Surgical cannula, surgical arm and method of testing a surgical cannula

Abstract

The application provides a surgical sleeve, a surgical arm and a detection method of the surgical sleeve. The surgical sleeve comprises a sleeve body and a clamping part. The clamping part is used for clamping a clamping piece of the surgical arm. A Hall element is arranged on the surgical arm. The clamping part is cylindrical. The diameter of the clamping part is greater than that of the sleeve body, and an annular step surface is formed at the connection between the clamping part and the sleeve body. A magnetic ring is arranged on the step surface or no magnetic ring is arranged. The step surface is configured to generate or not generate a Hall effect with the Hall element on the surgical arm, so as to provide information about whether the magnetic ring exists and / or the type of the magnetic ring to the surgical arm. The surgical sleeve corresponds to the arrangement of different types of magnetic rings or no magnetic ring on the step surface of different types of surgical sleeves. Whether the Hall effect is generated and the result of the generated Hall effect are used, so that the structure is simplified, the technical difficulty and cost are reduced, and the identification accuracy is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of medical devices, in particular, to a surgical cannula, a surgical arm and a detection method of the surgical cannula. BACKGROUND

[0002] With the continuous development of medical devices, computer technology and control technology, minimally invasive surgery has been more and more widely used due to its small surgical trauma, short recovery time and less pain to patients. The surgical cannula is usually used to open the patient's cavity and establish a channel for the endoscope or other surgical instruments to enter during the minimally invasive surgery. The surgical cannula is usually stably fixed to the slave arm through the cannula adapter installed on the surgical robot mechanical arm. Since there are many types of surgical cannulas, the doctor or nurse needs to manually insert the surgical cannula into the incision position of the patient during the preoperative preparation stage, and then dock the surgical cannula to the robot slave arm after positioning.

[0003] One type of cannula currently used in the industry mainly includes a metal attachment part for engaging with the slave arm, which protrudes out of the cannula 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 cannula corresponds one-to-one to the arrangement of the one or more magnets relative to the multiple positions; for example, each of the multiple positions is absent of 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 the cannula, multiple magnetic flux readers need to be arranged at a very small position for this type of surgical cannula, which makes the structure of the cannula adapter more complex, thereby increasing the technical difficulty and cost, and also affecting the accuracy of identification. SUMMARY

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

[0006] In a first aspect, the present application provides a surgical cannula, comprising a cannula body and a clamping part; the clamping part is used for clamping a clamping piece of a surgical arm; wherein the surgical arm is provided with a Hall element; the clamping part is cylindrical; the diameter of the clamping part is greater than the diameter of the cannula body, and an annular step surface is formed at the connection between the clamping part and the cannula body; the step surface is provided with or without a magnetic ring, and is configured to generate or not generate a Hall effect with the Hall element on the surgical arm to provide the surgical arm with information about whether the magnetic ring exists and / or the type of the magnetic ring.

[0007] The surgical sleeve determines the type of the surgical sleeve based on whether the Hall effect is generated and the result of the generated Hall effect, so that only the Hall element needs to be arranged on the matched surgical arm, thereby simplifying the structure, reducing the technical difficulty and cost. In addition, the type of the surgical sleeve is identified based on the result of the Hall effect, thereby improving the accuracy. Therefore, the cost performance of the surgical sleeve is improved. In addition, since the magnetic ring is arranged on the annular stepped surface of the surgical sleeve, and the clamping part of the surgical sleeve is cylindrical, the metal attachment part is omitted, thereby avoiding the problem of low clamping stability caused by the gravity center offset of the surgical sleeve.

[0008] In combination with the first aspect, the surgical sleeve further comprises a cover plate; the stepped surface is provided with a containing groove; the containing groove contains the magnetic ring; and the cover plate is connected with the stepped surface to cover the containing groove.

[0009] The surgical sleeve reduces the space occupation of the surgical sleeve by arranging the containing groove on the stepped surface and arranging the magnetic ring in the containing groove. In addition, the cover plate is arranged to cover the containing groove, thereby positioning and protecting the magnetic ring, fixing the magnetic ring to avoid the inaccuracy of the Hall effect result caused by the position change of the magnetic ring, and avoiding the influence of high-temperature disinfection and sterilization on the magnetism of the magnetic ring.

[0010] In combination with the first aspect, the surgical arm is provided with at least two Hall elements adjacent to each other; and the magnetic ring comprises a multi-stage radiation magnetic ring.

[0011] The surgical sleeve determines the type of the surgical sleeve by arranging at least two Hall elements on the surgical arm and corresponding multi-stage radiation magnetic rings with different numbers of magnetic poles on different types of surgical sleeves, determining the number of magnetic poles of the magnetic ring based on the Hall effect generated by the magnetic ring and the Hall element, and determining the type of the surgical sleeve. Since the number of magnetic poles of the multi-stage radiation magnetic ring can be multiple, the type of the surgical sleeve can be identified.

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

[0013] The surgical sleeve is clamped by the surgical arm in a state that the clamping part of the surgical sleeve is rotated at an arbitrary angle along the length direction of the surgical sleeve. By limiting θ / 2 < α ≤ θ, the Hall effect generated by the magnetic ring on the surgical sleeve and the corresponding Hall element is consistent in the case that the surgical sleeve is clamped at an arbitrary angle, so that the final identification result is consistent. That is, the type of the surgical sleeve can be normally identified regardless of the angle at which the surgical sleeve is clamped.

