Surgical robot tail end structure and surgical robot

Abstract

The invention relates to a surgical robot tail end structure and a surgical robot. The structure comprises a main body assembly and an identification piece, and the main body assembly is used for being connected to the tail end of a robot body and used for being connected to a tail end tool; the identification piece is arranged on the main body assembly, a trigger switch is arranged on the identification piece, the trigger switch is used for triggering the identification piece, and the identification piece is used for reading a data label in the end tool to obtain data label information and transmitting the data label information to the controller to determine the type of the end tool. Through the arrangement of the trigger switch, after the end tool is installed on the main body assembly, the identification piece can be triggered, so that the identification piece can accurately obtain data label information in the end tool, the controller determines the type, and accurate gravity compensation can be obtained; movement disorder of the surgical robot tail end structure driven by the mechanical arm due to misplaced installation or not-in-place installation of the tail end tool is avoided, and the movement accuracy of the surgical robot tail end structure is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to an end structure of a surgical robot and a surgical robot. Background Art

[0002] In the application of surgical robots, the motion mode of the robotic arm of a surgical robot generally includes a drag mode. In this mode, a doctor can drag the end of the robotic arm to move in order to achieve this function. There is generally a force sensor at the end of the robotic arm. The force sensor sends a motion instruction to the robotic arm by sensing the force exerted by the doctor's hand on the end structure of the surgical robot. Different end tools will be installed behind the force sensor, and the end tools all have gravity. The force sensor needs to perform gravity compensation to achieve the drag function. Different end tools have different gravities, and the surgical robot does not know what tool will be installed at the end. Therefore, the doctor needs to manually input the type of the end tool so that the force sensor can perform gravity compensation. However, once the input is incorrect, or the end tool is installed incorrectly, the gravity compensation will not match the actual object, and the drag mode will be disordered, which may collide with the patient. Summary of the Invention

[0003] Based on this, it is necessary to provide an end structure of a surgical robot for the technical problem in the prior art that the drag mode is disordered due to the mismatch between gravity compensation and the actual object, which may collide with the patient.

[0004] An end structure of a surgical robot includes a main body component and an identification component. The main body component is used to be connected to the end of the robot body and is also used to be connected to an end tool. The identification component is arranged on the main body component. A trigger switch is arranged on the identification component. The trigger switch is used to trigger the identification component. The identification component is used to read a data tag in the end tool to obtain data tag information, and is used to transmit the data tag information to a controller to determine the type of the end tool.

[0005] In one embodiment, the main body component includes a mounting component and a mating component. The mounting component is used to be connected to the end of the robot body. The identification component is arranged on the mounting component. The mating component is used to be connected to the end tool. The mating component is insulated from the mounting component.

[0006] In one embodiment, the trigger switch includes a trigger button, a trigger member, and a first elastic member. The trigger button is disposed on the recognition member. The trigger member is slidably connected to the mating member. One end of the first elastic member is connected to the trigger member, and the other end is connected to the mating member. The first elastic member is configured to apply a force to the trigger member away from the trigger button. The trigger member is configured such that when the end effector is installed on the mating member, the trigger member moves closer to the trigger button to abut against the trigger button, thereby triggering the recognition member.

[0007] In one embodiment, the trigger member has an initial position and a trigger position. When the trigger member is at the initial position, one end of the trigger member is spaced apart from the trigger button, and the other end of the trigger member protrudes partially from the mating member. When the trigger member is at the trigger position, the first elastic member is compressed. One end of the trigger member is configured to abut against the end effector, and the other end abuts against the trigger button to trigger the recognition member.

[0008] In one embodiment, the mating member includes an isolation portion and a disassembly and assembly portion. One end of the isolation portion is connected to the disassembly and assembly portion, and the other end is connected to the mounting member. The disassembly and assembly portion is configured to be connected to the end effector. The isolation portion is made of an insulating material.

[0009] The trigger member includes a trigger transfer portion and a trigger assist portion. The trigger transfer portion passes through the isolation portion. One end of the first elastic member abuts against the trigger transfer portion, and the other end abuts against the isolation portion. The trigger assist portion passes through the disassembly and assembly portion. One end of the trigger assist portion is configured to abut against the trigger transfer portion, and the other end is configured to abut against the end effector.

[0010] The present invention also provides a surgical robot that can solve at least one of the above technical problems.

[0011] A surgical robot includes the above-described end structure of the surgical robot, and further includes a robot body and an end effector. The end structure of the surgical robot is installed at the end of the robot body, and the end effector is installed on the end structure of the surgical robot.

[0012] In one embodiment, a positioning member is disposed through the end effector. The positioning member is configured to be connected to the main body assembly to connect the end effector to the main body assembly.

[0013] In one embodiment, a positioning groove is provided on the main body assembly. The positioning member includes a mounting post, a plug, and a second elastic member. The mounting post passes through the end effector. One end of the second elastic member abuts against the mounting post, and the other end abuts against the end effector. The plug is connected to the end of the mounting post away from the second elastic member and is configured to be received in the positioning groove. The positioning member is configured to be rotatable about its own axis to drive the plug to rotate until it abuts against the positioning groove, so as to prevent the plug from disengaging from the positioning groove.

