Surgical cannula, surgical arm, and method for detecting surgical cannula

Abstract

The invention provides a surgical cannula, a surgical arm and a detection method of the surgical cannula. The surgical cannula comprises a cannula body and a clamping part, the clamping part is used for being clamped by a clamping piece of an operation arm; wherein a Hall element is arranged on the operation arm; the clamping part is cylindrical; the diameter of the clamping part is larger than that of the sleeve body, and an annular step surface is formed at the joint of the clamping part and the sleeve body; the step surface is provided with a magnetic ring or not provided with a magnetic ring, and is configured to generate a Hall effect or not with a Hall element on the operation arm so as to provide information about whether the magnetic ring exists or not and / or the type of the magnetic ring to the operation arm. According to the surgical cannula, different types of magnetic rings are correspondingly arranged or not arranged on the step surfaces of different types of surgical cannulas, and based on whether the Hall effect is generated or not and the result of the generated Hall effect, the structure is simplified, the technical difficulty and cost are reduced, and the recognition accuracy is improved.

Description

Technical Field

[0001] The present application relates to the field of medical devices, and more specifically, to a surgical cannula, a surgical arm, and a method for detecting the surgical cannula. Background Art

[0002] With the continuous development of medical equipment, computer technology and control technology, minimally invasive surgery has been increasingly widely used due to its advantages of small surgical trauma, short recovery time and less pain for patients. Surgical cannulas are usually used to open an opening in the patient's cavity and establish a channel for an endoscope or other surgical instruments to enter during minimally invasive surgery. Among them, the surgical cannula is usually stably fixed to the slave manipulator arm through a cannula adapter installed on the robotic arm of the surgical robot. Since there are many types of surgical cannulas, doctors or nurses need to manually insert them into the patient's incision position during the preoperative preparation stage, and then dock them to the robot manipulator arm after positioning.

[0003] A type of sleeve currently used in the industry mainly includes a metal attachment part for engaging with a slave manipulator arm, and the attachment part protrudes outside the sleeve body. There is an identification device composed of one or more magnets at multiple positions at the attachment part, and the identification information of the sleeve corresponds one-to-one with the arrangement of the one or more magnets relative to the multiple positions; for example, each position in the multiple positions does not have a magnet or has a combination of a magnet and a field polarity of the magnet.

[0004] However, in order to automatically identify the type of cannula, such surgical cannula needs to arrange multiple magnetic flux readers at a very small position, which makes the cannula adapter structure more complicated, thereby increasing the technical difficulty and cost, and also affecting the accuracy of identification. Summary of the invention

[0005] The purpose of the present application is to provide a surgical cannula, a surgical arm and a method for detecting a surgical cannula, which can simplify the structure, reduce technical difficulty and cost, and improve the accuracy of identifying the type of surgical cannula based on the Hall effect.

[0006] In the first aspect, the present application provides a surgical cannula, comprising a cannula body and a clamping portion; the clamping portion is used to be clamped by a clamping piece of a surgical arm; wherein a Hall element is provided on the surgical arm; the clamping portion is cylindrical; the diameter of the clamping portion is greater than the diameter of the cannula body, and an annular step surface is formed at the connection with the cannula body; a magnetic ring is provided on the step surface or not, and is configured to generate a Hall effect or not generate a Hall effect with the Hall element on the surgical arm, so as to provide the surgical arm with information on whether the magnetic ring exists and / or the type of the magnetic ring.

[0007] The above-mentioned surgical cannula, by correspondingly setting different types of magnetic rings or not setting magnetic rings on the step surfaces of different types of surgical cannula, and determining whether the surgical cannula is provided with a magnetic ring and the type of the magnetic ring provided based on whether the Hall effect is generated and the result of the Hall effect generated, determines the type of surgical cannula, so that only the Hall element needs to be set on the matching surgical arm, thereby simplifying the structure and reducing the technical difficulty and cost. And the identification of the type of surgical cannula based on the result of the Hall effect also improves the accuracy. Thereby improving the cost performance of the surgical cannula. In addition, because the magnetic ring is set on the annular step surface of the surgical cannula, and the clamping part of the surgical cannula is cylindrical, the metal attachment part is omitted, thereby avoiding the problem of low clamping stability caused by the offset center of gravity of the surgical cannula.

[0008] In combination with the first aspect, optionally, it also includes a cover plate; a receiving groove is provided on the step surface; the receiving groove receives the magnetic ring; the cover plate is connected to the step surface to cover the receiving groove.

[0009] The surgical cannula reduces the space occupied by the surgical cannula by providing a receiving groove on the step surface and arranging the magnetic ring in the receiving groove. In addition, by configuring a cover plate for covering the receiving groove, the magnetic ring is positioned and protected, which not only fixes the magnetic ring to avoid inaccurate Hall effect results caused by its position change, but also avoids the influence of the magnetic ring on the magnetism during the high-temperature disinfection and sterilization of the cannula.

[0010] In combination with the first aspect, optionally, at least two Hall elements are adjacently arranged on the surgical arm; and the magnetic ring includes a multi-stage radiation magnetic ring.

[0011] The surgical cannula is provided with at least two Hall elements on the surgical arm, and a multi-stage radiation magnetic ring with different numbers of magnetic poles is provided on different types of surgical cannulas. The number of magnetic poles of the magnetic ring is determined based on the Hall effect generated by the magnetic ring and the Hall element, thereby determining the type of the surgical cannula. Since the number of magnetic poles of the multi-stage radiation magnetic ring can be multiple, the types of surgical cannulas that can be identified are increased.

[0012] In combination with the first aspect, optionally, the Hall element has a fan-shaped sensing area; the fan-shaped sensing areas of the Hall elements located at both ends respectively have symmetry axes; the angle of the opening formed by the symmetry axes toward the Hall element is θ; the magnetic pole segments of the multi-stage radiation magnetic ring are arc-shaped, and the angle of the arc is α; θ / 2<α≤θ.

