk 122 and second power take-off disk 124 can be the same, similar, or similar. In other words, first power take-off disk 122 and second power take-off disk 124 can be manufactured using the same mold or processing tool, saving mold making costs.

[0127] In some examples of the embodiments of this application, refer to Figure 5As shown, the first antenna 111 may be disposed on a side of the mounting plate 123 facing away from the partition.

[0128] In some examples, the first antenna 111 may be embedded on a side of the mounting plate 123 facing away from the isolation plate 200 .

[0129] In some examples, the first antenna 111 may be attached to a side of the mounting plate 123 facing away from the isolation plate 200 .

[0130] In some examples, to prevent the mounting plate 123 from affecting signal transmission between the first antenna 111 and the second antenna 351 , the mounting plate 123 may be a non-metallic member.

[0131] In some examples, the mounting plate 123 may be a plastic member that is hard and wear-resistant to facilitate long-term use of the power box 100. For example, the mounting plate 123 may be a hard plastic member or an engineering plastic member, such as PI or PEEK. Alternatively, the mounting plate 123 may be an inorganic or organic non-metallic material, such as alumina ceramic or nylon.

[0132] It is understood that in some examples of the embodiments of the present application, the material of the mounting disk 123 is shown only as some specific examples and does not limit the material of the mounting disk 123. For example, in some examples, when the information storage tag 350 is a metal-resistant tag and the information reader is a metal-resistant reader, the material of the mounting disk 123 can also be a metal material.

[0133] In some examples of the embodiments of the present application, the first antenna 111 is arranged on the side of the mounting disk 123 facing away from the isolation plate 200. In this way, the first antenna 111 can be isolated from the rotating first power output disk 122 and the transmission disk 210 by the mounting disk 123, thereby preventing the first antenna 111 from being rubbed by the first power output disk 122 and the transmission disk 210, and protecting the first antenna 111.

[0134] In addition, setting the mounting plate 123 as a non-metallic part can reduce the impact of the mounting plate 123 on the signal transmission between the first antenna 111 and the second antenna 351, thereby improving the stability and accuracy of the signal transmission between the first antenna 111 and the second antenna 351, that is, improving the stability and accuracy of the information reader in reading the information stored in the information storage tag 350.

[0135] For some examples, refer to Figure 3 、 Figure 5 and Figure 6 As shown, a circuit board 114 may be provided in the power box 100. The circuit board 114 may be located on a side of the power box top plate 120 facing the power box 100.

[0136] For some examples, refer to Figure 5 and Figure 6 As shown, the circuit board 114 may be provided with a first through hole 1141. The first through hole 1141 may be coaxial with the first shaft hole 121. The first power output disc 122 may extend into the first through hole 1141. This facilitates transmission connection between the output shaft of the drive motor 113 and the first power output disc 122.

[0137] For some examples, refer to Figure 5 and Figure 6 As shown, the circuit board 114 may be provided with a second through hole 1142. The second through hole 1142 may be coaxial with the second shaft hole. The second power output disc 124 may extend into the second through hole 1142. This facilitates transmission connection between the output shaft of the drive motor 113 and the second power output disc 124.

[0138] In some examples, the circuit board 114 may include an integrated circuit board 114 .

[0139] In some examples, the circuit board 114 may include a printed circuit board (PCB).

[0140] It can be understood that in some examples of the embodiments of the present application, the specific types of the circuit board 114 are only shown as some specific examples, and are not intended to limit the specific types of the circuit board 114.

[0141] In some examples, the information reader may include a reader body (not shown in the figure) that may be disposed on the circuit board 114 .

[0142] In some examples, the reader body may be mounted on the circuit board 114 in the form of a patch.

[0143] In some examples, the first antenna 111 can be connected to the reader body.

[0144] In some examples, the first antenna 111 can be directly connected to the reader body.

[0145] In some examples, the first antenna 111 can be connected to the reader body via traces on the circuit board 114 .

[0146] In some examples of the embodiments of the present application, a circuit board 114 is provided in the power box 100. The reader body of the information reader is provided on the circuit board 114. This facilitates the arrangement of the reader body and facilitates the reader body to analyze and process the information received by the first antenna 111.

[0147] For some examples, refer to Figure 7-Figure 9As shown, the instrument box 310 can be provided with an instrument box bottom plate 320. The first transmission shaft 340 can be passed through the instrument box bottom plate 320. The first transmission shaft 340 can pass through the instrument box bottom plate 320 from the instrument box 310.