[0014] In one embodiment, the data tag includes a first tag and a second tag. The end effector includes an assembly component and a surgical instrument. The first tag is provided on the surgical instrument. The assembly component is provided with the second data tag and a guiding channel for the surgical instrument to pass through. The positioning member passes through the assembly component and is connected to the main body assembly so that the assembly component is connected to the main body assembly.

[0015] In one embodiment, the assembly component includes a fixator and an adapter that are connected to each other. The fixator is connected to the main body assembly through the positioning member. The guiding channel and the second tag are provided on the adapter.

[0016] Beneficial effects:

[0017] The end structure of the surgical robot provided by the embodiment of the present invention includes a main body assembly and an identification member. The main body assembly is used to be connected to the end of the robot body and is also used to be connected to the end effector. The identification member is provided on the main body assembly. A trigger switch is provided on the identification member. The trigger switch is used to trigger the identification member. The identification member is used to read the data tag in the end effector to obtain the data tag information and is also used to transmit the data tag information to the controller to determine the type of the end effector. In this application, the setting of the trigger switch on the identification member enables the identification member to be triggered after the end effector is installed on the main body assembly, so that the identification member can accurately obtain the data tag information in the end effector installed on the main body assembly, enabling the controller to determine the type of the end effector, so that the force sensor in the surgical robot can obtain accurate gravity compensation, avoiding the movement disorder of the robotic arm in the surgical robot driving the end structure of the surgical robot due to misalignment or incomplete installation of the end effector, and improving the movement accuracy of the end structure of the surgical robot.

[0018] The present invention further provides a surgical robot, including the above-mentioned end structure of the surgical robot, and further including a robot body and an end effector. The end structure of the surgical robot is installed at the end of the robot body, and the end effector is installed on the end structure of the surgical robot. This surgical robot can achieve at least one of the above technical effects. Description of the Drawings

[0019] Figure 1 Schematic diagram of the end structure of a surgical robot provided by an embodiment of the present invention.

[0020] Figure 2 Schematic diagram of a surgical robot provided by an embodiment of the present invention.

[0021] Figure 3 First schematic diagram of an identification member in the end structure of a surgical robot provided by an embodiment of the present invention.

[0022] Figure 4 Second schematic diagram of an identification member in the end structure of a surgical robot provided by an embodiment of the present invention.

[0023] Figure 5 Schematic diagram of installing a sterile cover in the end structure of a surgical robot provided by an embodiment of the present invention.

[0024] Figure 6 Exploded view of a disassembly and assembly part in the end structure of a surgical robot provided by an embodiment of the present invention.

[0025] Figure 7 Exploded view of an isolation part in the end structure of a surgical robot provided by an embodiment of the present invention.

[0026] Figure 8 Exploded view of a trigger part in the end structure of a surgical robot provided by an embodiment of the present invention.

[0027] Figure 9 Partial schematic diagram of a surgical robot provided by an embodiment of the present invention.

[0028] Figure 10 Schematic diagram of a fixator in the end structure of a surgical robot provided by an embodiment of the present invention.

[0029] Figure 11 Schematic diagram of an adapter in the end structure of a surgical robot provided by an embodiment of the present invention.

[0030] Figure 12 Schematic diagram of an end effector in a surgical robot provided by another embodiment of the present invention.

[0031] Reference numerals: 10 - end structure of the surgical robot; 100 - main body assembly; 110 - mounting member; 111 - first mating hole; 112 - disassembly and assembly portion; 113 - isolation portion; 120 - mating member; 121 - boss; 122 - positioning groove; 123 - strip hole; 124 - positioning cavity; 125 - mating portion; 126 - supporting portion; 127 - second mating hole; 210 - identification member; 211 - antenna portion; 212 - reading and writing portion; 220 - board card; 230 - housing; 300 - trigger switch; 310 - trigger button; 320 - trigger member; 321 - trigger base; 322 - trigger key top; 323 - trigger pin seat; 324 - trigger pin cap; 325 - first limiting projection; 326 - second limiting projection; 327 - trigger assisting portion; 328 - trigger adapter portion; 330 - first elastic member; 400 - fixture; 410 - base; 420 - positioning member; 421 - mounting post; 422 - insertion block; 430 - second elastic member; 440 - mounting block; 441 - assembly hole; 442 - first connecting portion; 443 - second connecting portion; 444 - fastener; 445 - groove; 446 - mounting hole 446; 500 - adapter; 510 - guiding channel; 520 - connecting post; 530 - connecting block; 540 - projection; 600 - sterile cover; 700 - end effector; 710 - surgical instrument; 711 - operating portion; 712 - fixing portion; 720 - assembly component; 20 - robot body. Detailed implementation manners

[0032] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0033] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0034] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0035] In the present invention, unless otherwise clearly defined and limited, terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] In the present invention, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0037] 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 there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

[0038] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 , Figure 1 which are schematic diagrams of the end structure of the surgical robot provided by an embodiment of the present invention. Figure 2 which is a schematic diagram of the surgical robot provided by an embodiment of the present invention. Figure 3 which is the first schematic diagram of the recognition member in the end structure of the surgical robot provided by an embodiment of the present invention. Figure 4The second schematic diagram of the identification component in the end structure of the surgical robot provided by an embodiment of the present invention. The end structure of the surgical robot provided by an embodiment of the present invention includes a main body component 100 and an identification component 210. The main body component 100 is used to be connected to the end of the robot body 20 and is also used to be connected to the end effector 700. The identification component 210 is arranged on the main body component 100. A trigger switch 300 is arranged on the identification component 210. The trigger switch 300 is used to trigger the identification component 210. The identification component 210 is used to read the data label in the end effector to obtain the data label information and is also used to transmit the data label information to the controller to determine the type of the end effector 700.