[0013] The above-mentioned surgical cannula, since the clamping portion of the surgical cannula is cylindrical, can be clamped by the surgical arm when the surgical cannula is rotated at any angle with its own length direction as the axis during the clamping process. By limiting θ / 2<α≤θ, when the surgical cannula is clamped at any angle, the results of the Hall effect generated by the magnetic ring on it and the corresponding Hall element are consistent, so the final recognition result is also consistent. That is, no matter at what angle the surgical cannula is clamped, the type of the surgical cannula can be normally identified.

[0014] In combination with the first aspect, optionally, only one Hall element is provided on the surgical arm; and the magnetic ring includes a single-pole radiation magnetic ring.

[0015] The above-mentioned surgical cannula only has one Hall element on the surgical arm, and different single-stage radiation magnetic rings (or no magnetic rings) are correspondingly provided on different types of surgical cannulas. This simplifies the structure of the matching surgical arm while realizing the identification of the surgical cannula through the result of the Hall effect.

[0016] In a second aspect, the present application provides a surgical arm, comprising a clamping assembly; the clamping assembly comprises a clamping piece and a bracket; the bracket has a connecting portion, the clamping piece is connected to the connecting portion, and is used to clamp the clamping portion of a surgical cannula; wherein the clamping portion is provided with a magnetic ring or is not provided with a magnetic ring; the connecting portion is provided with a Hall element; the clamping piece has a clamping space, the clamping space is adapted to the shape of the clamping portion and is cylindrical; the opening of the fan-shaped sensing area of ​​the Hall element faces the clamping space; the Hall element is configured to generate or not generate a Hall effect with the magnetic ring to identify whether the magnetic ring exists and / or the type of the magnetic ring.

[0017] The above-mentioned surgical arm has the same beneficial effects as the first aspect, which will not be described in detail here.

[0018] In combination with the second aspect, optionally, a proximity sensor is further provided on the connecting portion; the proximity sensor is configured to detect whether the sleeve is present on the bracket.

[0019] The above-mentioned surgical arm, by arranging a proximity sensor on the connecting part of the bracket, can detect whether the clamping assembly is clamping the surgical cannula, regardless of whether the surgical cannula is provided with a magnetic ring. That is, after the proximity sensor for detecting whether the cannula exists on the bracket is provided, it is possible not to provide a magnetic ring on a certain type of surgical cannula. Thereby increasing the types of identifiable surgical cannulas. Moreover, it is also possible to detect whether the surgical cannula is snapped into place (the proximity sensor has a sensing distance limitation. If the snap-in distance is too large, even if the Hall sensor and the magnetic ring produce a Hall effect, the proximity sensor will not have a signal).

[0020] In combination with the second aspect, optionally, the magnetic ring includes a multi-stage radial magnetic ring; the magnetic pole segments of the multi-stage radial magnetic ring are arc-shaped, and the angle of the arc is α; at least two of the Hall elements are adjacently arranged on the connecting portion; at least two of the Hall elements are distributed along the same circumferential direction of the clamping space.

[0021] The above-mentioned surgical arm has the same beneficial effects as the first aspect, which will not be described in detail here.

[0022] In combination with the second aspect, optionally, the magnetic pole segments of the multi-stage radiation magnetic ring are arc-shaped, and the angle of the arc is α; the Hall element has a fan-shaped sensing area; the fan-shaped sensing areas of the Hall element located at both ends respectively have a symmetry axis, and the angle of the opening formed by the symmetry axis toward the connecting part is θ; θ / 2<α≤θ.

[0023] The above-mentioned surgical arm has the same beneficial effects as the first aspect, which will not be described in detail here.

[0024] In combination with the second aspect, optionally, the magnetic ring includes a single-pole radiation magnetic ring; and there is only one Hall element.

[0025] The above-mentioned surgical arm has the same beneficial effects as the first aspect, which will not be described in detail here.

[0026] In a third aspect, the present application provides a method for detecting a surgical cannula, which is applied to detecting a cannula on a surgical arm; wherein a Hall element is provided on the surgical arm, and a magnetic ring is provided or not provided on the cannula; the surgical arm is used to clamp the cannula and drive the extension and retraction of the surgical instrument; the method comprises: after detecting the presence of the cannula on the surgical arm, receiving first detection information of the magnetic ring by the Hall element; identifying the type of the cannula according to the correspondence between the first detection information and the type of the cannula; and detecting the distance between the execution end of the surgical instrument and the end of the cannula according to the type of the cannula and the type information of the surgical instrument.

[0027] The above-mentioned surgical cannula detection method, after identifying the type of surgical cannula based on the Hall effect, calculates the distance between the execution end of the surgical instrument and the end of the cannula based on the type of surgical cannula and the posture information of the surgical instrument, so as to avoid excessive retraction of the surgical instrument and conflict with the end of the cannula. Thereby playing a role in protecting the surgical instrument. Other beneficial effects may be the same as the first aspect.

[0028] In combination with the third aspect, optionally, the magnetic ring includes a multi-stage radiation magnetic ring, and the first detection information includes the number of magnetic poles of the magnetic ring; and / or the magnetic ring includes a single-stage radiation magnetic ring, and the first detection information includes whether the magnetic ring exists and / or the magnetization direction of the magnetic ring; and / or the magnetic ring includes a single-stage radiation magnetic ring, and the first detection information includes the magnetic field strength of the magnetic ring.

[0029] The above-mentioned method for detecting the surgical cannula, regarding the implementation process and beneficial effects of determining the cannula type according to the number of magnetic poles, magnetization direction and magnetic field strength, may be the same as the first aspect and will not be described in detail here.

[0030] In combination with the third aspect, optionally, detecting the distance between the executing end of the surgical instrument and the end of the sleeve according to the type of the sleeve and the type information of the surgical instrument includes: determining the length of the sleeve according to the type of the sleeve; judging whether the clamping of the surgical instrument is completed; and if it is determined that the clamping of the surgical instrument is not completed, outputting a first prompt message; wherein the first prompt message is used to prompt the user to clamp the surgical instrument; if it is determined that the surgical arm completes the clamping of the surgical instrument, calculating the distance between the executing end of the surgical instrument and the end of the sleeve according to the length of the sleeve and the type information of the surgical instrument.

