Surgical operation cannula, mechanical arm of surgical robot and surgical robot

Abstract

The invention provides a surgical operation cannula, a mechanical arm of a surgical robot and the surgical robot. The surgical operation cannula comprises a cannula accessory, and the cannula accessory is connected with the surgical robot; the cannula accessory comprises a mounting part and a magnet structure, the mounting part is used for mounting the magnet structure, and the magnetic pole direction of the magnet structure is used for indicating identification information of the surgical cannula. According to the surgical operation cannula and the surgical operation cannula identification method provided by the invention, the magnetic pole directions of the magnet structures of different surgical operation cannulas are different, and the model of the surgical operation cannula can be judged by identifying the magnetic pole directions. According to the surgical operation cannula, the model of the surgical operation cannula can be detected and judged only by arranging the magnet structure, the structure is simple, and the false detection rate cannot be increased after long-time use.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and more specifically, relates to a surgical cannula, a mechanical arm of a surgical robot, and a surgical robot. Background Art

[0002] The surgical cannula is the passage for surgical instruments to enter and exit the abdominal cavity. Due to different surgical instruments (such as instrument diameter) and different applicable scenarios, the surgical cannula can be set with different configurations to suit different surgical procedures. During the surgical operation, although the model of the cannula can be identified by manual observation, in order to realize the automation of the surgical robot, the robot needs to automatically identify the model and configuration information of the cannula. In order to be automatically detected, the surgical cannula can be set with a magnet: the first solution is to use an array magnet to encode the cannula, and use a sensor to identify the magnetic polarity and presence of each array magnet to identify the type of cannula. During the production of the cannula, more magnets need to be installed, and each magnet needs to pay attention to the magnetic polarity. The production is prone to errors and the structure is complex; the second solution is that each cannula is equipped with magnets with different magnetic field strengths (or the magnets are installed in different positions, so that the collected magnetic flux is different), and the magnetic sensor is used to identify the magnetic flux to determine the type of cannula. The magnetic field strength generated by the magnet may decay over time or change, and misidentification may occur after long-term use. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to provide a surgical cannula, a robotic arm of a surgical robot, and a surgical robot to solve the technical problems existing in the prior art that the cannula has a complex structure, is prone to assembly errors, or is prone to misidentification after long-term use.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a surgical cannula, including a cannula accessory, which is used to connect to a surgical robot; the cannula accessory includes a magnet structure, and the direction of the magnetic field generated by the magnet structure is used to indicate the identification information of the surgical cannula.

[0005] Optionally, the magnet structure has a central axis, and a detection point is provided within the magnetic field region generated by the magnet structure, the direction of the magnetic field at the detection point is used to indicate identification information of the surgical cannula, and the detection point is arranged through the central axis.

[0006] Optionally, the magnet structure includes a first magnetic member, and the magnetic pole direction of the first magnetic member is perpendicular to the central axis of the magnet structure.

[0007] Optionally, a side of the first magnetic member facing the detection point is a magnet end face, and a cross section of the first magnetic member is parallel to the magnet end face.

[0008] Optionally, the cross-section of the first magnetic member is polygonal, circular or elliptical.

[0009] Optionally, the cross-section of the first magnetic member is a rectangle, and the magnetic pole direction of the first magnetic member is parallel to the length direction or the width direction of the rectangle.

[0010] Optionally, the magnet structure includes a plurality of second magnetic members, the magnetic pole directions of the second magnetic members are parallel to the central axis of the magnet structure, and the magnetic pole directions of at least some of the second magnetic members are different.

[0011] Optionally, there are two second magnetic members, which are respectively disposed on opposite sides of the central axis, and the magnetic poles of the two second magnetic members are in opposite directions.

[0012] The present invention also provides a mechanical arm of a surgical robot, comprising a sleeve locking mechanism and a sensor.

[0013] The cannula locking mechanism is used to install the above-mentioned surgical cannula;

[0014] The sensor is used to identify the type of surgical cannula installed on the cannula locking mechanism.

[0015] The present invention also provides a surgical robot, comprising the above-mentioned surgical cannula and the mechanical arm of the surgical robot, wherein a detection point is provided in the magnetic field region generated by the magnet structure, and a sensor is located at the detection point.