[0039] The end structure of the surgical robot is applied to the surgical robot. The surgical robot further includes a robot body 20 and an end effector 700. The end structure of the surgical robot is installed at the end of the robotic arm of the robot body 20, and the end effector 700 is installed on the end structure of the surgical robot. The surgical robot further includes a controller and a force sensor. The force sensor is electrically connected to the controller. The force sensor sends a motion command to the robotic arm by sensing the force exerted by the operator's hand on the end structure of the surgical robot. However, different end effectors 700 may be installed on the end structure of the surgical robot, and the gravity of different types of end effectors 700 may be different. Therefore, it is necessary to accurately determine the type of the end effector 700 installed on the end structure of the surgical robot in order to accurately obtain the gravity of the end effector 700, so as to accurately obtain the force exerted by the operator on the end structure of the surgical robot, perform accurate gravity compensation on the force sensor, and then send a motion command to the robotic arm through the force sensor to drive the end effector 700 to move along with the operator's dragging.

[0040] Specifically, in the present application, the setting of the trigger switch 300 on the identification component 210 enables the identification component 210 to be triggered after the end effector 700 is installed on the main body component 100, so that the identification component 210 can accurately obtain the data label information in the end effector 700 installed on the main body component 100, enabling the controller to determine the type of the end effector 700, so that the force sensor in the surgical robot can obtain accurate gravity compensation, avoiding the movement disorder of the robotic arm in the surgical robot driving the end structure of the surgical robot due to the misalignment or improper installation of the end effector 700, and improving the movement accuracy of the end structure of the surgical robot.

[0041] Among them, if there is no trigger switch 300, the end effector 700 will be recognized when it is close to the end of the end structure of the surgical robot, without the need to be installed properly. Similarly, when removing the end effector 700, even if it has been removed, the end still recognizes that the end effector 700 is in place, that is, the identification component 210 can only judge what kind of instrument is near the end, and cannot judge whether the instrument has been installed or removed, which will lead to misjudgment of the timing of end gravity compensation.

[0042] Refer to Figure 1 、 Figure 2 、 Figure 3 and Figure 4 In one embodiment, the identification member 210 includes an antenna portion 211 and a reading and writing portion 212 that are electrically connected to each other. The antenna portion 211 is used to transmit toward the data tag of the end effector 700 to charge the data tag of the end effector 700, so that the data tag emits its own radio frequency signal. The antenna portion 211 receives the radio frequency signal emitted by the data tag and transmits it to the reading and writing portion 212. The reading and writing portion 212 is used to identify the radio frequency signal received by the antenna portion 211 to obtain the data tag information of the end effector 700, and is used to send the data tag information to the controller.

[0043] Specifically, a data tag information parameter library of the end effector 700 is established in the controller. A radio frequency signal is transmitted toward the data tag of the end effector 700 through the antenna portion 211, and the radio frequency signal reflected by the data tag of the end effector 700 is received, so that the reading and writing portion 212 can identify the radio frequency signal received by the antenna portion 211, thereby obtaining the data tag information of the end effector 700 and sending the data tag information to the controller. The controller matches according to the data tag information in the data tag information parameter library of the end effector 700, and can accurately obtain the type of the end effector 700. Thus, according to the type of the end effector 700, accurate gravity compensation can be performed on the force sensor. Among them, the identification member 210 is a reader. Preferably, the data tag is an electronic tag.

[0044] Furthermore, the data tag information further includes at least one of the information such as the weight, appearance size, number of uses, use environment (such as sterile environment and non-sterile environment), number of uses life limit, sterilization times limit, etc. of the end effector 700, so that the operator can replace the end effector 700 according to the actual situation, improving the reliability.

[0045] Refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 6 , Figure 6 is an exploded view of the disassembly and assembly portion in the end structure of the surgical robot provided by an embodiment of the present invention. In one embodiment, the main body assembly 100 includes a mating portion 125. The mating portion 125 is made of a non-metallic material, and the mating portion 125 is located on the propagation path of the radio frequency signal.

[0046] Specifically, the matching part 125 is arranged between the antenna part 211 and the end tool 700, and the matching part 125 can protect the antenna part 211. The matching part 125 is a non-metallic material and is located on the propagation path of the radio frequency signal. When the antenna part 211 transmits and receives the radio frequency signal reflected by the data tag toward the data tag of the end tool 700, the matching part 125 will not block the radio frequency signal, thereby improving the reliability of the end structure of the surgical robot. It should be noted that the data tag is arranged inside the end tool 700, and the end tool 700 has a partial non-metallic structure, so that the radio frequency signal emitted by the antenna part 211 can reach the data tag inside the end tool 700, which is convenient for the propagation of the radio frequency signal.