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

[0015] The surgical sleeve is clamped by the surgical arm in a state that the clamping part of the surgical sleeve is rotated at an arbitrary angle along the length direction of the surgical sleeve. By limiting θ / 2 < α ≤ θ, the Hall effect generated by the magnetic ring on the surgical sleeve and the corresponding Hall element is consistent in the case that the surgical sleeve is clamped at an arbitrary angle, so that the final identification result is consistent. That is, the type of the surgical sleeve can be normally identified regardless of the angle at which the surgical sleeve is clamped.

[0016] In combination with the first aspect, optionally, the surgical arm is provided with only one Hall element; and the magnetic ring comprises a single-stage radiation magnetic ring.

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

[0018] In combination with the second aspect, optionally, the connecting part is further provided with a proximity sensor; and the proximity sensor is configured to detect whether the sleeve exists on the support.

[0019] The surgical arm can detect whether the clamping assembly clamps the surgical sleeve regardless of whether the magnetic ring exists on the surgical sleeve by providing the proximity sensor on the connecting part of the support. That is, after the proximity sensor for detecting whether the sleeve exists on the support is provided, the magnetic ring can be correspondingly not provided on the surgical sleeve of a certain type. Thus, the type of the surgical sleeve that can be identified is increased. Moreover, whether the surgical sleeve is clamped in place can also be detected (the proximity sensor has a sensing distance limit, and if the clamping is not in place and the distance is too large, the proximity sensor will not have a signal even if the Hall sensor and the magnetic ring generate the Hall effect).

[0020] Optionally in combination with the second aspect, the magnetic ring comprises a multi-stage radial magnetic ring; the magnetic pole segment of the multi-stage radial magnetic ring is in the shape of a circular arc, and the angle of the circular arc is a; the connecting portion is provided with at least two Hall elements adjacent to each other; and the at least two Hall elements are distributed along the same circumference of the clamping space.

[0021] The surgical arm has the same beneficial effects as the first aspect, which will not be repeated here.

[0022] Optionally in combination with the second aspect, the magnetic pole segment of the multi-stage radial magnetic ring is in the shape of a circular arc, and the angle of the circular arc is a; the Hall element has a sector-shaped sensing area; the sector-shaped sensing areas of the Hall elements at the two ends have respective symmetry axes, and the opening formed by the symmetry axes has an angle of q with respect to the connecting portion; q / 2 < a < q.

[0023] The surgical arm has the same beneficial effects as the first aspect, which will not be repeated here.

[0024] Optionally in combination with the second aspect, the magnetic ring comprises a single-stage radial magnetic ring; and the Hall element has only one.

[0025] The surgical arm has the same beneficial effects as the first aspect, which will not be repeated here.

[0026] In a third aspect, the application provides a detection method for a surgical sleeve, which is applied to detecting a surgical sleeve on a surgical arm; the surgical arm is provided with a Hall element, and the surgical sleeve is provided with a magnetic ring or is not provided with a magnetic ring; the surgical arm is used to clamp the surgical sleeve and drive the extension and retraction of a surgical instrument; and the method comprises the following steps: after detecting that the surgical sleeve exists on the surgical arm, receiving first detection information of the Hall element on the magnetic ring; identifying the type of the surgical sleeve according to the corresponding relationship between the first detection information and the type of the surgical sleeve; and detecting the distance between the execution end of the surgical instrument and the end of the surgical sleeve according to the type of the surgical sleeve and the type information of the surgical instrument.

[0027] The detection method for the surgical sleeve calculates the distance between the execution end of the surgical instrument and the end of the surgical sleeve based on the type of the surgical sleeve and the posture information of the surgical instrument after identifying the type of the surgical sleeve based on the Hall effect, so as to avoid excessive retraction of the surgical instrument and conflict between the surgical instrument and the end of the surgical sleeve. Thus, the surgical instrument is protected. Other beneficial effects can be the same as those of the first aspect.

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

[0029] The detection method of the surgical cannula has the same implementation process and advantages for determining the type of the cannula according to the number of magnetic poles, the magnetization direction, and the magnetic field strength, and details are not repeated here.

[0030] Optionally, in combination with the third aspect, the method further comprises: determining whether the surgical instrument is connected to the surgical arm; and if it is determined that the surgical instrument is not connected to the surgical arm, outputting third prompt information, wherein the third prompt information is used to prompt the user to connect the surgical instrument to the surgical arm.

[0031] The detection method of the 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, and realizes a relatively simple algorithm for calculating the distance.

[0032] Optionally, in combination with the third aspect, after the distance between the execution end of the surgical instrument and the end of the cannula is calculated, 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; and if it is determined that the distance between the joint part of the surgical instrument and the end of the cannula is less than the distance threshold, outputting second prompt information, wherein the second prompt information is used to prompt the user to pay attention to the possible collision between the execution end and the cannula.

[0033] The detection method of the surgical cannula outputs the second prompt information for prompting the user to pay attention to the possible collision between the execution end and the cannula when the distance between the joint part of the surgical instrument and the end of the cannula is less than the distance threshold, thereby further reducing the risk of collision between the execution end and the cannula.