[0016] The surgical cannula, the mechanical arm of the surgical robot and the surgical robot provided by the present invention have the beneficial effects that: compared with the prior art, the surgical cannula of the present invention includes a cannula attachment for connecting to the surgical robot, the cannula attachment includes a mounting portion and a magnet structure, the magnetic pole direction of the magnet structure can indicate identification information related to the cannula, and the magnetic pole direction of the magnet structure of different surgical cannulas is different, and the model of the surgical cannula can be determined by identifying the magnetic pole direction. The surgical cannula only needs to be provided with a magnet structure to identify and determine its category, model, etc., and the structure is relatively simple, and after long-term use, the false detection rate will not increase. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A three-dimensional structural diagram of a surgical cannula provided by an embodiment of the present invention;

[0019] Figure 2 A partial front view of the structure of a surgical cannula provided by an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the magnetic pole distribution of a magnet structure provided by an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the structure of the first magnet structure provided by an embodiment of the present invention in multiple magnetic pole directions;

[0022] Figure 5 A schematic diagram of the structure of a second magnet structure in multiple magnetic pole directions provided by an embodiment of the present invention;

[0023] Figure 6 A schematic structural diagram of a third magnet structure provided by an embodiment of the present invention;

[0024] Figure 7 A schematic structural diagram of a fourth magnet structure provided in an embodiment of the present invention.

[0025] Among them, the reference numerals in the figure are:

[0026] 10-sleeve attachment; 11-installation portion; 20-installation structure; 30-magnet structure; 31-first magnetic component; 32-second magnetic component; 321-magnet unit; 33-magnet end face; 34-center axis; 40-sensor. DETAILED DESCRIPTION

[0027] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0028] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0029] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0030] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0031] The surgical cannula is the passage for surgical instruments to enter and exit the abdominal cavity. Due to different surgical instruments (such as instrument diameter) and different applicable scenarios, the surgical cannula can be set with different configurations to suit different surgical procedures. Although the model of the cannula can be identified by manual observation during the surgical operation, in order to realize the automation of the surgical robot, the robot needs to automatically identify the model and configuration information of the cannula. In order to be automatically detected, the surgical cannula can be set with a magnet: the first solution is to use an array magnet to encode the cannula, and use the sensor to identify the magnetic polarity and presence of each array magnet to identify the type of cannula. In the production process of the cannula, more magnets need to be installed, and each magnet needs to pay attention to the magnetic polarity. The production is prone to errors and the structure is complex; the second solution is that each cannula is equipped with magnets with different magnetic field strengths (or the magnets are installed in different positions, so that the collected magnetic flux is different), and the magnetic sensor is used to identify the magnetic flux to determine the type of cannula. The magnetic field strength generated by the magnet may decay over time or change, and misidentification may occur after long-term use.

[0032] In order to alleviate or solve the above technical problems, an embodiment of the present invention proposes a surgical cannula, including a mounting structure 20 and a magnet structure 30. The magnetic pole direction of the magnet structure 30 on each surgical cannula is different, and the model of the corresponding surgical cannula can be identified by identifying the magnetic pole direction. In this way, the magnet structure 30 is simple to correspond to, and does not need to be implemented by an array magnet. Moreover, even after long-term use and magnetic decay, the magnetic pole direction will not change, and the detection accuracy can still be maintained.

[0033] The surgical cannula provided in the embodiment of the present invention is now described.

[0034] Please also read Figures 1 to 3The surgical cannula includes a cannula attachment 10, which is used to connect to the surgical robot; the cannula attachment 10 includes a mounting portion 11 and a magnet structure 30, the mounting portion 11 is used to mount the magnet structure 30, and the magnetic pole direction of the magnet structure 30 is used to indicate identification information related to the surgical cannula.

[0035] The magnet structure 30 has magnetism and a stable magnetic pole direction, and a stable magnetic field is formed around the magnet structure 30. In this way, when the magnet structure 30 is installed, the magnetic pole direction of the magnet structure 30 is changed by changing the installation angle of the magnet structure 30. The identification information related to the surgical cannula refers to the ability to identify the type, model and other information of the surgical cannula. In the present invention, by identifying the magnetic pole direction of the magnet structure 30, the type and model of the corresponding surgical cannula can be identified. The installation angles of the magnet structures in different surgical cannulas are different, and the magnetic pole directions are also different. The corresponding surgical cannula model can be identified by identifying the magnetic pole direction.

[0036] The magnetic pole direction of the magnet structure 30 refers to the overall magnetic pole direction of the entire magnet structure 30. For example, when the magnet structure 30 is a single magnet, the magnetic pole direction of the magnet structure 30 is the magnetic pole direction of the magnet; when the magnet structure 30 is a plurality of magnets, the magnetic pole direction is the magnetic pole direction formed by the superposition of the magnetic fields generated by the respective magnets.