[0148] For some examples, refer to Figure 9 As described above, the first transmission shaft 340 may include a first shaft 341. The first shaft 341 may be configured to transmit power to the end effector.

[0149] In some examples, the first shaft 341 may be a metal shaft, for example, the first shaft 341 may be made of a metal material such as stainless steel or cast iron.

[0150] For some examples, refer to Figure 9 As shown, the first transmission shaft 340 may include a second shaft 342. The second shaft 342 may be passed through the instrument box bottom plate 320.

[0151] In some examples, the second shaft 342 can be sleeved on the outer circumference of the first shaft 341 .

[0152] In some examples, the second shaft 342 can be fixedly connected to the first shaft 341 along the circumference of the first shaft 341. For example, a spline can be provided on the circumferential wall of the first shaft 341, and the second shaft 342 can be fixed to the first shaft 341 along the circumferential direction via the spline. Alternatively, in some examples, after the second shaft 342 is sleeved onto the outer circumference of the first shaft 341, the first and second shafts 341, 342 can be locked radially relative to each other using latches, screws, or bolts, thereby securing the first and second shafts 341, 342 relative to each other in the circumferential direction.

[0153] For some examples, refer to Figure 10 As shown, the information storage tag 350 can be provided on the second shaft 342. The second shaft 342 can be a non-metallic member.

[0154] In some examples, the second shaft 342 may be a plastic part, such as an injection molded part, a hard plastic part, or an engineering plastic part.

[0155] In some examples, the second shaft 342 can be drivingly connected to the transmission plate 210. The first shaft 341 can be connected to the end effector.

[0156] That is, the power of the driving motor 113 is transmitted to the second shaft 342 through the first power output disc 122 and the transmission disc 210 , and the second shaft 342 transmits the power to the end effector through the first shaft 341 , thereby driving the end effector to move.

[0157] In some examples of the embodiments of the present application, a second shaft 342 is sleeved around the outer periphery of the first shaft 341, and the second shaft 342 is configured as a non-metallic member. Thus, after the information storage tag 350 is placed on the second shaft 342, the second shaft 342, as a non-metallic member, has no effect on the signal transmission between the information storage tag 350 and the first antenna 111, thereby improving the stability and accuracy of the signal transmission between the first antenna 111 and the information storage tag 350, thereby improving the stability and accuracy of reading the information stored in the information storage tag 350.

[0158] For some examples, refer to Figures 8-11 As shown, the second shaft 342 may include a shaft body 3421. The shaft body 3421 may be sleeved on the outer circumference of the first shaft 341.

[0159] In some examples, the shaft body 3421 can be passed through the instrument box bottom plate 320 and sleeved on the outer circumference of the first shaft 341 .

[0160] In some examples, the second shaft 342 can include a power input disc 3422. Figure 8 and Figure 9 As shown, the power input disc 3422 may be located at an end of the shaft body 3421 away from the first shaft 341 .

[0161] In some examples, the power input disc 3422 and the shaft body 3421 can be integrally formed. The power input disc 3422 and the shaft body 3421 can be integrally injection molded. The power input disc 3422 and the shaft body 3421 can be two-shot injection molded. Alternatively, the power input disc 3422 and the shaft body 3421 can be overmolded. In some examples of the embodiments of the present application, there is no limitation on the molding method of the power input disc 3422 and the shaft body 3421.

[0162] For some examples, refer to Figure 9 and Figure 10 As shown, the power input disk 3422 can be recessed in the surface of the instrument box bottom plate 320 facing the isolation plate 200 .

[0163] For some examples, refer to Figures 8-10 As shown, the instrument box bottom plate 320 can be provided with a third shaft hole 321. The first transmission shaft 340 can be passed through the third shaft hole 321.

[0164] For some examples, refer to Figure 9 and Figure 10 As shown, the third shaft hole 321 may include a first hole section 3211. The first hole section 3211 may penetrate to the surface of the instrument box bottom plate 320 facing the instrument box 310. The shaft body 3421 may be inserted into the first hole section 3211.

[0165] For some examples, refer to Figure 9 and Figure 10 As shown, the third axial hole 321 may include a second hole segment 3212. Along the axial direction of the third axial hole 321, the second hole segment 3212 may be located on a side of the first hole segment 3211 facing away from the instrument box 310.