[0031] The above-mentioned method for detecting a surgical cannula calculates the distance between the execution end of the surgical instrument and the end of the cannula according to the length of the cannula and the posture information of the surgical instrument, thereby realizing a method for calculating the distance using a relatively simple algorithm.

[0032] In combination with the third aspect, optionally, after calculating the distance between the executing end of the surgical instrument and the end of the cannula, the method also includes: determining whether the distance between the executing end of the surgical instrument and the end of the cannula is less than a distance threshold; if it is determined that the distance between the joint of the surgical instrument and the end of the cannula is less than the distance threshold, outputting a second prompt message; wherein the second prompt message is used to remind the user to pay attention to the possible collision between the executing end and the cannula.

[0033] The above-mentioned surgical cannula detection method further reduces the risk of collision between the execution end and the cannula by outputting a second prompt information for reminding the user to pay attention to the possible collision between the execution end and the cannula when the distance between the joint of the surgical instrument and the end of the cannula is less than the distance threshold.

[0034] In combination with the third aspect, optionally, a proximity sensor is also provided on the surgical arm; before receiving the first detection information of the Hall element on the magnetic ring, the method also includes: receiving second detection information of the proximity sensor, and the second detection information indicates whether the sleeve is located on the surgical arm.

[0035] The above-mentioned method for detecting the surgical cannula further ensures the efficiency of the pre-operative preparation process by detecting whether the surgical cannula is correctly located on the surgical arm based on the proximity sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 A three-dimensional diagram of a surgical cannula provided in an embodiment of the present application;

[0038] Figure 2 An exploded view of a surgical cannula provided in an embodiment of the present application;

[0039] Figure 3 A stereoscopic diagram of a single-stage radiation magnetic ring type A in a surgical cannula provided in an embodiment of the present application;

[0040] Figure 4 A stereoscopic diagram of a single-stage radiation magnetic ring type B in a surgical cannula provided in an embodiment of the present application;

[0041] Figure 5 A three-dimensional diagram of a multi-stage radiation magnetic ring in a surgical cannula provided in an embodiment of the present application;

[0042] Figure 6 A three-dimensional diagram of a surgical cannula provided in an embodiment of the present application being clamped by a clamping member;

[0043] Figure 7 A front view of a surgical cannula provided in an embodiment of the present application in a state of being clamped by a clamping member;

[0044] Figure 8 for Figure 7 Sectional view at AA in the middle;

[0045] Fig. 9 A schematic diagram of a first layout of the Hall element in the clamp provided in an embodiment of the present application;

[0046] Fig.10A schematic diagram of a second layout of the Hall element in the clamp provided in an embodiment of the present application;

[0047] Fig.11 A three-dimensional diagram of a surgical arm provided in an embodiment of the present application;

[0048] Fig.12 A schematic diagram of a surgical instrument provided in an embodiment of the present application;

[0049] Fig.13 A first flow chart of a method for detecting a surgical cannula provided in an embodiment of the present application;

[0050] Fig.14 A flowchart of step S160 in the method for detecting a surgical cannula provided in an embodiment of the present application;

[0051] Fig.15 A second flow chart of the method for detecting a surgical cannula provided in an embodiment of the present application.

[0052] Icons: 100, surgical cannula; 110, cannula body; 120, clamping part; 130, annular step surface; 131, receiving groove; 140, magnetic ring; 150, cover plate; 200, surgical arm; 210, clamping assembly; 211, clamping member; 212, bracket; 2121, connecting part; 2122, slide; 2123, power box; 2124, Hall element; 220, robotic arm; 221, movable joint; 300, surgical instrument; 310, execution end; 320, slender tube; 330, instrument box. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0055] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0056] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0057] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0058] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0059] In this specification, many specific technical details are described in some places so that those skilled in the art can understand the complete technical solution. However, it should be understood that the embodiments of the present application can be implemented without these specific technical details. Such detailed description of technical details should not be regarded as a limitation to the present application, and the protection scope of the present application is limited only by the claims. In other places, known structures, connection / position relationships, circuits and / or other details may not be shown in detail to avoid misunderstandings by the public about the main points of the invention of the present application.

[0060] In this specification, the drawings show schematic diagrams of several embodiments of the present application. However, the drawings are only schematic, and it should be understood that changes in mechanical structure, connection / position relationship, physical composition, electrical and steps can be made without departing from the spirit and scope of the present application. Such changes can be either replacement or combination of elements of several embodiments of the present application, or replacement or combination of known contents.

[0061] The terms used herein below are only used to describe specific embodiments and are not intended to limit the present application. Spatially relative terms, such as "below", "lower", "above", "upper", "middle", "middle", "inside", "outside", "center", "edge", etc., are used to describe the relationship between one component or feature shown in the figure and another component or feature for the convenience of explanation. It should be understood that spatially relative terms can only be used under the conditions of the positioning direction of the device in use or operation (except for the positioning direction specifically defined in the figure), and are not necessarily unique and unchanging. For example, if the device in the figure is flipped 180° up and down along the paper, then the elements described as being "below" other components or features will become "above" other components or features. Therefore, the exemplary term "below" can cover both the above and below directions, depending on how the device is positioned. The device can also be positioned in other directions (for example, rotated 90° or positioned in other directions), and the spatially relative descriptors used herein are interpreted accordingly.

[0062] As used herein, "several", "one", and "the" are intended to include 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 parts, but do not exclude the presence of one or more other features, steps, operations, elements, parts, and / or groups thereof.

[0063] The term "object" generally refers to a component or a group of components. Throughout the specification and claims, the terms "object", "component", "portion", "part", "module", "assembly" and "element" are used interchangeably.

[0064] The terms "instrument", "surgical instrument" and "surgical instrument" are used herein to describe a medical device configured to be inserted into a patient and used to perform a surgical or diagnostic procedure, generally including an end effector. An end effector may be a surgical tool associated with one or more surgical procedures, 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 application further provide an articulated support (sometimes referred to as a "wrist joint", "joint seat") for the surgical tool, so that the position and / or orientation of the end effector can be flexibly manipulated with one or more mechanical degrees of freedom relative to the instrument axis. Further, many end effectors include functional mechanical degrees of freedom, such as jaws that open or close or blades that translate along a specific path. The instrument may also contain information stored (e.g., on a PCBA board within the instrument) that is permanent or updateable by the surgical system. Accordingly, the system may provide one-way or two-way information communication between the instrument and one or more system components.