[0037] More specifically, see Figure 3 The direction of each arrow can be understood as the direction of the magnetic pole of the magnet structure 30 in each surgical cannula, and the model of the surgical cannula can be determined by identifying the direction of the magnetic pole. There is no need to set up complexly arranged magnets. When used for a long time, magnetic decay will not affect the accuracy of magnetic pole detection.

[0038] The surgical cannula in the above embodiment includes a cannula attachment 10 for connecting to a surgical robot. The cannula attachment 10 includes a mounting portion 11 and a magnet structure 30. The magnetic pole direction of the magnet structure 30 can indicate identification information related to the cannula. Different surgical cannulas have different magnetic pole directions of the magnet structure 30. The model of the surgical cannula can be determined by identifying the magnetic pole direction. The surgical cannula only needs to be provided with the magnet structure 30 to identify and determine its category, model, etc. The structure is relatively simple, and the false detection rate will not increase after long-term use.

[0039] In some embodiments of the present invention, the surgical cannula includes multiple models, and the magnet structures 30 of the surgical cannula of the multiple models are installed in different directions on the mounting portion 11. When the surgical cannula is connected to the robot, its installation direction is fixed, and all surgical cannulas are installed in the same direction, that is, after each surgical cannula is installed, the corresponding mounting portions 11 have the same direction, while the magnet structures 30 installed on the mounting portion 11 have different installation directions. Therefore, in actual applications, the magnetic pole directions of the magnet structures 30 of each surgical cannula of different categories or models are different, please refer to Figure 3 , Figure 3 The direction of the arrow in the figure may represent the direction of the magnetic pole of the magnet structure 30. Figure 3 The upward direction is set to 0 degrees, and each interval of N degrees corresponds to the magnetic pole direction of a surgical sleeve magnet structure 30. N can be 20 degrees, 30 degrees, 45 degrees, etc., and there are many types of identifiable surgical sleeves. Therefore, the type and model of the corresponding surgical sleeve can be identified by identifying the magnetic pole direction of the magnet structure 30. In other embodiments, the magnetic pole directions of each surgical sleeve magnet structure 30 can also be set unevenly. For example, when the number of surgical sleeves to be identified is 3, the magnetic field direction of the first magnet structure 30 is 0 degrees, the magnetic field direction of the second magnet structure 30 is 180 degrees, and the magnetic field direction of the third magnet structure 30 is 270 degrees.

[0040] In some embodiments of the present invention, see Figure 1 and Figure 2 The sleeve accessory 10 further includes a mounting structure 20, and the mounting portion 11 is located on the mounting structure 20. The mounting structure 20 is a structure in the surgical sleeve for mounting the magnet structure 30. In multiple surgical sleeves, the structure of the mounting structure 20 may be the same. Specifically, in one embodiment, the mounting structure 20 is provided on the sleeve accessory 10 for mounting the magnet structure 30.

[0041] In other embodiments, a structure for mounting the magnet structure 30 is provided on the casing accessory 10. After the magnet structure 30 is mounted on the casing accessory 10, the mounting structure 20 is mounted on the casing accessory 10 to fix and protect the magnet structure 30. Specifically, in one embodiment, the mounting structure 20 is covered on the magnet structure 30 and fixedly connected to the casing accessory 10.

[0042] In some embodiments, the mounting structure 20 is a plate-like structure.

[0043] In some embodiments, the mounting portion 11 is a mounting hole disposed on the mounting structure 20 .

[0044] In some embodiments of the present invention, see Figures 3 to 7, the magnet structure 30 has a central axis 34, and there is a detection point in the magnetic field area generated by the magnet structure 30. The direction of the magnetic field at the detection point can be detected by a sensor, etc., so that it can be used to indicate the identification information of the surgical sleeve. The detection point is set through the central axis 34. Any point of the magnetic field generated by the magnet structure 30 corresponds to the direction of the magnetic field and the magnitude of the magnetic force. The detection point also has the direction of the magnetic field and the magnitude of the magnetic pole. By measuring the direction of the magnetic field at the detection point, the identification information indicating the surgical sleeve can be obtained. The central axis 34 can be understood as the geometric central axis of the magnet structure 30. For example, when the magnet structure 30 is a disc, the central axis of the magnet structure 30 is the central axis of the disc structure; when the magnet structure 30 is a rectangular sheet, the central axis of the magnet structure 30 passes through the center of the rectangle and is parallel to the thickness direction of the rectangular sheet; when the magnet structure 30 is a plurality of discretely distributed magnet sheets, the central axis of the magnet structure 30 is the symmetrical central axis of the plurality of magnet sheets.