[0034] In conjunction with the third aspect, optionally, the surgical arm is further provided with a proximity sensor; before receiving the first detection information of the Hall element on the magnetic ring, the method further includes: receiving second detection information from the proximity sensor, the second detection information indicating whether the cannula is located on the surgical arm.

[0035] The above-mentioned method for detecting surgical cannulas, by using proximity sensors to detect whether the surgical cannulas are correctly positioned on the surgical arm, further ensures the efficiency of the preoperative preparation process. Attached Figure Description

[0036] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 A perspective view of a surgical cannula provided in an embodiment of this application;

[0038] Figure 2 An exploded view of the surgical cannula provided in the embodiments of this application;

[0039] Figure 3 A perspective view of a single-stage radial magnetic ring type A in a surgical cannula provided in an embodiment of this application;

[0040] Figure 4 A perspective view of a single-stage radial magnetic ring type B in a surgical cannula provided in an embodiment of this application;

[0041] Figure 5 A perspective view of a multi-stage radial magnetic ring in a surgical cannula provided in an embodiment of this application;

[0042] Figure 6 A perspective view of the surgical cannula in the clamping state provided in the embodiment of this application;

[0043] Figure 7 A front view of the surgical cannula in the clamped state provided in the embodiment of this application;

[0044] Figure 8 for Figure 7 Sectional view at point AA;

[0045] Figure 9 This is a schematic diagram of a first layout of the Hall element in the clamping member provided in the embodiments of this application;

[0046] Figure 10A second layout diagram of the Hall element in the clamping member provided by the embodiment of the present application is shown in the figure;

[0047] Figure 11 A perspective view of the surgical arm provided by the embodiment of the present application is shown in the figure;

[0048] Figure 12 A schematic diagram of the surgical instrument provided by the embodiment of the present application is shown in the figure;

[0049] Figure 13 A first flow chart of the detection method of the surgical cannula provided by the embodiment of the present application is shown in the figure;

[0050] Figure 14 A flow chart of step S160 in the detection method of the surgical cannula provided by the embodiment of the present application is shown in the figure;

[0051] Figure 15 A second flow chart of the detection method of the surgical cannula provided by the embodiment of the present application is shown in the figure.

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

[0053] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will be combined with the accompanying drawings of the embodiments of the present application to make a clear and complete description of the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some 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 accompanying drawings 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 claimed present application, but only represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without making creative efforts are within the scope of protection of the present application.

[0055] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0056] In the description of the application, it should be pointed out that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings or the orientation or positional relationship commonly used when the product of the application is used, and are only for the convenience of describing the application and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the application. In addition, the terms "first", "second", "third" and the like 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 must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0058] In the description of the application, it should be pointed out that unless otherwise explicitly specified and limited, the terms "set", "mount", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the application can be understood according to the specific circumstances.

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

[0060] In this specification, the drawings show the schematic diagrams of several embodiments of the application. However, the drawings are only schematic, and it should be understood that mechanical structures, connection / position relationships, physical compositions, electrical and steps can be changed without departing from the spirit and scope of the application. Such changes can be made by replacing or combining elements of several embodiments of the application, or by replacing or combining well-known content.

[0061] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. Spatially relative terms, such as "under", "below", "lower", "over", "upper", "middle", "indside", "outside", "central", "lateral", "longitudinal", "vertical", "horizontal", and the like, can be used herein for ease of description to describe one element or feature's relationship to another element(s) or feature(s) as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. For example, if a device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. The devices can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. The terms "first", "second", "third", etc. can be used herein to describe various elements, regions, layers and / or sections but are not intended to be limiting, unless otherwise indicated.

[0062] As used herein, the terms "a", "an" and "the" are intended to encompass both singular and plural forms, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising", when used in this specification, specify the presence of stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, 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", "part", "piece", "module", "assembly", and "element" are used interchangeably.

[0064] The terms "instrument", "surgical instrument", and "surgical instruments" 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. The end effector can be a surgical tool related to one or more surgical operations, 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 by embodiments of the present application further provide articulated supports (sometimes referred to as "wrist joints", "jointed bases") for the surgical tools, so that the position and / or orientation of the end effector can be flexibly manipulated relative to the instrument shaft in one or more mechanical degrees of freedom. Further, many end effectors include functional mechanical degrees of freedom, such as opening or closing jaws or translating a blade along a particular path. The instruments can also contain stored (e.g., on a PCBA board within the instrument) information that is permanent or updatable 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.

[0065] The term "cooperate" (sometimes referred to as "connect," "couple," "mount," "fit") can be broadly understood as any situation in which two or more objects are connected in a manner that allows the cooperating objects to operate in conjunction with one another. It should be noted that cooperation does not require direct connection (e.g., direct physical or electrical connection), but rather many objects or components can be used to cooperate two or more objects. For example, objects A and B can cooperate through the use of object C. Furthermore, the term "removably coupled" or "removably cooperate" can be interpreted to mean a non-permanent coupling or cooperating situation between two or more objects. This means that removably coupled objects can be uncoupled and separated such that they no longer operate in conjunction.