[0047] See also Figure 1 , Figure 2 and Figure 5 , Figure 5 A schematic diagram of installing a sterile cover in a surgical robot terminal structure according to an embodiment of the present invention. In one embodiment, the main assembly 100 includes a mounting member 110 and a matching member 120, the mounting member 110 is used to be connected to the terminal of the robot body 20, the identification member 210 is disposed on the mounting member 110, the matching member 120 is used to be connected to the terminal tool 700, and the matching member 120 is insulated from the mounting member 110.

[0048] Specifically, the setting of the insulated connection between the matching part 120 and the mounting part 110 can insulate the end tool 700, so that the end tool 700 can be an end tool 700 that can contact the target person, that is, the end tool 700 will not conduct electricity when in contact with the target person, which meets the regulatory safety requirements, thereby improving the adaptability of the end structure of the surgical robot.

[0049] Furthermore, the mounting member 110 includes a board 220 and a shell 230, the shell 230 is configured with a cavity, the shell 230 is connected to the robot body 20, the board 220 is accommodated in the inner cavity, the antenna part 211 is arranged at one end of the board 220 facing the end tool 700, the read-write part 212 is arranged at one end of the board 220 away from the antenna part 211, and is electrically connected to the controller.

[0050] Furthermore, the end tool 700 is used to be installed on the side of the matching part 120 away from the mounting part 110, and the matching part 125 is located in the corresponding area between the end tool 700 and the antenna part 211, and is configured to be at least a part of the matching part 120. Therefore, when the end tool 700 is disassembled and assembled relative to the main body assembly 100, it can avoid collision with the identification part 210, thereby improving the reliability of the end structure of the surgical robot.

[0051] See also Figure 1 , Figure 2 , Figure 3 ,Figure 6 , Figure 7 , Figure 8 , Figure 7 is an exploded view of the isolation part in the end structure of the surgical robot provided by an embodiment of the present invention. Figure 8 is an exploded view of the trigger part in the end structure of the surgical robot provided by an embodiment of the present invention. In one embodiment, the trigger switch 300 includes a trigger button 310, a trigger part 320, and a first elastic part 330. The trigger button 310 is installed on the recognition part 210. The trigger part 320 is slidably connected to the fitting part 120. One end of the first elastic part 330 abuts against the trigger part 320, and the other end is connected to the fitting part 120. The first elastic part 330 is used to apply a force to the trigger part 320 away from the trigger button 310. The trigger part 320 is configured to move towards the trigger button 310 and abut against the trigger button 310 when the end effector 700 is installed on the fitting part 120, so as to trigger the recognition part 210.

[0052] Specifically, one end of the trigger part 320 is spaced apart from the trigger button 310. When the end effector 700 is not installed on the fitting part 120, under the action of the first elastic part 330, the position of the trigger part 320 is fixed relative to the trigger button 310, so that it will not accidentally touch the trigger button 310, improving the reliability of the end structure of the surgical robot. When the end effector 700 is installed on the fitting part 120, the trigger part 320 can move towards the trigger button 310 to approach the trigger button 310, so as to press against the trigger button 310 to trigger the recognition part 210. When the end effector 700 is removed, the end effector 700 is separated from the trigger part 320, and the trigger part 320 returns to its original position under the thrust of the first elastic part 330, so as to be separated from the trigger button 310, closing the recognition part 210.

[0053] Refer to Figure 1 , Figure 2 , Figure 3 , Figure 6 , Figure 7 , Figure 8 , in one embodiment, the trigger part 320 has an initial position and a trigger position. When the trigger part 320 is at the initial position, the trigger part 320 partially protrudes from the fitting part 120. When the trigger part 320 is at the trigger position, the first elastic part 330 is compressed. One end of the trigger part 320 is used to abut against the end effector 700, and the other end abuts against the trigger button 310 to trigger the recognition part 210.

[0054] Specifically, a matching hole is provided on the matching piece 120, and the trigger piece 320 is inserted into the matching hole. When the trigger piece 320 is in the initial position, the trigger piece 320 partially extends out of the matching hole, that is, partially protrudes from the side of the matching piece 120 away from the mounting piece 110. When the end tool 700 is installed, the end tool 700 abuts against the trigger piece 320 and pushes the trigger piece 320 to retract, so that the end of the trigger piece 320 away from the end tool 700 abuts against the trigger button 310 to trigger the identification piece 210. It should be noted that the trigger piece 320 abuts against the trigger button 310 only after the end tool 700 and the matching piece 120 are installed in place.

[0055] In the present application, by setting the trigger switch 300, when the end tool 700 is installed and removed, the trigger member 320 is driven to switch between the trigger position and the initial position, thereby accurately controlling the opening and closing of the identification member 210 to ensure that the end tool 700 is identified only after being installed in place, thereby improving the reliability of the end structure of the surgical robot. Preferably, the first elastic member 330 is a spring.