[0045] Since the detection point is set through the central axis 34, the position of the detection point remains unchanged when the installation angle of the magnet structure 30 is changed (which can be understood as the rotation angle around the central axis 34), for example, when the magnet structure 30 is rotated, so that the sensor 40 and other identification devices can identify the magnetic field direction of the detection point at a fixed position. This greatly facilitates the installation of the magnet structure 30 in each surgical sleeve.

[0046] In some embodiments, the magnet structure 30 includes a rectangular parallelepiped magnet, and the central axis of the magnet structure 30 can be a central axis parallel to its length direction, a central axis parallel to its width direction, or a central axis parallel to its height direction.

[0047] In some embodiments, the magnet structure 30 includes a cylindrical magnet, and the central axis of the magnet structure 30 can be a central axis passing through the center of the circle, or a central axis parallel to the radial direction thereof.

[0048] For example Figure 3 The central axis of the magnet structure 30 may be an axis perpendicular to the paper at the center of the circle. Figure 6 and Figure 7 The central axis of the magnet structure 30 may be an axis perpendicular to the paper surface at the center of a circle with a larger diameter.

[0049] In some embodiments of the present invention, the central axis of the magnet structure 30 coincides with the central axis of the mounting structure 20. When installing each surgical cannula, when the placement direction of the mounting structure 20 (which can be understood as the rotation angle around its central axis) changes, the central axis of the magnet structure 30 remains unchanged, and the position of the detection point also remains unchanged, which makes it convenient for identification devices such as the sensor 40 to identify the magnetic field direction of the detection point at a fixed position.

[0050] In some embodiments of the present invention, see Figure 4 and Figure 5 The magnet structure 30 includes a first magnetic member 31, and the magnetic pole direction of the first magnetic member 31 is perpendicular to the central axis 34 of the magnet structure 30. The magnetic pole direction of the first magnetic member 31 is perpendicular to the central axis 34 of the magnet structure 30, which can be understood as the magnetic pole direction of the first magnetic member 31 is perpendicular to the central axis 34 of the first magnetic member 31. Since the magnet structure 30 only includes one first magnetic member 31, the central axis 34 of the magnet structure 30 is the central axis 34 of the first magnetic member 31.

[0051] The magnet structure 30 includes only one first magnetic member 31, and the structure of the magnet structure 30 is simple. Multiple surgical cannulas can share the same magnet structure 30, and only need to change the placement direction of the magnet structure 30 when installing the magnet structure 30, so that it faces different directions (for example, Figure 3 Therefore, the installation of the magnet structure 30 is also relatively simple.

[0052] In some embodiments, see Figure 4 and Figure 5 , the cross section of the first magnetic member 31 is polygonal, circular or elliptical. The cross section of the first magnetic member 31 can be understood as a plane perpendicular to its central axis, and the cross section shape of the first magnetic member 31 is not limited here. Figure 2 The cross section of the first magnetic member 31 can be understood as a plane parallel to the magnet end surface 33. Figure 4 and Figure 5 The cross section of the first magnetic member 31 can be understood as Figure 4 and Figure 5 A plane parallel to the paper.

[0053] Optionally, see Figure 4, the cross section of the first magnetic member 31 is a rectangle, and the magnetic pole direction of the first magnetic member 31 is parallel to the length direction or width direction of the rectangle. For example, the two ends of the length direction of the rectangle are N pole and S pole respectively, or the two ends of the width direction of the rectangle are N pole and S pole respectively. In each surgical sleeve, the magnetic pole direction of each first magnetic member 31 is consistent, that is, they are all parallel to the length direction of the rectangle, or they are all parallel to the width direction of the rectangle. This embodiment includes the following two schemes: the cross section of the first magnetic member 31 is a rectangle, and the magnetic pole direction of the first magnetic member 31 is parallel to the length direction of the rectangle; or, the cross section of the first magnetic member 31 is a rectangle, and the magnetic pole direction of the first magnetic member 31 is parallel to the width direction of the rectangle. The operator can judge the magnetic pole direction of the first magnetic member 31 by the shape of the cross section of the first magnetic member 31, and then judge the direction of the magnetic field at the detection point by naked eyes after the first magnetic member 31 is installed to the mounting structure 20. Therefore, when the magnetic pole directions of the first magnetic member 31 in different surgical cannulas are different, the magnetic field directions at the detection point are correspondingly different. By identifying the magnetic field direction at the detection point, the type and model of the surgical cannula can be quickly obtained.