[0065] The term "mating" (sometimes referred to as "connecting", "coupling", "mounting", "assembling") 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 mated" can be interpreted to mean 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.

[0066] 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 will only occur when a combination of elements, functions, steps, or actions are inherently mutually exclusive in some way.

[0067] The following is an overview of the master-slave teleoperated laparoscopic surgical robot:

[0068] Laparoscopic surgical robots usually include a doctor control platform, a patient surgical platform, and an image platform. The surgeon sits on the doctor control platform and watches the two-dimensional or three-dimensional image of the surgical area transmitted by the laparoscope (sometimes called an "endoscope") placed in the patient's body, and controls the movement of the robotic arm on the patient surgical platform, as well as the surgical instruments or laparoscopes attached to the robotic arm. The robotic arm simulates the human arm, and the surgical instrument simulates the human hand. Both provide surgeons with a series of movements that simulate the human wrist, while filtering the tremor of the human hand itself. Therefore, they are increasingly used in surgery, especially in abdominal, thoracic, and general surgery.

[0069] The patient surgical platform generally includes a chassis, a column, a plurality of mechanical arms connected to the column, and one or more surgical instrument manipulators at the end of the support assembly of each mechanical arm. The surgical instrument and / or laparoscope is detachably connected to the surgical instrument manipulator. Each surgical instrument manipulator supports one or more surgical instruments and / or laparoscopes operated at the surgical site in the patient's body. Each surgical instrument manipulator can be allowed to control the relevant surgical instruments in various forms of 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 limited by mechanical or software constraints to rotate the relevant surgical instrument around the center of motion on the surgical instrument that remains stationary relative to the patient, and the center of motion is generally located at the position where the surgical instrument enters the body wall, and the center of motion is generally referred to as the "distal center" or "fixed point".

[0070] The imaging platform usually includes a video image capture function (commonly an endoscope) and one or more video displays for displaying surgical instruments in the captured images. In some laparoscopic surgical robots, an optical device is included to 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, and then transmit the video image to the host of the imaging platform through steps such as photoelectric conversion. Subsequently, through image processing, the processed image is displayed on a video display for observation by other doctors or assistants.

[0071] The doctor control platform usually includes a chassis, a pedal assembly, a stereo monitor, a main control arm, and a manual controller connected to the end of the main control arm. The surgeon controls the manual controller and the pedal assembly to achieve specific movements and / or energy excitation of the surgical instrument. The surgeon control platform can be at a single location in the surgical system composed of a laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the remote control master / slave operation can be completed according to the preset control degree, for example, one location is used as the main control for the main operation, and the other location is used as the auxiliary control for the auxiliary operation. The main control completes the main surgical operation, and the auxiliary control completes the auxiliary operation such as laparoscope movement or tissue traction. In some embodiments, the manual controller can be an input device capable of completing one or more manual operations, such as a joystick, an exoskeleton glove, a power and gravity compensation manipulator, etc. These input devices collect the surgeon's operation signal, and after being processed by the control system, generate control signals of the robotic arm and the surgical instrument manipulator, thereby controlling the remote control motor on the surgical instrument manipulator, and the motor further controls the final movement of the surgical instrument.

[0072] Generally, the force generated by the remote motor is transmitted via a transmission system, which transmits the force from the remote motor to the end effector of the surgical instrument. In some teleoperated surgical embodiments, the input device for controlling the manipulator may be located at a location remote from the patient, in or outside the room where the patient is located, or even in a different city. The input signal from the input device is then transmitted to the control system. Those familiar with teleoperation, telecontrol and telepresentation surgery will be familiar with such systems and their components and will not be described in detail here.

[0073] Please refer to Figure 1 and Figure 2 . Figure 1 is a three-dimensional diagram of a surgical cannula 100 provided in an embodiment of the present application; Figure 2 1 is an exploded view of a surgical cannula 100 provided in an embodiment of the present application. The surgical cannula 100 provided in an embodiment of the present application may include a cannula body 110 and a clamping portion 120. The clamping portion 120 may be used for clamping by a clamping member 211 of a surgical arm 200. Among them, a Hall element 2124 may be provided on the surgical arm 200. The clamping portion 120 may be cylindrical. The diameter of the clamping portion 120 may be greater than the diameter of the cannula body 110, and an annular step surface 130 may be formed at the connection with the cannula body 110. A magnetic ring 140 may be provided on the step surface or no magnetic ring 140 may be provided, and may be configured to generate a Hall effect or not generate a Hall effect with the Hall element 2124 on the surgical arm 200, so as to provide the surgical arm 200 with information on whether the magnetic ring 140 exists and / or the type of the magnetic ring 140.

[0074] like Figures 3 to 5 As shown, the magnetization methods of the magnetic ring 140 can be divided into three types, namely, a single-stage radiation magnetic ring 140A type (the inner ring is an S pole and the outer ring is an N pole), a single-stage radiation magnetic ring 140B type (the inner ring is an N pole and the outer ring is an S pole), and a multi-stage radiation magnetic ring 140. When the surgical cannula 100 is clamped by the clamp 211 of the surgical arm 200, the type of the surgical cannula 100 can be determined based on the Hall effect generated between the magnetic ring 140 and the Hall element 2124. Exemplarily, a type A single-stage radiation magnetic ring 140 is provided on a type A surgical cannula 100, a type B single-stage radiation magnetic ring 140 is provided on a type B surgical cannula 100, a type C surgical cannula 100 is provided with a multi-stage radiation magnetic ring 140, and a type D surgical cannula 100 is not provided with a magnetic ring 140. If no Hall effect is detected when the surgical cannula 100 is clamped, the type of the surgical cannula 100 can be determined to be type A. If the Hall effect is detected, the type of the magnetic ring 140 can be determined based on the result of the Hall effect, thereby further determining the type of the surgical cannula 100, as described below.

[0075] Of course, the type information of the magnetic ring 140 may also include the number of magnetic pole segments of the multi-stage radiation magnetic ring 140 and the magnetic field strength of the single-stage radiation magnetic ring 140 .