[0066] Finally, the terms "or" and "and / or" as used herein are to be interpreted as inclusive or meaning any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means any 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 occur only when two or more elements are in some way inherently mutually exclusive from one another.

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

[0068] Laparoscopic surgical robots generally include a physician control platform, a patient surgery platform, and an image platform. The surgeon sits at the physician control platform, watches the two-dimensional or three-dimensional images of the surgical area transmitted by the laparoscope (sometimes referred to as "endoscope") placed in the patient's body, and manipulates the movement of the mechanical arm on the patient surgery platform and the surgical instrument or laparoscope attached to the mechanical arm. The mechanical arm is equivalent to simulating a human arm, and the surgical instrument is equivalent to simulating a human hand, both of which provide the surgeon with a series of actions that simulate the human wrist, while also filtering the tremors of the human hand itself, so they are increasingly widely used in surgery, especially in abdominal, thoracic, and general surgery.

[0069] A patient surgical platform typically includes a base, a column, a plurality of robotic arms coupled to the column, and one or more surgical instrument manipulators at the end of a support assembly of each robotic arm. A surgical instrument and / or scope is removably coupled to the surgical instrument manipulators. Each surgical instrument manipulator supports one or more surgical instruments and / or scopes that are operated at a surgical site within a patient's body. Various forms of control can be allowed for each surgical instrument manipulator to move the associated surgical instrument(s) with one or more degrees of mechanical freedom (e.g., all six Cartesian degrees of freedom, five or fewer Cartesian degrees of freedom, etc.). Typically, each surgical instrument manipulator is constrained by mechanical or software constraints to rotate the associated surgical instrument about a center of motion on the surgical instrument that remains stationary relative to the patient, which is typically located at the point where the surgical instrument enters the body wall, and which is commonly referred to as the "telecenter" or "immobile point."

[0070] An image platform typically includes a video image capture function (commonly an endoscope) and one or more video displays for displaying the captured images of the surgical instruments. In some laparoscopic surgical robots, the video images are transferred to the host of the image platform through optical devices that deliver the images from within the patient's body to the distal end of the endoscope, through photoelectric conversion and other steps. The processed images are then displayed on the video displays for viewing by other doctors or assistants through image processing.

[0071] A surgeon control platform typically includes a base, a foot pedal assembly, a stereoscopic monitor, a master control arm, and a hand controller coupled to the end of the master control arm, through which the surgeon controls the specific actions of the surgical instruments and / or energy activation by controlling the hand controller and the foot pedal assembly. The surgeon control platform can be at a single location in the surgical system composed of the laparoscopic surgical robot or it can be distributed at two or more locations in the system, and the teleoperation master / slave operation can be accomplished according to a preset control degree, such as one location as the master control for the primary surgical operation and another location as the slave control for the auxiliary operation such as laparoscope movement or tissue retraction. In some embodiments, the hand controller can be an input device capable of accomplishing one or more manual operations, such as a joystick, an exoskeleton glove, a powered and gravity compensated manipulator, and the like. These input devices collect the operation signals of the surgeon, which are processed by the control system to generate control signals for the robotic arms and the surgical instrument manipulators, thereby controlling the remote motors on the surgical instrument manipulators, which in turn control the final movement of the surgical instruments.

[0072] Generally, the force generated by the remote control motor is transmitted via a transmission system, which transmits the force from the remote control motor to the end effector of the surgical instrument. In some tele-surgical embodiments, the input devices that control the manipulator can be located remotely from the patient, in the room with the patient, or even in a different city. The input signals from the input devices are then transmitted to the control system. Those familiar with tele-manipulation, tele-presence surgery will appreciate such systems and their components, which are not described here in detail.

[0073] Please refer to Figure 1 and Figure 2 . Figure 1 is a perspective view of a surgical sleeve 100 provided by embodiments of the present application; Figure 2 is an exploded view of a surgical sleeve 100 provided by embodiments of the present application. The surgical sleeve 100 provided by embodiments of the present application can include a sleeve body 110 and a clamping portion 120. The clamping portion 120 can be used for clamping by the clamping member 211 of the surgical arm 200. The surgical arm 200 can be provided with a Hall element 2124. The clamping portion 120 can be cylindrical. The diameter of the clamping portion 120 can be greater than the diameter of the sleeve body 110, and an annular stepped surface 130 can be formed at the connection between the clamping portion 120 and the sleeve body 110. The stepped surface can be provided with a magnetic ring 140 or not provided with a magnetic ring 140, and can be configured to generate a Hall effect with the Hall element 2124 on the surgical arm 200 or not to generate a Hall effect, to provide information to the surgical arm 200 about whether the magnetic ring 140 exists and / or the type of the magnetic ring 140.