[0056] See also Figure 1 , Figure 6 , Figure 7 , Figure 8 In one embodiment, the mating part 120 includes an isolation part 113 and a disassembly part 112, one end of the isolation part 113 is connected to the disassembly part 112, and the other end is connected to the mounting part 110, the disassembly part 112 is used to be connected to the end tool 700, and the isolation part 113 is an insulating material; the trigger part 320 includes a trigger adapter part 328 and a trigger auxiliary part 327, the trigger adapter part 328 is passed through the isolation part 113, one end of the first elastic part 330 abuts against the trigger adapter part 328, and the other end abuts against the isolation part 113, the trigger auxiliary part 327 is passed through the disassembly part 112, one end of the trigger auxiliary part 327 is used to abut against the trigger adapter part 328, and the other end is used to abut against the end tool 700.

[0057] Specifically, the disassembly part 112 is detachably connected to the isolation part 113, so that the disassembly part 112 is easy to disassemble, so that the sterile cover 600 covering the isolation part 113 is installed between the disassembly part 112 and the isolation part 113, and the disassembly part 112 is sterilized, so that the terminal structure of the surgical robot is suitable for sterile environments and non-sterile environments, and the adaptability of the terminal structure of the surgical robot is improved. Preferably, the isolation part 113 is made of plastic. Among them, the separate arrangement of the trigger adapter part 328 and the trigger auxiliary part 327 makes it possible for the disassembly part 112 to be disassembled relative to the isolation part 113 without interfering with the trigger part 320, thereby improving the reliability of the terminal structure of the surgical robot. In addition, the isolation part 113 is an insulating material, so that the matching part 120 is insulated and connected to the mounting part 110. Preferably, the sterile cover 600 is transparent plastic.

[0058] Further, a circumferentially arranged boss 121 is provided on the side of the disassembly and assembly part 112 facing the isolation part 113. The sterile cover 600 is sleeved on the boss 121 and abuts against the boss 121, thereby improving the connection stability between the sterile cover 600 and the fitting 120.

[0059] Furthermore, the disassembly and assembly part 112 further includes a support part 126. The fitting part 125 is configured as a part of the disassembly and assembly part 112 and is connected to the support part 126. The support part 126 is made of metal and is connected to the isolation part 113 through the support part 126 to improve the connection stability between the fitting 120 and the isolation part 113. Wherein, the fitting part 125 and the support part 126 are connected by glue.

[0060] In addition, the fitting hole includes a first fitting hole 111 and a second fitting hole 127. The first fitting hole 111 is provided on the isolation part 113, and the second fitting hole 127 is provided on the disassembly and assembly part 112. The trigger button 310 is installed on the side of the board 220 facing the antenna part 211. The trigger auxiliary part 327 passes through the second fitting hole 127 and partially protrudes out of the second fitting hole 127. One end of the trigger auxiliary part 327 is used to abut against the trigger adapter part 328, and the other end is used to abut against the end tool 700. The trigger adapter part 328 passes through the first fitting hole 111, and the first elastic member 330 is sleeved on the trigger adapter part 328. One end of the first elastic member 330 abuts against the isolation part 113, and the other end abuts against the trigger adapter part 328. The first elastic member 330 is in a compressed state, and the first elastic member 330 is used to apply a thrust to the trigger adapter part 328 away from the trigger button 310, thereby avoiding accidentally touching the trigger button 310 when the isolation part 113 and the installation part 112 are installed.

[0061] When the end tool 700 is installed on the disassembly and assembly part 112, it will abut against the trigger auxiliary part 327 and push the trigger auxiliary part 327 to move towards the trigger adapter part 328, so that the trigger auxiliary part 327 pushes the trigger adapter part 328 to approach the trigger button 310, so that the trigger adapter part 328 abuts against the trigger button 310, thereby triggering the identification member 210.

[0062] Refer to Figure 1 、 Figure 6 、 Figure 7 and Figure 8 , in one embodiment, first limit protrusions 325 and second limit protrusions 326 are respectively provided at both ends of the trigger adapter part 328 to limit the trigger adapter part 328 from sliding out of the first fitting hole 111.

[0063] Further, the trigger transfer part 328 includes a trigger base 321 and a trigger key top 322. The first limiting protrusion 325 is arranged on the trigger key top 322, and the second limiting protrusion 326 is arranged on the trigger base 321. The trigger key top 322 is used to abut against the trigger auxiliary part 327. The trigger base 321 and the trigger key top 322 are detachably connected, so as to facilitate the installation of the trigger transfer part 328. Preferably, the trigger base 321 and the trigger key top 322 are threadedly connected.

[0064] Furthermore, the trigger auxiliary part 327 further includes a detachable trigger pin base 323 and a trigger pin cap 324. The trigger pin base 323 abuts against the trigger key top 322, and the trigger pin cap 324 is used to abut against the end effector 700. The trigger pin base 323 and the trigger pin cap 324 are respectively provided with protrusions to prevent them from coming off. Preferably, the trigger pin base 323 and the trigger pin cap 324 are threadedly connected.