[0076] In the above implementation process, different types of magnetic rings 140 are correspondingly arranged on the step surfaces of different types of surgical sleeves 100, or no magnetic rings 140 are arranged. Based on whether the Hall effect is generated and the result of the generated Hall effect, it is determined whether the surgical sleeve 100 is provided with a magnetic ring 140 and the type of the magnetic ring 140 to determine the type of the surgical sleeve 100, so that only the Hall element 2124 needs to be arranged on the matching surgical arm 200, thereby simplifying the structure and reducing the technical difficulty and cost. And the identification of the type of the surgical sleeve 100 based on the Hall effect also improves the accuracy. Thereby improving the cost performance of the surgical sleeve 100. In addition, since the magnetic ring 140 is arranged on the annular step surface 130 of the surgical sleeve 100, and the clamping portion 120 of the surgical sleeve 100 is cylindrical, the attachment portion is omitted, thereby avoiding the problem of low clamping stability caused by the offset of the center of gravity of the surgical sleeve 100.

[0077] Please continue to refer to Figure 2 In some optional embodiments, the surgical sleeve 100 provided in the embodiment of the present application may further include a cover plate 150. A receiving groove 131 may be provided on the step surface. The receiving groove 131 receives the magnetic ring 140. The cover plate 150 may be connected to the step surface to cover the receiving groove 131.

[0078] The connection between the cover plate 150 and the step surface can be welding, clamping, bonding, etc. It should be noted that no matter which connection method is used, since the sleeve is used multiple times and needs to be sterilized (generally high-temperature steam), it must meet the requirements of high temperature resistance and sealing.

[0079] In the above implementation process, the space occupied by the surgical sleeve 100 is reduced by providing the receiving groove 131 on the step surface and arranging the magnetic ring 140 in the receiving groove 131. In addition, by configuring the cover plate 150 for covering the receiving groove 131, the magnetic ring is positioned and protected, which not only fixes the magnetic ring to avoid inaccurate Hall effect results caused by its position change, but also avoids the influence of the magnetic ring on the magnetism during the high-temperature disinfection and sterilization of the sleeve.

[0080] Please refer to Figures 6 to 9 , Figure 6 is a three-dimensional diagram of the surgical cannula 100 provided in an embodiment of the present application being clamped by a clamping member 211; Figure 7 is a front view of the surgical cannula 100 provided in the embodiment of the present application in a state of being clamped by the clamping member 211; Figure 8 yes Figure 7 Sectional view at AA in the middle; Fig. 9 2 is a schematic diagram of a first layout of the Hall element 2124 in the clamp 211 provided in an embodiment of the present application. In some optional embodiments, at least two Hall elements 2124 may be adjacently arranged on the surgical arm 200. The magnetic ring 140 may include a multi-stage radiation magnetic ring 140.

[0081] As a preferred implementation, the number of the Hall elements 2124 may be three.

[0082] As a specific embodiment, multi-level radiation magnetic rings 140 with different numbers of magnetic poles can be provided on different types of surgical cannulas 100. When the surgical cannula 100 is clamped, the number of magnetic poles of the multi-level radiation magnetic ring 140 can be determined based on the Hall effect between the multi-level radiation magnetic ring 140 and the multiple Hall elements 2124, thereby determining the type of the surgical cannula 100. The specific determination method is described below.

[0083] In the above implementation process, at least two Hall elements 2124 are provided on the surgical arm 200, and multi-stage radiation magnetic rings 140 with different numbers of magnetic poles are provided on different types of surgical cannulas 100, and the number of magnetic poles of the magnetic ring 140 is determined based on the Hall effect generated by the magnetic ring 140 and the multiple Hall elements 2124, thereby determining the type of surgical cannula 100. Since the number of magnetic poles of the multi-stage radiation magnetic ring 140 can be multiple, the types of surgical cannulas 100 that can be identified are increased.

[0084] Please continue to refer to Figure 8 and Fig. 9 In some optional embodiments, the Hall element 2124 may have a sector-shaped sensing area. The sector-shaped sensing areas of the Hall elements 2124 at both ends may have symmetry axes respectively. The angle of the opening formed by the symmetry axis toward the Hall element 2124 may be θ. The magnetic pole segments of the multi-stage radiation magnetic ring 140 may be arc-shaped, and the angle of the arc may be α, θ / 2<α≤θ.

[0085] In the above implementation process, since the clamping portion 120 of the surgical cannula 100 is cylindrical, during the clamping process, the surgical cannula can be clamped by the surgical arm 200 when it is rotated at any angle with its own length direction as the axis. By limiting θ / 2<α≤θ, when the surgical cannula is clamped at any angle, the results of the Hall effect generated by the magnetic ring 140 and the corresponding Hall element 2124 are consistent, so that the final recognition result is also consistent. That is, no matter at what angle the surgical cannula 100 is clamped, the type of the surgical cannula 100 can be normally identified.

[0086] Please refer to Fig.10 , Fig.102 is a schematic diagram of a second layout of the Hall element 2124 in the clamp 211 provided in an embodiment of the present application. In some optional embodiments, only one Hall element 2124 may be provided on the surgical arm 200. The magnetic ring 140 may include a single-pole radiation magnetic ring 140.

[0087] The embodiment of the present application can be specifically implemented as follows: the A-type surgical cannula 100 is provided with the A-type single-pole radiation magnetic ring 140, the B-type surgical cannula 100 is provided with the B-type single-pole radiation magnetic ring 140, and the C-type surgical cannula 100 is not provided with the magnetic ring 140. When the surgical cannula 100 is clamped, the magnetic pole direction of the single-pole radiation magnetic ring 140 (A-type single-pole radiation magnetic ring 140 or B-type single-pole radiation magnetic ring 140) is determined based on whether it generates a Hall effect with the Hall element 2124 and the result of the generated Hall effect. Thus, the type of the surgical cannula 100 is determined.