[0074] As shown in Figures 3 to 5 , the magnetic ring 140 can be divided into three types of magnetic flux modes, single-stage radiation magnetic ring 140A type (inner ring is S pole and outer ring is N pole), single-stage radiation magnetic ring 140B type (inner ring is N pole and outer ring is S pole), and multi-stage radiation magnetic ring 140. In the case where the surgical sleeve 100 is clamped by the clamping member 211 of the surgical arm 200, the type of the surgical sleeve 100 can be determined based on the Hall effect generated between the magnetic ring 140 and the Hall element 2124. For example, the A-type surgical sleeve 100 is provided with the A-type single-stage radiation magnetic ring 140, the B-type surgical sleeve 100 is provided with the B-type single-stage radiation magnetic ring 140, the C-type surgical sleeve 100 is provided with the multi-stage radiation magnetic ring 140, and the D-type surgical sleeve 100 is not provided with the magnetic ring 140. Then, in the case of clamping the surgical sleeve 100, if no Hall effect is detected, it can be determined that the type of the surgical sleeve 100 is A. If a Hall effect is detected, the type of the magnetic ring 140 can be determined according to the result of the Hall effect, and thus the type of the surgical sleeve 100 can be further determined, as described below.

[0075] Of course, the type information of the magnetic ring 140 can 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, etc.

[0076] In the implementation process, by correspondingly arranging different types of magnetic rings 140 or no magnetic ring 140 on the stepped surface of the surgical sleeve 100 of different types, and based on whether the Hall effect is generated and the result of the generated Hall effect, it is determined whether the magnetic ring 140 is arranged on the surgical sleeve 100 and the type of the arranged 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, reducing the technical difficulty and cost. And identifying the type of the surgical sleeve 100 based on the Hall effect also improves the accuracy. Thus, the cost performance of the surgical sleeve 100 is improved. In addition, since the magnetic ring 140 is arranged on the annular stepped surface 130 of the surgical sleeve 100, and the clamping portion 120 of the surgical sleeve 100 is cylindrical, the attachment part is omitted, thereby avoiding the problem of low clamping stability caused by the gravity center offset of the surgical sleeve 100.

[0077] Please continue to refer to Figure 2 In some optional embodiments, the surgical sleeve 100 provided by the embodiments of the present application can also include a cover plate 150. The stepped surface can be provided with a containing groove 131. The containing groove 131 contains the magnetic ring 140. The cover plate 150 can be connected with the stepped surface to cover the containing groove 131.

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

[0079] In the implementation process, by arranging the containing groove 131 on the stepped surface and arranging the magnetic ring 140 in the containing groove 131, the space occupation of the surgical sleeve 100 is reduced. And by configuring the cover plate 150 for covering the containing groove 131, the magnetic ring is positioned and protected, which not only fixes the magnetic ring to avoid the inaccuracy of the Hall effect result caused by the position change of the magnetic ring, but also avoids the influence of high-temperature sterilization on the magnetism of the magnetic ring.

[0080] Please refer to Figures 6 to 9 , Figure 6 is a perspective view of the surgical sleeve 100 provided by the embodiments of the present application in a clamped state by the clamping piece 211; Figure 7 is a front view of the surgical sleeve 100 provided by the embodiments of the present application in a clamped state by the clamping piece 211; Figure 8 is Figure 7 is a sectional view at A-A in FIG. 11.Figure 9 is a first layout schematic diagram of the Hall element 2124 in the clamping piece 211 provided by the embodiment of the present application. In some optional embodiments, at least two Hall elements 2124 can be arranged adjacent to each other on the surgical arm 200. The magnetic ring 140 can include a multi-stage radiation magnetic ring 140.

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

[0082] As a specific implementable embodiment, multi-stage radiation magnetic rings 140 with different numbers of magnetic poles can be arranged on different types of surgical cannulas 100. In the case of clamping the surgical cannula 100, the number of magnetic poles of the multi-stage radiation magnetic ring 140 can be determined based on the Hall effect between the multi-stage radiation magnetic ring 140 and the plurality of Hall elements 2124, so as to determine the type of the surgical cannula 100. The specific determination manner will be described later.

[0083] In the above implementation process, by arranging at least two Hall elements 2124 on the surgical arm 200 and arranging multi-stage radiation magnetic rings 140 with different numbers of magnetic poles on different types of surgical cannulas 100, 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 plurality of Hall elements 2124, so as to determine the type of the surgical cannula 100. Since the number of magnetic poles of the multi-stage radiation magnetic ring 140 can be multiple, the type of the surgical cannula 100 that can be identified is increased.

[0084] Please continue to refer to Figure 8 and Figure 9 In some optional embodiments, 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 have symmetry axes, respectively. The opening formed by the symmetry axes can have an angle of θ. The magnetic pole segment of the multi-stage radiation magnetic ring 140 can have a circular arc shape, and the angle of the circular arc shape can be α, θ / 2 < α ≤ θ.

[0085] In the above implementation process, since the clamping portion 120 of the surgical cannula 100 is cylindrical, in the clamping process, the surgical cannula can be clamped by the surgical arm 200 in the case of being rotated at any angle with the length direction of the surgical cannula as the axis. By limiting θ / 2 < α ≤ θ, the results of the Hall effect generated by the magnetic ring 140 on the surgical cannula and the corresponding Hall element 2124 are consistent in the case of being clamped at any angle, so that the final identification 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 Figure 10 , Figure 10is a second layout schematic diagram of the Hall element 2124 in the clamping piece 211 provided by the embodiment of the present application. In some optional implementation manners, only one Hall element 2124 can be arranged on the surgical arm 200. The magnetic ring 140 can include a single-stage radiation magnetic ring 140.