[0166] In some examples, the second hole section 3212 may extend through the surface of the instrument box bottom plate 320 facing away from the instrument box 310 . The power input disk 3422 may be disposed in the second hole section 3212 .

[0167] In some examples, the diameter of the second hole section 3212 can be larger than the diameter of the first hole section 3211. Thus, a limiting step 3213 can be formed at one end of the second hole section 3212 facing the first hole section 3211. The limiting step 3213 can be configured to limit the axial movement of the first transmission shaft 340.

[0168] In some examples, the information storage tag 350 can be located on the power input disk 3422 .

[0169] In some examples of the present invention, a power input disk 3422 is provided at the end of the shaft body 3421 of the second shaft 342 away from the first shaft 341, and the information storage tag 350 is provided on the power input disk 3422. Thus, providing sufficient space for the information storage tag 350 can increase the size of the second antenna 351 and improve the power of the second antenna 351; thereby improving the stability and accuracy of signal transmission between the first antenna 111 and the second antenna 351.

[0170] For some examples, refer to Figure 12 As shown, the second antenna 351 can be a ring structure and can be sleeved on the shaft body 3421.

[0171] In some examples, the second antenna 351 can be attached to the power input disk 3422 .

[0172] In some examples, the second antenna 351 may be fixedly connected to the second shaft 342 along the circumference of the second shaft 342 .

[0173] In some examples, the second antenna 351 may be adhered to the surface of the power input disc 3422 by adhesive, so that the second antenna 351 is fixedly connected to the second shaft 342 .

[0174] In some examples of the embodiments of the present application, the second antenna 351 is set to a ring structure and is sleeved on the outer circumference of the shaft body 3421; in this way, the circumferential space of the shaft body 3421 can be fully utilized, the size of the second antenna 351 can be increased, and the power of the second antenna 351 can be improved.

[0175] Furthermore, the second antenna 351 is attached to the power input disk 3422 and fixed circumferentially relative to the second shaft 342. This ensures that when the second shaft 342 rotates, it drives the second antenna 351 with it. This ensures that the relative position of the second antenna 351 and the first antenna 111 remains unchanged, thereby ensuring stable and accurate signal transmission between the second antenna 351 and the first antenna 111.

[0176] For some examples, refer to Figure 11 As shown, a boss 3423 may be provided on the side of the power input disc 3422 facing the shaft body 3421. The boss 3423 and the power input disc 3422 may be an integral part.

[0177] In some examples, the second antenna 351 can be sleeved on the outer periphery of the boss 3423 .

[0178] In some examples, along the axial direction of the first shaft 340 , the thickness of the boss 3423 may be greater than the thickness of the second antenna 351 .

[0179] In some examples, along the axial direction of the first shaft 340 , the thickness of the boss 3423 may be equal to the thickness of the second antenna 351 .

[0180] In some examples, a recess 3424 is provided on one of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351. A protrusion 3511 is provided on the other of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351. The protrusion 3511 can be embedded in the recess 3424 to limit the relative position of the second antenna 351 and the second shaft 342 along the circumference of the second shaft 342.

[0181] In some examples, a concave portion 3424 may be provided on a peripheral wall of the boss 3423. A protrusion 3511 may be provided on an inner wall of the second antenna 351.

[0182] In some examples, a circumferential wall of the boss 3423 may be provided with a protrusion 3511 . An inner wall of the second antenna 351 may be provided with a recess 3424 .

[0183] In some examples of the embodiments of the present application, a recessed portion 3424 is provided on the peripheral wall of the boss 3423 , and a protruding portion 3511 is provided on the inner wall of the second antenna 351 as a specific example.

[0184] In some examples of the present application, a boss 3423 is provided on the side of the power input disc 3422 facing the shaft body 3421, and the second antenna 351 is sleeved around the outer periphery of the boss 3423. A recess 3424 is provided on one of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351, and a protrusion 3511 is provided on the other of the peripheral wall of the boss 3423 and the inner wall of the second antenna 351. Thus, the protrusion 3511 can be embedded in the recess 3424, thereby facilitating the positioning of the second antenna 351 and the second shaft 342 along the circumference of the second shaft 342. Furthermore, the provision of the recess 3424 on the peripheral wall of the boss 3423 enhances the integrity of the shaft body 3421, ensuring its strength.