[0088] The embodiment of the present application can also be specifically implemented as follows: a type A single-pole radiation magnetic ring 140 or a type B single-pole radiation magnetic ring 140 with different magnetic field strengths is set on different types of surgical cannulas 100 (a magnetic field strength of 0 is equivalent to setting no magnetic ring 140). For example: a type A surgical cannula 100 is set with a single-pole radiation magnetic ring 140 with a surface magnetic flux of A×(100±10)%, a type B surgical cannula 100 is set with a single-pole radiation magnetic ring 140 with a surface magnetic flux of A×(70±10)%, and a type C surgical cannula 100 is set with a single-pole radiation magnetic ring 140 with a surface magnetic flux of A×(40±10)%. When the surgical cannula 100 is clamped, the magnetic flux (or magnetic field strength) of the magnetic ring 140 can be determined based on the Hall effect generated by the magnetic ring 140 and the Hall element 2124, thereby determining the type of the surgical cannula 100.

[0089] In the above implementation process, by setting only one Hall element 2124 on the surgical arm 200 and setting different single-stage radiation magnetic rings 140 (or no magnetic ring 140) on different types of surgical cannulas 100, the surgical cannula 100 can be identified through the Hall effect, while the structure of the matching surgical arm 200 is simplified.

[0090] Please refer to Fig.11 , Fig.112 is a stereoscopic diagram of a surgical arm 200 provided in an embodiment of the present application. Based on the same concept, an embodiment of the present application provides a surgical arm 200 that may include a clamping assembly 210. The clamping assembly 210 may include a clamping member 211 and a bracket 212. The bracket 212 may have a connecting portion 2121, and the clamping member 211 is connected to the connecting portion 2121, and may be used to clamp the clamping portion 120 of the surgical sleeve 100. Among them, the clamping portion 120 may be provided with a magnetic ring 140 or not provided with a magnetic ring 140. A Hall element 2124 may be provided on the connecting portion 2121. The clamping member 211 may have a clamping space, which is adapted to the shape of the clamping portion 120 and is cylindrical. The opening of the fan-shaped sensing area of ​​the Hall element 2124 faces the clamping space. The Hall element 2124 may be configured to generate or not generate a Hall effect with the magnetic ring 140 to identify whether the magnetic ring 140 exists and / or the type of the magnetic ring 140.

[0091] The clamping member 211 may be a clamping claw, and the bracket 212 may be a mechanical arm 220 having a plurality of movable joints 221. A slide 2122 may also be provided on the connecting portion 2121, and a power box 2123 may be slidably provided on the slide 2122. The power box 2123 may be used to fix the tail end of the surgical instrument, and control the extension and retraction of the surgical instrument based on the sliding of the power box 2123 on the slide 2122.

[0092] Other explanations and specific implementation methods of the embodiments of the present application may be the same as those described above and will not be repeated here.

[0093] The above implementation process may be the same as that of the surgical cannula 100 described above, and will not be described in detail here.

[0094] In some optional embodiments, a proximity sensor (not shown in the figure) may be further provided on the connecting portion 2121. The proximity sensor may be configured to detect whether a sleeve is present on the bracket 212.

[0095] The proximity sensor may be an inductive proximity switch, a capacitive proximity switch, or a photoelectric proximity switch.

[0096] In the above implementation process, by providing a proximity sensor on the connection portion 2121 of the bracket 212, it is possible to detect whether the clamping assembly 210 holds the surgical cannula 100, regardless of whether the magnetic ring 140 is provided on the surgical cannula 100. That is, after providing a proximity sensor for detecting whether a cannula is provided on the bracket 212, the magnetic ring 140 may not be provided on a certain type of surgical cannula 100. Thus, the types of surgical cannula 100 that can be identified are increased. In addition, it is possible to detect whether the surgical cannula 100 is clamped.

[0097] Please continue to refer to Figure 8 and Fig. 9 In some optional embodiments, the magnetic ring 140 may include a multi-stage radiation magnetic ring 140. The magnetic pole segments of the multi-stage radiation magnetic ring 140 are arc-shaped, and the angle of the arc is α. At least two Hall elements 2124 may be disposed adjacent to the connecting portion 2121. The at least two Hall elements 2124 are distributed along the same circumference of the clamping space.

[0098] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0099] Please refer to the figure, in some optional embodiments, the magnetic pole segments of the multi-stage radiation magnetic ring 140 are arc-shaped, and the angle of the arc is α. The Hall element 2124 can have a fan-shaped sensing area. The fan-shaped sensing areas of the Hall elements 2124 located at both ends can respectively have a symmetry axis, and the angle formed by the symmetry axis toward the connection portion 2121 is θ. θ / 2<α≤θ.

[0100] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0101] Please continue to refer to Fig.10 In some optional implementations, the magnetic ring 140 may include a single-pole radiation magnetic ring 140. There may be only one Hall element 2124.

[0102] The above implementation process is the same as that of the surgical cannula 100 described above, and will not be repeated here.

[0103] Please refer to Fig.13 , Fig.13 This is the first flow chart of the detection method of the surgical cannula provided in the embodiment of the present application. Based on the same concept, the embodiment of the present application provides a detection method of the surgical cannula, which should be used to detect the cannula on the surgical arm. Among them, the surgical arm can be provided with a Hall element, and the cannula can be provided with a magnetic ring or not. The surgical arm can be used to clamp the cannula and drive the extension and retraction of the surgical instrument.

[0104] The method may include:

[0105] Step S120: After detecting the presence of the cannula on the surgical arm, receiving first detection information of the Hall element on the magnetic ring.

[0106] Based on the above description of the embodiment of the surgical cannula, it is explained again here in conjunction with Table 1.

[0107] Table 1

[0108]

[0109] In Example 1, three Hall sensors can be arranged on the surgical arm, and multi-stage radiation magnetic rings with different numbers of magnetic poles are arranged on three different types of sleeves. According to the voltage signal emitted by the Hall sensor, the type of the corresponding sleeve can be determined. Example 2 and Example 3 are schemes in which only one Hall sensor is arranged on the surgical arm, and different types of single-stage radiation magnetic rings can be arranged on three different types of sleeves. Similarly. According to the voltage signal emitted by the Hall sensor, the type of the corresponding sleeve can be determined. The correspondence between the specific voltage signal characteristics and the sleeve type is shown in Table 1. The above correspondence can be built into the controller of the surgical robot as a judgment condition. Ordinary technicians in this field know how to do it, and will not repeat it here.