[0087] The embodiment of the present application can be specifically implemented as that the A-type single-stage radiation magnetic ring 140 is arranged on the A-type surgical cannula 100, the B-type single-stage radiation magnetic ring 140 is arranged on the B-type surgical cannula 100, and the C-type surgical cannula 100 is not arranged with the magnetic ring 140. In the case of clamping the surgical cannula 100, the magnetic pole direction (the A-type single-stage radiation magnetic ring 140 or the B-type single-stage radiation magnetic ring 140) of the single-stage radiation magnetic ring 140 is determined based on whether the Hall effect is generated between the Hall element 2124 and the surgical cannula 100 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 that the A-type single-stage radiation magnetic ring 140 or the B-type single-stage radiation magnetic ring 140 with different magnetic field strengths (the magnetic field strength of 0 is equivalent to arranging the magnetic ring 140) is arranged on the surgical cannula 100 of different types. For example, the single-stage radiation magnetic ring 140 with a surface magnetic flux of A×(100±10) % is arranged on the A-type surgical cannula 100, the single-stage radiation magnetic ring 140 with a surface magnetic flux of A×(70±10) % is arranged on the B-type surgical cannula 100, and the single-stage radiation magnetic ring 140 with a surface magnetic flux of A×(40±10) % is arranged on the C-type surgical cannula 100. In the case of clamping the surgical cannula 100, the magnetic flux (or the magnetic field strength) of the magnetic ring 140 can be determined based on whether the Hall effect is generated between the Hall element 2124 and the surgical cannula 100, so that the type of the surgical cannula 100 is determined.

[0089] In the above implementation process, by arranging only one Hall element 2124 on the surgical arm 200 and arranging different single-stage radiation magnetic rings 140 (or not arranging the magnetic ring 140) on the surgical cannula 100 of different types, the structure of the matching surgical arm 200 is simplified on the basis of identifying the surgical cannula 100 through the Hall effect.

[0090] Please refer to Figure 11 , Figure 11is a perspective view of the surgical arm 200 provided by the embodiments of the present application. Based on the same concept, the embodiments of the present application provide a surgical arm 200 which can comprise a clamping assembly 210. The clamping assembly 210 can comprise a clamping piece 211 and a bracket 212. The bracket 212 can have a connecting portion 2121, the clamping piece 211 is connected with the connecting portion 2121, and can be used to clamp the clamping portion 120 of the surgical sleeve 100. The clamping portion 120 can be provided with a magnetic ring 140 or not provided with the magnetic ring 140. The connecting portion 2121 can be provided with a Hall element 2124. The clamping piece 211 can have a clamping space which is matched with the shape of the clamping portion 120 and is in a cylindrical shape. The opening of the sector sensing area of the Hall element 2124 faces the clamping space. The Hall element 2124 can be configured to generate or not generate a Hall effect with the magnetic ring 140, so as to identify whether the magnetic ring 140 exists and / or the type of the magnetic ring 140.

[0091] The clamping piece 211 can be a clamping jaw, and the bracket 212 can be a mechanical arm 220 having a plurality of movable joints 221. The connecting portion 2121 can be further provided with a sliding carriage 2122, and the sliding carriage 2122 can be slidably provided with a power box 2123. The power box 2123 can be used to fix the tail end of a surgical instrument, and control the extension and retraction of the surgical instrument based on the sliding of the power box 2123 on the sliding carriage 2122.

[0092] The other explanations and specific implementable manners of the embodiments of the present application can be the same as those described above, and will not be described here again.

[0093] The above implementation process can be the same as the surgical sleeve 100 described above, and will not be described here again.

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

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

[0096] In the above implementation process, by providing the proximity sensor on the connecting portion 2121 of the bracket 212, it is realized that whether the surgical sleeve 100 is provided with the magnetic ring 140 or not, the clamping assembly 210 can be detected whether it clamps the surgical sleeve 100. That is, after the proximity sensor for detecting whether the sleeve exists on the bracket 212 is provided, the magnetic ring 140 can not be provided on the surgical sleeve 100 of a certain type. Thus, the type of the surgical sleeve 100 that can be identified is increased. Moreover, it is also possible to detect whether the surgical sleeve 100 is clamped.

[0097] Please continue to refer toFigure 8 And Figure 9 In some optional embodiments, the magnetic ring 140 can include a multi-stage radiation magnetic ring 140. The magnetic pole segment of the multi-stage radiation magnetic ring 140 is in the shape of a circular arc with an angle of a. At least two Hall elements 2124 can be arranged on the connecting portion 2121. The at least two Hall elements 2124 are distributed along the same circumference of the clamping space.

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

[0099] Please refer to the drawings, in some optional embodiments, the magnetic pole segment of the multi-stage radiation magnetic ring 140 is in the shape of a circular arc with an angle of a. The Hall element 2124 can have a sector-shaped sensing area. The sector-shaped sensing areas of the Hall elements 2124 at both ends can have symmetry axes, and the opening formed by the symmetry axes has an angle of θ with the connecting portion 2121. θ / 2 < a ≤ θ.

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

[0101] Please continue to refer to Figure 10 In some optional embodiments, the magnetic ring 140 can include a single-stage radiation magnetic ring 140. The Hall element 2124 can only have one.