[0185] For some examples, refer to Figure 10 As shown, the outer periphery of the shaft body 3421 can be provided with a washer 3425. One end of the washer 3425 can be pressed onto at least one of the boss 3423 and the second antenna 351, and the other end of the washer 3425 can abut against the bottom plate 320 of the instrument box. Figure 10 As described above, the washer 3425 can be disposed in the first hole section 3211 . The washer 3425 can protrude from the limiting step 3213 and extend into the second hole section 3212 .

[0186] In some examples, a bearing (not numbered in the figure) is provided around the outer periphery of the shaft body 3421. The bearing can be disposed within the first hole section 3211. For example, the outer ring of the bearing can be fixedly connected to the wall of the first hole section 3211, while the inner ring of the bearing can be fixedly connected to the peripheral wall of the first transmission shaft 340. The other end of the washer 3425 can abut against the bearing.

[0187] In some examples, the washer 3425 can be press-fitted onto the boss 3423. For example, the second antenna 351 can be attached to the power input disc 3422 using an adhesive. In this case, the washer 3425 is press-fitted onto the boss 3423. Because the washer 3425 protrudes beyond the stop step 3213, a gap exists between the boss 3423 and the stop step 3213. In other words, a certain gap exists between the second antenna 351 and the fiber step 3213. This eliminates friction between the stop step 3213 and the second antenna 351, thus protecting the second antenna 351.

[0188] In some examples, the washer 3425 can be pressed onto the second antenna 351. In this way, the washer can limit the axial movement of the second antenna 351, so that the distance between the second antenna 351 and the first antenna 111 remains substantially unchanged, thereby improving the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0189] In some examples, the gasket 3425 can be press-fitted onto the second antenna 351 and the boss 3423 at the same time.

[0190] In some examples, gasket 3425 can be a rubber gasket.

[0191] In some examples of the embodiments of the present application, a washer 3425 is sleeved around the outer periphery of the shaft body 3421, with one end of the washer 3425 pressed against the boss 3423 and the second antenna 351, while the other end of the washer 3425 abuts against the instrument box bottom plate 320. In this way, if the second antenna 351 is displaced along the axial direction of the shaft body 3421, the washer 3425 can limit the position of the second antenna 351. In other words, the washer 3425 limits the position of the second antenna 351 along the axial direction of the shaft body 3421, ensuring that the distance between the second antenna 351 and the first antenna 111 remains substantially unchanged, thereby improving the stability and accuracy of signal transmission between the second antenna 351 and the first antenna 111.

[0192] For some examples, refer to Figure 11 As shown, the power input disc 3422 may be provided with a groove 3426. Figure 12 As shown, the information storage label 350 may include a memory chip 352. The memory chip 352 may be mounted on the second antenna 351. The memory chip 352 may be accommodated within the recess 3426. This provides protection for the memory chip 352. Furthermore, after the second antenna 351 is mounted on the power input disk 3422, the surface of the second antenna 351 is ensured to be flat, facilitating the press-fitting and positioning of the gasket 3425 on the second antenna 351.

[0193] In some examples of the embodiments of the present application, a surgical robot is further provided. The surgical robot may include a main console.

[0194] In some examples, a surgical robot may include a slave manipulator arm. The slave manipulator arm may be communicatively connected to a master control console. A doctor or operator may input operation signals to the master control console, and the slave manipulator arm may perform corresponding actions based on the operation signals.

[0195] In some examples, the surgical robot may include the end effector 10 described in detail in the previous embodiments of the present application. The end effector 10 may be provided on a slave operating arm.

[0196] It can be understood that the surgical robots provided in some examples of the embodiments of the present application have the same or corresponding technical features as the end effector 10 of the surgical robot provided in the aforementioned embodiments of the present application. Therefore, they have the same or similar technical effects as the aforementioned embodiments of the present application. For details, please refer to the detailed description of the aforementioned embodiments of the present application, and the embodiments of the present application will not go into details about this.