[0110] Step S140: Identify the type of the casing according to the correspondence between the first detection information and the casing type.

[0111] Step S160: Detecting the distance between the execution end of the surgical instrument and the end of the cannula according to the type of the cannula and the type information of the surgical instrument.

[0112] In the above step S160, the surgical instrument usually passes through the cannula through the channel inside the cannula, and the execution end of the surgical instrument can be a multi-degree-of-freedom mechanism such as surgical forceps, electric scissors, and electric hooks. If the surgical instrument retracts excessively and its execution end happens to be in a non-linear state of bending (most of the time during the operation, it is in a bending state), it will contact and collide with the end of the cannula, thereby causing damage to the execution end of the surgical instrument. In addition, in the process of removing the surgical instrument, due to abnormal operation of the operator (directly pulling out the instrument when the wrist of the surgical instrument is bent), the removal speed is too fast, which may increase the degree of damage caused by collision or friction between the wrist or tip of the surgical instrument and the end of the cannula.

[0113] For example, please refer to Fig.12 , Fig.12 3 is a schematic diagram of a surgical instrument 300 provided in an embodiment of the present application. The surgical instrument 300 includes an instrument box 330, an elongated tube 320 and an execution end 310. Generally, the execution end 310 can move with multiple degrees of freedom relative to the elongated tube 320, that is, the execution end 310 can be in a bent state. In the bent state, its profile size in the radial direction of the elongated tube 320 is much larger than the inner diameter of the distal end of the surgical cannula 100. Therefore, when the execution end 310 retracts and approaches the end of the surgical cannula 100, it will contact and collide with the end of the surgical cannula 100.

[0114] Therefore, it is necessary to ensure that the execution end 310 of the surgical instrument 300 is not damaged by calculating the distance between the execution end of the surgical instrument and the end of the sleeve.

[0115] In the above implementation process, after the type of surgical cannula is identified based on the Hall effect, the distance between the execution end of the surgical instrument and the end of the cannula is calculated based on the type of surgical cannula and the posture information of the surgical instrument, so as to avoid excessive retraction of the surgical instrument and collision with the end of the cannula, thereby protecting the surgical instrument.

[0116] Please refer to Fig.14 , Fig.14 This is a flow chart of step S160 in the detection method of the surgical cannula provided in an embodiment of the present application. In some optional embodiments, the magnetic ring may include a multi-stage radiation magnetic ring, and the first detection information may include the number of magnetic poles of the magnetic ring. And / or the magnetic ring may include a single-stage radiation magnetic ring, and the first detection information may include the presence of the magnetic ring and / or the magnetization direction of the magnetic ring. And / or the magnetic ring may include a single-stage radiation magnetic ring, and the first detection information may include the magnetic field strength of the magnetic ring.

[0117] In the above implementation process, the specific implementation method for determining the type of cannula according to the number of magnetic poles, magnetization direction and magnetic field strength may be the same as the surgical cannula described above, and will not be repeated here.

[0118] Referring to the figure, in some optional implementations, step S160 may include:

[0119] Step S161: Determine the length of the sleeve according to the type of the sleeve.

[0120] In the above step S161, the length of the casing and the type of the casing may be pre-stored in the form of a mapping table.

[0121] Step S162: Determine whether the clamping of the surgical instrument is completed.

[0122] If it is determined that the clamping of the surgical instrument is not completed, step S163 is executed: outputting a first prompt message, wherein the first prompt message can be used to prompt the user to clamp the surgical instrument.

[0123] In the above step S163, the first prompt information may be, for example, a prompt message such as "Please connect the surgical instrument" or a specific prompt audio, prompt light or voice.

[0124] If it is determined that the surgical arm has completed the clamping of the surgical instrument, step S164 is executed: the distance between the execution end of the surgical instrument and the end of the sleeve is calculated according to the length of the sleeve and the type information of the surgical instrument.

[0125] In the above step S164, please refer to Fig.11The specific calculation method may be to determine the length of the cannula according to the type of the cannula, and determine the length of the surgical instrument according to the type of the surgical instrument. The type information of the surgical instrument may include the position of the power box that fixes the surgical instrument on the slide. Based on this information, the distance between the execution end of the surgical instrument and the end of the cannula can be calculated.

[0126] In the above implementation process, by calculating the distance between the execution end of the surgical instrument and the end of the cannula according to the length of the cannula and the posture information of the surgical instrument, a relatively simple algorithm is used to calculate the distance.

[0127] Referring to the figure, in some optional implementations, after step S164, the method for detecting a surgical cannula provided in the embodiment of the present application may further include:

[0128] Step S165: Determine whether the distance between the operating end of the surgical instrument and the end of the cannula is less than a distance threshold.

[0129] If it is determined that the distance between the joint of the surgical instrument and the end of the sleeve is less than the distance threshold, step S166 is executed: outputting a second prompt message, wherein the second prompt message can be used to remind the user to pay attention to the possibility of collision between the operating end and the sleeve.

[0130] In the above step S166, the second prompt information can be, for example, an auditory prompt information, such as a prompt such as "Please note: The distance between the execution end and the end of the cannula is too close!" or other prompt audio. The second prompt information can also be a visual prompt information, such as a graphic or text on the monitor screen, a prompt light on the surgical arm, etc. The second prompt information can also be a tactile prompt information, such as increasing the resistance or damping during the retraction of the surgical instrument, etc.

[0131] During the above implementation process, when the distance between the joint of the surgical instrument and the end of the sleeve is less than a distance threshold, a second prompt message is output to remind the user of a possible collision between the execution end and the sleeve, thereby further reducing the risk of collision between the execution end and the sleeve.

[0132] Please refer to Fig.15 , Fig.15 This is a second flow chart of the method for detecting a surgical cannula provided in an embodiment of the present application. In some optional implementations, a proximity sensor may also be provided on the surgical arm.

[0133] Accordingly, before step S120, the method for detecting a surgical cannula provided in the embodiment of the present application may further include:

[0134] Step S110: receiving second detection information from the proximity sensor, where the second detection information indicates whether the cannula is located on the surgical arm.