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

[0103] Please refer to Figure 13 , Figure 13 The first flowchart of the detection method of the surgical sleeve provided by the embodiments of the present application is shown in FIG. 1. Based on the same concept, the embodiments of the present application provide a detection method of a surgical sleeve, which can be used to detect the sleeve on the surgical arm. The surgical arm can be provided with a Hall element, and the sleeve can be provided with a magnetic ring or not. The surgical arm can be used to clamp the sleeve and drive the extension and retraction of the surgical instrument.

[0104] The method can include:

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

[0106] On the basis of the description in the foregoing embodiments of the surgical sleeve, this will be described again in combination with Table 1.

[0107] Table 1

[0108]

[0109] In the embodiment 1, three Hall sensors can be arranged on the surgical arm, and three different types of sleeve can be correspondingly arranged with multi-stage radiation magnetic rings with different magnetic pole numbers. According to the voltage signal emitted by the Hall sensor, the type of the corresponding sleeve can be determined. The embodiments 2 and 3 are the schemes in which only one Hall sensor is arranged on the surgical arm, and three different types of sleeve can be correspondingly arranged with single-stage radiation magnetic rings of different types. Similarly, according to the voltage signal emitted by the Hall sensor, the type of the corresponding sleeve can be determined. The corresponding relationship between the specific voltage signal characteristics and the sleeve type is shown in Table 1, which can be built into the controller of the surgical robot as a judgment condition. Those skilled in the art know how to do this, and thus it is not described here.

[0110] Step S140: According to the corresponding relationship between the first detection information and the sleeve type, the type of the sleeve is identified.

[0111] Step S160: 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.

[0112] In the above step S160, the surgical instrument usually passes through the sleeve through the channel in the sleeve, and the execution end of the surgical instrument can be a multi-degree-of-freedom mechanism such as surgical forceps, electric scissors, electric hooks, etc. If the surgical instrument is retracted too much, and the execution end is just in a bent non-linear state (most of the time during the operation is in a bent state), it will contact and conflict with the end of the sleeve, and then the execution end of the surgical instrument will be damaged. In addition, during the process of taking out the surgical instrument, the operator may operate abnormally (directly pulling out the instrument in the wrist bending state of the surgical instrument), and the too fast taking-out speed will increase the damage degree of the collision or friction between the wrist or tip of the surgical instrument and the end of the sleeve.

[0113] Exemplarily, please refer to Figure 12 , Figure 12 is a schematic view of a surgical instrument 300 provided by the embodiments 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 relative to the elongated tube 320 with multiple degrees of freedom, i.e., the execution end 310 can be in a bent state. In the bent state, the profile size of the execution end 310 in the radial direction of the elongated tube 320 is much larger than the inner diameter of the distal end of the surgical sleeve 100. Therefore, when the execution end 310 is retracted and close to the end of the surgical sleeve 100, it will contact and conflict with the end of the surgical sleeve 100.

[0114] Therefore, the distance between the execution end of the surgical instrument and the end of the sleeve needs to be calculated to ensure that the execution end 310 of the surgical instrument 300 is not damaged.

[0115] In the implementation process, after the type of the 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 the surgical cannula and the posture information of the surgical instrument, so as to avoid excessive retraction of the surgical instrument and collision between the surgical instrument and the end of the cannula. Thus, the surgical instrument is protected.

[0116] Please refer to Figure 14 , Figure 14 is a flowchart of step S160 in the detection method of the surgical cannula provided in the embodiments of the present application. In some optional embodiments, the magnetic ring can include a multi-stage radiation magnetic ring, and the first detection information can include the number of magnetic poles of the magnetic ring. And / or the magnetic ring can include a single-stage radiation magnetic ring, and the first detection information can include whether the magnetic ring exists and / or the magnetization direction of the magnetic ring. And / or the magnetic ring can include a single-stage radiation magnetic ring, and the first detection information can include the magnetic field strength of the magnetic ring.

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

[0118] Please refer to the figure, in some optional embodiments, step S160 can include:

[0119] Step S161: determining the length of the cannula according to the type of the cannula.

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

[0121] Step S162: judging 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 of outputting first prompt information is executed. The first prompt information can be used to prompt the user to clamp the surgical instrument.

[0123] In the above step S163, the first prompt information can be a prompt such as "please clamp the surgical instrument". Or it can also be a specific prompt audio, prompt light or voice, etc.

[0124] If it is determined that the surgical arm completes the clamping of the surgical instrument, step S164 of 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 type information of the surgical instrument is executed.

[0125] In the above step S164, please refer to Figure 11The specific calculation manner can be: determining the length of the cannula according to the type of the cannula, and determining the length of the surgical instrument according to the type of the surgical instrument. The type information of the surgical instrument can include the position of a power box fixing the surgical instrument on the slide. Based on these information, the distance between the execution end of the surgical instrument and the end of the cannula can be calculated.

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

[0127] Please refer to the figure. In some optional embodiments, after step S164, the surgical cannula detection method provided by the embodiments of the present application can further include:

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

[0129] If it is determined that the distance between the joint part of the surgical instrument and the end of the cannula is less than the distance threshold, step S166 of outputting second prompt information is performed. The second prompt information can be used to prompt the user to pay attention to the possible collision between the execution end and the cannula.