[0197] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A surgical robot end effector, characterized in that: include: A power box having a power box top plate, wherein an information reader is provided in the power box, and the information reader has a first antenna, and the first antenna surrounds a first axial hole of the power box top plate; an isolation plate, detachably mounted on the power box; A surgical instrument detachably mounted on the isolation plate, the surgical instrument comprising a first transmission shaft, the first transmission shaft being positioned corresponding to the first shaft hole, an information storage tag being disposed on the first transmission shaft, the information storage tag having a second antenna, and the second antenna being disposed on the first transmission shaft; Wherein, along the axial direction of the first axial hole, the signal transmission path between the first antenna and the second antenna is signal-conductive.

2. The surgical robot end effector according to claim 1, characterized in that: The power box top plate is further provided with a second axial hole, the first axial hole is located in the middle of the power box top plate, and the second axial holes are arranged along the circumference of the first axial hole.

3. The surgical robot end effector according to claim 1, characterized in that: A first power output disc is passed through the first shaft hole, and the first power output disc is configured to transmit power to the first transmission shaft; the first power output disc is a non-metallic part.

4. The surgical robot end effector according to claim 3, characterized in that: A mounting plate is provided in the first axial hole, and the first antenna is provided on the mounting plate; The mounting plate has a through hole, and the first power output plate is inserted into the through hole.

5. The surgical robot end effector according to claim 4, characterized in that: The first antenna is arranged on a side of the mounting plate facing away from the isolation plate, and the mounting plate is a non-metallic part.

6. The surgical robot end effector according to claim 1, characterized in that: A circuit board is provided in the power box. The information reader includes a reader body. The reader body is provided on the circuit board. The first antenna is connected to the reader body.

7. The surgical robot end effector according to any one of claims 1 to 6, characterized in that: The first transmission shaft is arranged in the third shaft hole of the bottom plate of the instrument box of the surgical instrument; the first transmission shaft includes: a first shaft configured to transmit power to the end effector; The second shaft rod is passed through the third shaft hole, and the second shaft rod is sleeved on the outer circumference of the first shaft rod. The second shaft rod is fixed to the first shaft rod along the circumference of the first shaft rod; the information storage label is arranged on the second shaft rod; wherein, the second shaft rod is a non-metallic part.

8. The surgical robot end effector according to claim 7, characterized in that: The third axial hole includes a first hole segment and a second hole segment. Along the axial direction of the third axial hole, the second hole segment is located on the side of the first hole segment facing away from the instrument box; the aperture of the second hole segment is larger than the aperture of the first hole segment, so as to form a limiting step between the second hole segment and the first hole segment; the second shaft includes: a shaft body, sleeved on the outer circumference of the first shaft, and the shaft body is inserted into the first hole section; A power input disc is located at one end of the shaft body away from the first shaft; the power input disc is arranged in the second hole section, and the limiting step is configured to limit the axial displacement of the second shaft; the information storage label is arranged on the power input disc.

9. The surgical robot end effector according to claim 8, characterized in that: The second antenna is annular, is sleeved on the shaft body, and is attached to the power input disk; along the circumference of the second shaft, the second antenna is fixedly connected to the second shaft.

10. The surgical robot end effector according to claim 9, characterized in that: A boss is provided on a side of the power input disc facing the shaft body, and the second antenna is sleeved on the outer periphery of the boss; One of the peripheral wall of the boss and the inner wall of the second antenna is provided with a recessed portion, and the other of the peripheral wall of the boss and the inner wall of the second antenna is provided with a protruding portion; the protruding portion is embedded in the recessed portion to limit the second antenna and the second shaft along the circumference of the second shaft.

11. The surgical robot end effector according to claim 10, characterized in that: A washer is sleeved on the outer periphery of the shaft body, one end of the washer is pressed onto at least one of the boss and the second antenna, and the other end of the washer abuts against the bottom plate of the instrument box.

12. The surgical robot end effector according to claim 11, characterized in that: The washer is disposed in the first hole section and extends to the second hole section, so that there is a gap between the second antenna and the limiting step; And / or, along the axial direction of the second shaft, the thickness of the boss is greater than the thickness of the second antenna, the washer is pressed onto the boss, and the second antenna is fixed on the power input disc.

13. The surgical robot end effector according to any one of claims 8 to 12, characterized in that: The power input disk is provided with a groove, the information storage tag includes a storage chip, and the storage chip is provided on the second antenna; the storage chip is accommodated in the groove.

14. A surgical robot, characterized in that: include: Main console; A slave operating arm, communicatively connected to the master console; The end effector according to any one of claims 1 to 13 is arranged on the slave operating arm.

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