[0054] Optionally, see Figure 4 The cross section of the first magnetic member 31 is a rectangle. In a plurality of surgical sleeves, the magnetic pole direction of some first magnetic members 31 is parallel to the length direction of the rectangle, and the magnetic pole direction of some first magnetic members 31 is parallel to the width direction of the rectangle. The magnetic pole direction can be marked on each first magnetic member 31, so that the operator can determine the magnetic pole direction of the first magnetic member 31 by the mark, and then determine the direction generated by the first magnetic member 31 after being installed on the mounting structure 20. Therefore, when the magnetic pole direction of the first magnetic member 31 in different surgical sleeves is different, the magnetic field direction at the detection point is correspondingly different. By identifying the magnetic field direction at the detection point, the type and model of the surgical sleeve can be quickly obtained.

[0055] Optionally, see Figure 5 The cross section of the first magnetic member 31 is circular. One of the radial directions of the circle is the direction of its magnetic pole. Since the circle is a rotating figure, the first magnetic member 31 can be applied to all installation structures 20. Figure 5 As shown, Figure 5The arrows in the figure are the magnetic pole directions of each first magnetic member 31. The magnetic pole directions of each first magnetic member 31 can be marked, so that the operator can determine the magnetic pole directions of the first magnetic member 31 by the marks, and further determine the direction of the magnetic field generated by the first magnetic member 31 after being installed on the installation structure 20. Therefore, when the magnetic pole directions of the first magnetic member 31 in different surgical sleeves are different, the magnetic field directions at the detection point are correspondingly different. By identifying the magnetic field direction at the detection point, the type and model of the surgical sleeve can be quickly obtained.

[0056] Optionally, the cross section of the first magnetic member 31 is elliptical, and the magnetic pole direction of the first magnetic member 31 is parallel to the long axis direction or the short axis direction of the ellipse. In each surgical sleeve, the magnetic pole direction of each first magnetic member 31 is consistent, that is, they are all parallel to the long axis direction of the ellipse, or, they are all parallel to the short axis direction of the ellipse. This embodiment includes the following two schemes: the cross section of the first magnetic member 31 is elliptical, and the magnetic pole direction of the first magnetic member 31 is parallel to the long axis direction of the ellipse; or, the cross section of the first magnetic member 31 is elliptical, and the magnetic pole direction of the first magnetic member 31 is parallel to the short axis direction of the ellipse. The operator can judge the magnetic pole direction of the first magnetic member 31 by the shape of the cross section of the first magnetic member 31, and then judge the direction of the magnetic field generated by the first magnetic member 31 after being installed on the mounting structure 20. Therefore, when the magnetic pole direction of the first magnetic member 31 in different surgical sleeves is different, the magnetic field direction at the detection point is correspondingly different. By identifying the magnetic field direction at the detection point, the type and model of the surgical sleeve can be quickly obtained.

[0057] Optionally, the cross-section of the first magnetic member 31 is a pentagon, a hexagon, etc. It is not easy for an operator to see the magnetic pole direction of the first magnetic member 31 by observing its shape with the naked eye. The magnetic pole direction may be marked on each first magnetic member 31. In this way, the operator can determine the magnetic pole direction of the first magnetic member 31 by the mark.

[0058] In some embodiments of the present invention, see Figure 4 and Figure 5 The side of the first magnetic member 31 facing the detection point is the magnet end face 33, and the cross section of the first magnetic member 31 is parallel to the magnet end face 33. In this way, the length direction of the first magnetic member 31 and its magnet end face 33 can be perpendicular to each other, and the structure is more conventional and easier to manufacture.

[0059] In some embodiments, the first magnetic member 31 is a columnar structure, and the extension direction of the first magnetic member 31 is perpendicular to the cross-sectional direction thereof. The magnet end surface 33 of the first magnetic member 31 can be arranged perpendicular to the extension direction thereof, for example, the first magnetic member 31 is cylindrical, rectangular, etc.

[0060] In some embodiments, the end surface of the first magnetic member 31 is arranged at an acute angle or an obtuse angle with respect to its extension direction, and the end surface of the first magnetic member 31 is equivalent to a slope structure.