[0135] In the above implementation process, by detecting whether the surgical cannula is located on the surgical arm based on the proximity sensor, the smoothness of the automatic surgery is further ensured.

[0136] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A surgical cannula, characterized in that: It includes a sleeve body and a clamping part; The clamping portion is used for being clamped by a clamping member of a surgical arm; wherein a Hall element is provided on the surgical arm; The clamping portion is cylindrical; The diameter of the clamping portion is greater than the diameter of the sleeve body, and an annular step surface is formed at the connection with the sleeve body; The step surface is provided with a magnetic ring or is not provided with a magnetic ring, and is configured to generate a Hall effect or not generate a Hall effect with a Hall element on the surgical arm, so as to provide the surgical arm with information on whether the magnetic ring exists and / or the type of the magnetic ring.

2. The surgical cannula according to claim 1, characterized in that: Also includes a cover plate; The step surface is provided with a receiving groove; The receiving groove receives the magnetic ring; The cover plate is connected to the step surface to cover the accommodating groove.

3. The surgical cannula according to claim 1, characterized in that: in, At least two Hall elements are adjacently arranged on the surgical arm; The magnetic ring comprises a multi-stage radiation magnetic ring.

4. The surgical cannula according to claim 3, characterized in that: in, The Hall element has a fan-shaped sensing area; the fan-shaped sensing areas of the Hall elements at both ends respectively have symmetry axes; the angle between the openings formed by the symmetry axes and the Hall element is θ; The magnetic pole segments of the multi-stage radiation magnetic ring are in the shape of a circular arc, and the angle of the circular arc is α; θ / 2<α≤θ.

5. The surgical cannula according to claim 1, characterized in that: in, The surgical arm is provided with only one Hall element; The magnetic ring comprises a single-stage radiation magnetic ring.

6. A surgical arm, characterized in that: including a clamping assembly; The clamping assembly comprises a clamping member and a bracket; The bracket has a connecting portion, and the clamping member is connected to the connecting portion and is used to clamp the clamping portion of the surgical sleeve; wherein the clamping portion is provided with a magnetic ring or is not provided with a magnetic ring; A Hall element is provided on the connecting portion; The clamping member has a clamping space, which is adapted to the shape of the clamping portion and is cylindrical; The opening of the fan-shaped sensing area of ​​the Hall element faces the clamping space; The Hall element is configured to generate or not generate a Hall effect with the magnetic ring so as to identify whether the magnetic ring exists and / or the type of the magnetic ring.

7. The surgical arm according to claim 6, characterized in that: The connecting portion is also provided with a proximity sensor; The proximity sensor is configured to detect the presence of the sleeve on the bracket.

8. The surgical arm according to claim 6, characterized in that: in, The magnetic ring comprises a multi-stage radiation magnetic ring; the magnetic pole segments of the multi-stage radiation magnetic ring are in an arc shape, and the angle of the arc shape is α; At least two Hall elements are adjacently arranged on the connecting portion; At least two of the Hall elements are distributed along the same circumference of the clamping space.

9. The surgical arm according to claim 8, characterized in that: in, The magnetic pole segments of the multi-stage radiation magnetic ring are in the shape of a circular arc, and the angle of the circular arc is α; The Hall element has a sector-shaped sensing area; The sector-shaped sensing areas of the Hall elements at both ends respectively have symmetry axes, and the angle between the openings formed by the symmetry axes and the connecting portion is θ; θ / 2<α≤θ.

10. The surgical arm according to claim 6, characterized in that: The magnetic ring comprises a single-stage radiation magnetic ring; There is only one Hall element.

11. A method for detecting a surgical cannula, characterized in that: Applicable to detecting the sleeve on the surgical arm; wherein the surgical arm is provided with a Hall element, and the sleeve is provided with a magnetic ring or is not provided with a magnetic ring; the surgical arm is used to clamp the sleeve and drive the extension and retraction of the surgical instrument; The method comprises: After detecting that the sleeve exists on the surgical arm, receiving first detection information of the magnetic ring by the Hall element; identifying the type of the casing according to the correspondence between the first detection information and the casing type; and According to the type of the sleeve and the type information of the surgical instrument, the distance between the execution end of the surgical instrument and the end of the sleeve is detected.

12. The method according to claim 11, characterized in that in, The magnetic ring includes a multi-stage radiation magnetic ring, and the first detection information includes the number of magnetic poles of the magnetic ring; and / or The magnetic ring includes a single-stage radiation magnetic ring, and the first detection information includes whether the magnetic ring exists and / or the magnetization direction of the magnetic ring; and / or The magnetic ring includes a single-stage radiation magnetic ring, and the first detection information includes the magnetic field strength of the magnetic ring.

13. The method according to claim 11, characterized in that The detecting the distance between the execution end of the surgical instrument and the end of the sleeve according to the type of the sleeve and the type information of the surgical instrument comprises: Determine the length of the sleeve according to the type of the sleeve; Determining whether the clamping of the surgical instrument is completed; and, If it is determined that the clamping of the surgical instrument is not completed, a first prompt message is output; wherein the first prompt message is used to prompt the user to clamp the surgical instrument; If it is determined that the surgical arm has completed the clamping of the surgical instrument, the distance between the execution end of the surgical instrument and the end of the sleeve is calculated according to the length of the sleeve and the type information of the surgical instrument.

14. The method according to claim 13, characterized in that After calculating the distance between the execution end of the surgical instrument and the end of the sleeve, the method further comprises: determining whether the distance between the execution end of the surgical instrument and the end of the cannula is less than a distance threshold; If it is determined that the distance between the joint of the surgical instrument and the end of the sleeve is less than the distance threshold, a second prompt message is output; wherein the second prompt message is used to remind the user to pay attention to the possible collision between the execution end and the sleeve.

15. The method according to claim 11, characterized in that in, The surgical arm is also provided with a proximity sensor; Before receiving the first detection information of the Hall element on the magnetic ring, the method further includes: Second detection information from the proximity sensor is received, where the second detection information indicates whether the cannula is located on the surgical arm.

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