[0065] Refer to Figure 1 and Figure 2 Moreover, an embodiment of the present invention further provides a surgical robot, which includes the above-mentioned end structure 10 of the surgical robot, and further includes a robot body 20 and an end effector 700. The end structure 10 of the surgical robot is installed at the end of the robot body 20, and the end effector 700 is installed on the end structure 10 of the surgical robot. In this application, the setting of the trigger switch 300 on the identification member 210 enables the identification member 210 to be triggered after the end effector 700 is installed on the main body assembly 100, so that the identification member 210 can accurately obtain the data tag information in the end effector 700 installed on the main body assembly 100, enabling the controller to determine the type of the end effector 700, so that the force sensor in the surgical robot can obtain accurate gravity compensation, avoiding the movement disorder of the robotic arm in the surgical robot driving the end structure of the surgical robot due to the misalignment or improper installation of the end effector 700, enabling the end structure of the surgical robot to move accurately, and improving the reliability of the surgical robot.

[0066] Refer to Figure 2 and Figure 9 , Figure 9 FIG. is a partial schematic diagram of a surgical robot provided by an embodiment of the present invention. In one embodiment, a positioning member 420 is penetrated through the end effector 700, and the positioning member 420 is used to connect to the main body assembly 100 to connect the end effector 700 to the main body assembly 100.

[0067] Specifically, the end tool 700 is provided with an assembly hole 441, and the positioning member 420 is passed through the assembly hole 441. The positioning member 420 is connected to the matching member 120 to achieve the installation of the end tool 700. The positioning member 420 is limited in the assembly hole 441, so that the positioning member 420 can be always connected to the end tool 700. When installing the end tool 700, there is no need to consider the loss of the positioning member 420, thereby improving the convenience of installing the end tool 700.

[0068] See also Figure 6 , Figure 9 and Figure 10 , Figure 10 A schematic diagram of a fixator in a surgical robot terminal structure provided by an embodiment of the present invention. In one embodiment, a positioning groove 122 is provided on the main assembly 100, and the positioning member 420 includes a mounting column 421, an insert block 422 and a second elastic member 430. The mounting column 421 is passed through the end tool 700, one end of the second elastic member 430 abuts against the mounting column 421, and the other end abuts against the end tool 700. The insert block 422 is connected to one end of the mounting column 421 close to the main assembly 100 and is used to be accommodated in the positioning groove 122. The mounting column 421 is configured to be able to rotate around its own axis to drive the insert block 422 to rotate until it abuts against the inner groove wall of the positioning groove 122 to limit the insert block 422 from being separated from the positioning groove 122.

[0069] Specifically, the positioning groove 122 is provided on the disassembly and assembly part 112, the second elastic member 430 is sleeved on the mounting column 421, and the second elastic member 430 abuts against the protrusion on the mounting column 421, so as to apply a thrust to the mounting column 421 away from the end tool 700. When the end tool 700 is installed on the disassembly and assembly part 112, the insert block 422 is first inserted into the positioning groove 122, and the mounting column 421 is rotated so that the mounting column 421 drives the insert block 422 to rotate, so that the insert block 422 can rotate relative to the notch of the positioning groove 122, so that the insert block 422 abuts against the side of the groove wall of the positioning groove 122 away from the end tool 700. And under the action of the thrust provided by the second elastic member 430, it abuts against the groove wall of the positioning groove 122, thereby limiting the rotation of the insert block 422, so that the insert block 422 is kept at the current position, so that the end tool 700 is stably connected with the mating member 120.

[0070] Compared with conventional tool screws and other methods of fixing, the setting of the positioning member 420 in the present application can reduce the rotation angle of the positioning member 420, that is, only the insertion block 422 and the notch of the positioning slot 122 need to be staggered to achieve positioning, thereby improving the convenience of installing the end tool 700. Preferably, the second elastic member 430 is a disc spring.

[0071] When the end tool 700 needs to be disassembled, the installation column 421 only needs to be rotated so that the insert block 422 corresponds to the notch of the positioning groove 122, and the insert block 422 can be disengaged from the positioning groove 122 under the action of the second elastic member 430, so that the end tool 700 is separated from the disassembly portion 112. In other embodiments, the positioning member 420 can be a screw.

[0072] Furthermore, the positioning groove 122 includes a bar hole 123 and a positioning cavity 124 that are interconnected. The shape of the bar hole 123 is adapted to the shape of the plug block 422. The plug block 422 can extend into the positioning cavity 124 through the bar hole 123 and rotate relative to the bar hole 123 under the drive of the mounting column 421, so that the plug block 422 is pressed against the cavity wall of the positioning cavity 124 to limit the plug block 422 from falling out.

[0073] See also Figure 2 , Figure 9 and Figure 10 In one embodiment, the data tag includes a first tag and a second tag, the end tool 700 includes an assembly component 720 and a surgical instrument 710, the surgical instrument 710 is provided with a first tag, the assembly component 720 is provided with a second tag and a guide channel 510 for the surgical instrument 710 to pass through, the positioning member 420 is passed through the assembly component 720, and is connected to the main component 100.

[0074] Specifically, the identification member 210 can identify the first label on the surgical instrument 710 and the second label on the assembly component 720, so that the identification member 210 can identify multiple label information, so as to accurately determine the type of the assembly component 720 and the type of the surgical instrument 710 through the controller, so as to determine whether the assembly component 720 is compatible with the installed surgical instrument 710, prevent installation errors, improve the automation of the surgical robot, and at the same time, accurately compensate for gravity and improve the accuracy of the movement of the surgical robot terminal structure 10. Among them, the setting of installing the surgical instrument 710 through the assembly component 720 makes it easy to replace the assembly component 720, thereby reducing costs.