[0061] In some embodiments of the present invention, see Figure 6 and Figure 7 The magnet structure 30 includes multiple groups of second magnetic members 32, and the magnetic pole directions of the second magnetic members 32 are set at an acute angle or an obtuse angle with the central axis 34 of the magnet structure 30, and the magnetic pole directions of at least some of the second magnetic members 32 are different. The magnetization directions of the multiple groups of second magnetic members 32 are set at an acute angle or an obtuse angle with the central axis 34. Among them, the magnetic field direction at the central axis 34 is the superposition of the magnetic fields of each group of second magnetic members 32 at the central axis 34. The magnetization directions of at least some of the second magnetic members 32 are different, so that a magnetic field is formed in the area between at least some of the second magnetic members 32, and then a magnetic field different from the axial direction of the central axis 34 is generated at least at the central axis 34.

[0062] In some embodiments of the present invention, see Figure 6 and Figure 7 The magnet structure 30 includes multiple groups of second magnetic members 32, the magnetic pole directions of the second magnetic members 32 are parallel to the central axis 34 of the magnet structure 30, and the magnetic pole directions of at least some of the second magnetic members 32 are different. The magnetization directions of the multiple groups of second magnetic members 32 are arranged in parallel with the magnetic pole directions at the central axis 34. Among them, the magnetic field direction at the central axis 34 is the superposition of the magnetic fields of each group of second magnetic members 32 in the detection area. The magnetic pole directions of at least some of the second magnetic members 32 are different, so that a magnetic field is formed in the area between at least some of the second magnetic members 32, and then a magnetic field different from the axial direction of the central axis 34 is generated at least at the central axis 34.

[0063] By making the magnetic pole direction of the second magnetic member 32 parallel to the central axis 34 of the magnet structure 30 , it is convenient to magnetize the second magnetic member 32 and to install the second magnetic member 32 and calibrate the position of the detection mechanism such as the sensor 40 .

[0064] In some embodiments, see Figure 6 , the number of the second magnetic members 32 is two, the magnetic pole directions of the two groups of second magnetic members 32 are parallel to the central axis 34 of the magnet structure 30, and the magnetic pole directions of the two groups of second magnetic members 32 are opposite. The magnetic poles of the two groups of second magnetic members 32 are opposite, and a magnetic field is generated between the opposite magnetic poles. The magnetic field strength and direction can be detected at the central axis 34 (detection point) between the two second magnetic members 32.

[0065] Optionally, at one end of the second magnetic member 32 close to the sensor 40, the magnetic pole of one second magnetic member 32 is an N pole, and the magnetic pole of the other second magnetic member 32 is an S pole. When assembling multiple surgical cannulas, it is only necessary to distinguish the direction of the line between the two second magnetic members 32, so that the magnetic pole directions of the magnet structure 30 at the central axis 34 (at the detection point) are different.

[0066] Optionally, the central axis 34 is located at the midpoint of the center line of the two second magnetic members 32. In this way, when the direction of the center line of the two second magnetic members 32 is changed, that is, when assembled in different surgical sleeves, no matter how the directions of the two second magnetic members 32 are changed, the position of the central axis 34 remains unchanged, and the position of the sensor 40 can also remain unchanged.

[0067] Optionally, the two sets of second magnetic members 32 are symmetrically arranged with respect to the central axis 34. When the installation direction of the second magnetic members 32 is changed, that is, when they are assembled in different surgical sleeves, no matter how the two sets of second magnetic members 32 are rotated, the position of the central axis 34 remains unchanged, and the position of the sensor 40 can also remain unchanged.

[0068] In some embodiments, a second magnetic member 32 may include one magnet unit 321 , or may include two magnet units 321 , three magnet units 321 , etc. The number of magnet units 321 is not limited herein.

[0069] In some embodiments, see Figure 7 The second magnetic member 32 includes two magnet units 321, that is, the number of magnet units 321 is four, and the four magnet units 321 are circumferentially spaced around the central axis 34, and the magnetic pole directions of the two magnet units 321 in the same second magnetic member 32 are the same. Figure 7 On the end surfaces of the second magnetic members 32 shown, at least one group of the second magnetic members 32 is an N pole, and at least one group of the second magnetic members 32 is an S pole, so that a magnetic field can be formed at the central axis 34 .

[0070] Optionally, the four magnet units 321 are evenly spaced in the circumferential direction, and the magnetization directions of two adjacent magnet units 321 are the same. On the side close to the sensor 40 in the axial direction, the magnetic poles of the four magnet units 321 are N pole, N pole, S pole, and S pole in sequence. In this way, the magnetic field formed at the central axis 34 is stable and has a strong magnetic field strength, which is convenient for detection.