[0130] In the above step S166, the second prompt information can be an auditory prompt information, for example, a prompt such as "Please pay attention: 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, for example, 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, for example, increasing the resistance or damping in the retraction process of the surgical instrument, etc.

[0131] In the implementation process, by outputting the second prompt information for prompting the user to pay attention to the possible collision between the execution end and the cannula when the distance between the joint part of the surgical instrument and the end of the cannula is less than the distance threshold, the risk of collision between the execution end and the cannula is further reduced.

[0132] Please refer to Figure 15 , Figure 15 is a second flowchart of the surgical cannula detection method provided by the embodiments of the present application. In some optional embodiments, a proximity sensor can also be arranged on the surgical arm.

[0133] Correspondingly, before step S120, the surgical cannula detection method provided by the embodiments of the present application can further include:

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

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

[0136] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. The present application can have various modifications and changes for those skilled in the art. 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, characterised in that, The sleeve body and the clamping part are included; The clamping part is used for clamping the clamping part of the sleeve; 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 connection between the clamping part and the sleeve body; The step surface is provided with a magnetic ring, and is configured to generate a Hall effect with the Hall element on the surgical arm to provide the surgical arm with type information of a voltage signal corresponding to the Hall effect; At least two Hall elements are provided adjacent to each other on the surgical arm; The magnetic ring includes a multi-stage radial magnetic ring; The Hall element has a sector-shaped sensing area; the sector-shaped sensing areas of the Hall elements at both ends have symmetry axes respectively; and the opening formed by the symmetry axes is directed at an angle θ to the Hall element; The magnetic pole segment of the multi-stage radial magnetic ring is in the form of a circular arc, and the angle of the circular arc is α; θ / 2 < α ≤ θ.

2. A surgical cannula according to claim 1, characterised in that, A cover plate is further included; The step surface is provided with a receiving groove; The receiving groove accommodates the magnetic ring; The cover plate is connected with the step surface to cover the receiving groove.

3. A surgical arm characterized in that, A clamping assembly is included; The clamping assembly includes a clamping part and a support; The support has a connecting part, the clamping part is connected with the connecting part, and the clamping part is used for clamping the clamping part of a surgical sleeve; wherein the clamping part is provided with a magnetic ring; The connecting part is provided with a Hall element; The clamping part has a clamping space, the clamping space is matched with the shape of the clamping part, and the clamping space is in the form of a cylinder; The opening of the sector-shaped sensing area of the Hall element is directed to the clamping space; The Hall element is configured to generate a Hall effect with the magnetic ring to identify the type of a voltage signal corresponding to the Hall effect; The magnetic ring includes a multi-stage radial magnetic ring; the magnetic pole segment of the multi-stage radial magnetic ring is in the form of a circular arc, and the angle of the circular arc is α; At least two Hall elements are provided adjacent to each other on the connecting part; At least two Hall elements are distributed along the same circumference of the clamping space; The magnetic pole segment of the multi-stage radial magnetic ring is in the form 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 have symmetry axes respectively, and the opening formed by the symmetry axes is directed at an angle θ to the connecting part; θ / 2 < α ≤ θ.

4. A surgical arm according to claim 3, wherein, A proximity sensor is further provided on the connecting part; The proximity sensor is configured to detect whether the sleeve exists on the support.

5. A method of detecting a surgical cannula, characterized in that The method is applied to detecting a sleeve on a 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 for clamping the sleeve and driving the extension of a surgical instrument; The method includes: After detecting that the sleeve exists on the surgical arm, receiving first detection information of the Hall element on the magnetic ring; According to a corresponding relationship between the first detection information and the type of the sleeve, identifying the type of the sleeve; and, According to the type of the sleeve and the type information of the surgical instrument, detecting the distance between the execution end of the surgical instrument and the end of the sleeve. The method comprises: determining the length of the cannula according to the type of the cannula; determining whether the surgical instrument is clamped; and if it is determined that the surgical instrument is not clamped, outputting first prompt information; wherein the first prompt information is used to prompt the user to clamp the surgical instrument; if it is determined that the surgical arm has clamped the surgical instrument, calculating the distance between the end of the cannula and the execution end of the surgical instrument according to the length of the cannula and the type information of the surgical instrument; after calculating the distance between the end of the cannula and the execution end of the surgical instrument, the method further comprises: determining whether the distance between the end of the cannula and the execution end of the surgical instrument is less than a distance threshold value; 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 value, outputting second prompt information; wherein the second prompt information is used to prompt the user to pay attention to the possible collision between the execution end and the cannula.

6. The method of claim 5, wherein, wherein the magnetic ring comprises a multi-stage radiation magnetic ring, and the first detection information comprises the number of magnetic poles of the magnetic ring; and / or the magnetic ring comprises a single-stage radiation magnetic ring, and the first detection information comprises whether the magnetic ring exists and / or the magnetization direction of the magnetic ring; and / or the magnetic ring comprises a single-stage radiation magnetic ring, and the first detection information comprises the magnetic field strength of the magnetic ring.

7. The method of claim 5, wherein, wherein the surgical arm is further provided with a proximity sensor; before receiving the first detection information of the magnetic ring by the Hall element, the method further comprises: receiving second detection information of the proximity sensor, the second detection information indicating whether the cannula is located on the surgical arm.

Images