[0075] It should be noted that the surgical instrument 710 and the assembly component 720 are partially made of non-metallic materials for covering the second label. Preferably, the surgical instrument 710 and the assembly component 720 covering the data label are partially made of plastic.

[0076] See also Figure 2 , Figure 9 , Figure 10 and Figure 11 , Figure 11Schematic diagram of the adapter in the end structure of the surgical robot provided by an embodiment of the present invention. In one embodiment, the assembly component 720 includes a fixator 400 and an adapter 500. The fixator 400 is connected to the main body component 100 through a positioning member 420, and the adapter 500 is connected to the fixator 400. A guiding channel 510 and a second label are provided on the adapter 500.

[0077] Specifically, an assembly hole 441 is provided on the fixator 400, and the guiding channel 510 is provided on the adapter 500. When different types of surgical instruments 710 are used, the adapter 500 with different sizes of guiding channels 510 can be replaced for installation, and the second label information on the adapter 500 is identified by the identifying member 210 to determine whether the adapter 500 is compatible with the surgical instrument 710, thereby improving the automation degree of the surgical robot.

[0078] Furthermore, the data label further includes a third data, and the third data is provided on the fixator 400. Thus, the third label information on the fixator 400 is identified by the identifying member 210 to determine whether the fixator 400 is compatible with the adapter 500, thereby improving the automation degree of the surgical robot.

[0079] It should be noted that part of the adapter 500 and the fixator 400 are made of non-metallic materials for covering the second label and the third label. Preferably, the part of the adapter 500 covering the second label and the part of the fixator 400 covering the third label are made of plastic materials.

[0080] Even further, the fixator 400 is provided with a mounting hole 446 and a groove 445. The adapter 500 is inserted into the mounting hole 446, and the adapter 500 is provided with a convex block 540 that is inserted and matched with the groove 445 to limit the relative rotation of the adapter 500 with respect to the fixator 400, thereby improving the stability of the cooperation between the adapter 500 and the fixator 400.

[0081] In addition, the fixator 400 includes a base 410 and a mounting block 440 that are connected to each other. The assembly hole 441 is provided on the base 410, and the mounting hole 446 and the groove 445 are provided on the mounting block 440. The number of grooves 445 is multiple, and they are arranged at intervals around the circumference of the mounting hole 446 so that when the position of the adapter 500 is adjusted, it can still be inserted and matched with the convex block 540.

[0082] In one embodiment, the base 410 includes a partial metal structure and a partial non-metal structure. The number of positioning members 420 is two, and the number of assembly holes 441 is two. The two assembly holes 441 are arranged at intervals from the mounting block 440 and are provided on the metal structure part of the base 410. The third label is provided on the non-metal structure part of the base 410 and corresponds to the matching part 125 on the disassembly part 112 so that the third label is located on the propagation path of the radio frequency signal.

[0083] Refer to Figure 9 、 Figure 10 and Figure 11 In one embodiment, the mounting block 440 includes a first connecting portion 442, a second connecting portion 443 and a fastener 444. One end of the first connecting portion 442 and the second connecting portion 443 are rotatably connected, and the other ends are connected by the fastener 444. An installation hole 446 is defined between the first connecting portion 442 and the second connecting portion 443. The fastener 444 is configured to rotate about its own axis to drive the first connecting portion 442 and the second connecting portion 443 to approach relatively, so as to clamp the adapter 500.

[0084] Specifically, the setting that one end of the first connecting portion 442 and the second connecting portion 443 are rotatably connected and the other ends are connected by the fastener 444 facilitates the installation of the adapter 500 into the installation hole 446 of the fixture 400. Among them, by rotating the fastener 444 about its own axis, the setting that the first connecting portion 442 and the second connecting portion 443 approach relatively can achieve the clamping of the adapter 500 and improve the stability of the installation of the adapter 500 and the fixture 400. Preferably, the fastener 444 is a screw.

[0085] Furthermore, the adapter 500 includes a connecting block 530 and a connecting column 520 connected to each other. The connecting column 520 is used to be inserted into the installation hole 446. A guiding channel 510 and a bump 540 are provided on the connecting block 530. Among them, the connecting block 530 includes a part of metal structure and a part of non-metal structure. The guiding channel 510 is provided on the metal structure part of the connecting block 530, and the second label is provided on the non-metal structure part of the base 410 and corresponds to the mating portion 125 on the mating member 120, so that the second label is located on the propagation path of the radio frequency signal.

[0086] Refer to Figure 1 、 Figure 2 and Figure 12 , Figure 12 is a schematic diagram of the end tool in the surgical robot provided by an embodiment of the present invention. In another embodiment, the end tool 700 only includes a surgical instrument 710. An assembly hole 441 is provided on the hand instrument, and the positioning member 420 is inserted into the assembly hole 441 on the surgical instrument 710 to directly mount the surgical instrument 710 on the disassembly and assembly portion 112.