[0071] In some embodiments, the plurality of magnet units 321 are arranged in a circular array, and the central axis 34 is arranged at the center of the circular array. Alternatively, the plurality of magnet units 321 are arranged in a rectangular array, and the central axis 34 is arranged at the center of the rectangular array.

[0072] In some embodiments, the cross-sectional shape of the magnet unit 321 may be circular, elliptical, polygonal, etc. The cross-sectional shape of the magnet unit 321 does not affect the magnetic pole at the central axis 34, so the cross-sectional shape of the magnet unit 321 is not limited to the above shapes and may be any shape.

[0073] In some embodiments, the end surface of the magnet unit 321 is perpendicular to the central axis 34 of the magnet structure 30. For example, the cross section of the magnet unit 321 is circular, and the second magnetic member 32 is cylindrical. The magnet unit 321 in this embodiment is easy to process, has a conventional shape, and has a low processing cost.

[0074] In some embodiments, the end surface of the magnet unit 321 is arranged at an acute angle or an obtuse angle with the central axis 34 of the magnet structure 30. For example, the cross section of the magnet unit 321 is circular, and the end surface of the magnet unit 321 is formed by chamfering on the basis of a cylinder.

[0075] In some embodiments of the present invention, see Figures 4 to 7 , the first magnetic member 31 and the second magnetic member 32 are permanent magnets or electromagnets. When the first magnetic member 31 and the second magnetic member 32 are permanent magnets, a magnetic field is formed around the magnetic member, and the direction of the magnetic field is detected in the detection area. When the second magnetic member 31 and the second magnetic member 32 are electromagnets, it is necessary to detect the model of the surgical cannula in the power-on state. Specifically, when the electromagnet is powered on, a magnetic field is formed around it for the sensor 40 to detect.

[0076] In some embodiments, see Figures 4 to 7 The outer peripheral surface of the mounting structure 20 is circular, and the mounting structure 20 has a mounting hole for mounting the magnet structure 30. After the magnet structure 30 is mounted to the mounting structure 20, a mounting module is formed. The magnetic pole direction can be changed by rotating the mounting module (rotating around the central axis 34) and changing the circumferential angle of the mounting module. The mounting module can be mounted on the main structure of the sleeve accessory 10 by rotating the mounting module at any angle, so that the mounting structure 20 is not affected by the rotation.

[0077] In some embodiments of the present invention, the end of the magnet structure 30 facing the sensor 40 has a protective cover, which is used to shield and limit the magnet structure 30 to prevent the magnet structure 30 from falling off. The protective cover can be made of materials such as stainless steel.

[0078] The present invention also provides a mechanical arm of a surgical robot, comprising a cannula locking mechanism and a sensor 40, wherein the cannula locking mechanism is used to install the above-mentioned surgical cannula; the sensor 40 is used to identify the type of the surgical cannula installed on the cannula locking mechanism. The surgical cannula is locked and fixed in the cannula locking mechanism, and the sensor 40 is located in the magnetic pole detection area of ​​the magnet structure and is used to detect the magnetic field direction of the magnet structure 30 in the surgical cannula, thereby determining the type of the surgical cannula.

[0079] In the above-mentioned embodiment, the mechanical arm of the surgical robot has different magnetic field directions of different surgical cannula magnet structures. The type of the surgical cannula can be determined by identifying the magnetic field direction through the sensor 40.

[0080] In some embodiments of the present invention, the sensor 40 is a magnetic sensor, and the magnetic field sensor is a type of magnetic sensor. The magnetic sensor is a device that converts changes in the magnetic properties of sensitive elements caused by external factors such as magnetic field, current, stress strain, temperature, and light into electrical signals, and detects corresponding physical quantities in this way.

[0081] Optionally, the sensor 40 is a magnetic field sensor, which can detect the magnetic field strength and direction in the detection area. Using a magnetic field sensor to detect the magnetic field strength and direction in the detection area is a prior art and will not be described in detail here.

[0082] The present invention further provides a surgical robot, which includes the surgical cannula in any of the above embodiments and the robotic arm in any of the above embodiments. The magnetic field region generated by the magnet structure 30 has a detection point, and the sensor 40 is located at the detection point.

[0083] The surgical robot in the above embodiment adopts the above surgical cannula, which includes a mounting structure 20 and a magnet structure 30. The magnetic pole direction of the magnet structure 30 can indicate identification information related to the cannula. Different surgical cannula magnet structures 30 have different magnetic field directions. The type or model of the surgical cannula can be determined by identifying the magnetic field direction. The surgical cannula only needs to be provided with a magnet structure 30 to identify and determine its type or model. The structure is relatively simple, and the false detection rate will not increase after long-term use.

[0084] In some embodiments of the present invention, the sensor 40 has a preset coordinate system, and the origin of the preset coordinate system of the sensor 40 is located on the central axis 34 of the magnet structure 30. In this way, after the surgical cannula is installed, the sensor 40 does not need to be calibrated and calibrated, which facilitates detection.

[0085] In some embodiments of the present invention, one of the coordinate planes of the preset coordinate system of the sensor 40 is parallel to the magnetic pole direction at the detection point, and the sensor 40 is a two-dimensional magnetic sensor or a three-dimensional magnetic sensor. There is a magnetic field around the magnet structure 30 of the surgical cannula, and the magnetic pole direction of the magnetic field at the detection point is the magnetic pole direction at the sensor 40. The magnetic pole directions formed by the magnet structures 30 of each surgical cannula at the sensor 40 are all in the same plane, so the magnetic pole direction can be accurately detected using a two-dimensional magnetic sensor or a three-dimensional magnetic sensor.

[0086] In some embodiments of the present invention, one of the coordinate planes of the preset coordinate system of the sensor 40 is set at an acute angle or an obtuse angle to the magnetic pole direction at the detection point, and the sensor 40 is a three-dimensional magnetic sensor. There is a magnetic field around the magnet structure 30 of the surgical cannula, and the magnetic pole direction of the magnetic field at the sensor 40 is the magnetic pole direction at the sensor 40. The magnetic pole directions formed by the magnet structures 30 of each surgical cannula at the sensor 40 may not be in the same plane, so a three-dimensional magnetic sensor is needed to accurately detect the magnetic pole direction.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A surgical cannula, characterized in that: The invention comprises a sleeve accessory, which is used to be connected to a surgical robot; the sleeve accessory comprises a mounting portion (11) and a magnet structure (30), the mounting portion (11) is used to mount the magnet structure (30), and the magnetic pole direction of the magnet structure (30) is used to indicate the identification information of the surgical sleeve.

2. The surgical cannula according to claim 1, wherein: The surgical sleeve includes multiple models, and the magnet structures of the surgical sleeves of the multiple models have different installation directions on the installation part.

3. The surgical cannula according to claim 1, wherein: The magnet structure (30) has a central axis (34), and a detection point is provided in the magnetic field region generated by the magnet structure (30). The direction of the magnetic field at the detection point is used to indicate identification information of the surgical sleeve, and the detection point is arranged through the central axis (34).

4. The surgical cannula according to claim 3, wherein: The magnet structure (30) comprises a first magnetic component (31), wherein the magnetic pole direction of the first magnetic component (31) is perpendicular to the central axis (34) of the magnet structure (30).

5. The surgical cannula according to claim 4, wherein: The side of the first magnetic member (31) facing the detection point is a magnet end face (33), and the cross section of the first magnetic member (31) and the magnet end face (33) are parallel to each other.

6. The surgical cannula according to claim 4, wherein: The cross section of the first magnetic member (31) is polygonal, circular or elliptical.

7. The surgical cannula according to claim 4, wherein: The cross section of the first magnetic member (31) is a rectangle, and the magnetic pole direction of the first magnetic member (31) is parallel to the length direction or the width direction of the rectangle.

8. The surgical cannula of claim 1, wherein: The magnet structure (30) comprises two groups of second magnetic components (32), the magnetic pole directions of the two groups of second magnetic components (32) are parallel to the central axis (34) of the magnet structure (30), and the magnetic pole directions of the two groups of second magnetic components (32) are opposite.

9. The surgical cannula according to claim 8, wherein: The two groups of the second magnetic members (32) are symmetrically arranged relative to the central axis (34).

10. A mechanical arm of a surgical robot, characterized in that: comprising a sleeve locking mechanism and a sensor (40), The cannula locking mechanism is used to install the surgical cannula according to any one of claims 1 to 9; The sensor (40) is used to identify the type of surgical cannula installed on the cannula locking mechanism.

11. A surgical robot, characterized in that: The invention comprises the surgical cannula as claimed in any one of claims 1 to 9 and the robotic arm of the surgical robot as claimed in claim 10, wherein a detection point is provided in the magnetic field region generated by the magnet structure (30), and the sensor (40) is located at the detection point.

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