[0087] Furthermore, the surgical instrument 710 includes an operating portion 711 and a fixing portion 712 connected to each other. The fixing portion 712 includes a metal structure and a non-metal structure. The assembly hole 441 is provided on the metal structure part of the fixing portion 712, and the first label is provided on the non-metal structure part of the fixing portion 712, so that the first label is located on the propagation path of the radio frequency signal.

[0088] Among them, regarding the specific definition of the data tag, in this embodiment, the data tag 10010013000000 is taken as an example for illustration. The first 4 bits (each bit is a hexadecimal number) of the electronic tag of the data tag represent the instrument type, with an upper limit that can accommodate 65,536 (16^4) types, and these 4 bits remain unchanged after the surgical instrument leaves the factory. It should be noted that sterile and non-sterile surgical instruments are regarded as different surgical instruments. If a doctor installs a non-sterile surgical instrument in a sterile scenario, the surgical robot will directly prompt the doctor.

[0089] The 5th to 8th bits represent the number of times the instrument has been used. For sterile instruments, it represents the number of sterilizations. The default value of these 4 bits at the time of leaving the factory of the surgical instrument is 1, and they are rewritten each time it is installed, with the newly written value incremented by 1 on the original basis. Surgical instruments generally have a limit on the number of times they can be used, and sterile instruments have a limit on the number of sterilizations. For each surgical instrument, an upper limit on the number of times it can be used and a warning value for the upper limit can be preset in the main control hardware of the surgical robot. When the controller recognizes that the number of times the surgical instrument 710 has been used reaches the warning value, it can prompt the doctor to replace the new surgical instrument 710. When the controller recognizes that the number of times the surgical instrument 710 has been used reaches the upper limit value, it can prompt the doctor about the risk of exceeding the limit, or prohibit the operation from continuing until a qualified surgical instrument 710 is replaced.

[0090] The last 8 bits are the serial number of the surgical instrument 710. This serial number is the unique identifier of the surgical instrument 710, and each surgical instrument 710 is different. These 8 bits remain unchanged after the surgical instrument leaves the factory. Through these 8-bit serial numbers, detailed information about the surgical instrument, such as the manufacturing date, production batch, calibration parameters, etc., can be retrieved from the database of the surgical instrument 710's manufacturing enterprise, greatly increasing the traceability of the surgical instrument 710.

[0091] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope described in this specification.

[0092] The above-described embodiments only represent several implementation manners of the present invention. Their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An end structure of a surgical robot, characterized in that, the end structure of the surgical robot includes: a main body component (100) for connecting to the end of the robot body (20) and for connecting to the end effector (700); an identification member (210) provided on the main body component (100), a trigger switch (300) is provided on the identification member (210), the trigger switch (300) is used to trigger the identification member (210), and the identification member (210) is used to read the data label in the end effector (700) to obtain data label information, and is used to transmit the data label information to the controller to determine the type of the end effector (700).

2. The end structure of the surgical robot according to claim 1, characterized in that, the main body component (100) includes a mounting member (110) and a mating member (120), the mounting member (110) is used to connect to the end of the robot body (20), the identification member (210) is provided on the mounting member (110), the mating member (120) is used to connect to the end effector (700), and the mating member (120) is insulated from the mounting member (110).

3. The end structure of the surgical robot according to claim 2, characterized in that, the trigger switch (300) includes a trigger button (310), a trigger member (320) and a first elastic member (330), the trigger button (310) is provided on the identification member (210), the trigger member (320) is slidably connected to the mating member (120), one end of the first elastic member (330) is connected to the trigger member (320), and the other end is connected to the mating member (120), and the first elastic member (330) is used to apply a force to the trigger member (320) away from the trigger button (310); the trigger member (320) is configured such that when the end effector (700) is mounted on the mating member (120), the trigger member (320) moves closer to the trigger button (310) to abut against the trigger button (310) to trigger the identification member (210).

4. The end structure of the surgical robot according to claim 3, characterized in that, the trigger member (320) has an initial position and a trigger position. When the trigger member (320) is at the initial position, one end of the trigger member (320) is spaced from the trigger button (310), and the other end of the trigger member (320) protrudes from the mating member (120) partially; when the trigger member (320) is at the trigger position, the first elastic member (330) is compressed, one end of the trigger member (320) is used to abut against the end effector (700), and the other end abuts against the trigger button (310) to trigger the identification member (210).

5. The end structure of the surgical robot according to claim 3 or 4, characterized in that, The fitting member (120) includes an isolation portion (113) and a disassembly and assembly portion (112). One end of the isolation portion (113) is connected to the disassembly and assembly portion (112), and the other end is connected to the mounting member (110). The disassembly and assembly portion (112) is used to connect to the end effector (700), and the isolation portion (113) is made of insulating material; The trigger member (320) includes a trigger transfer portion (328) and a trigger assisting portion (327). The trigger transfer portion (328) passes through the isolation portion (113). One end of the first elastic member (330) abuts against the trigger transfer portion (328), and the other end abuts against the isolation portion (113). The trigger assisting portion (327) passes through the disassembly and assembly portion (112). One end of the trigger assisting portion (327) is used to abut against the trigger transfer portion (328), and the other end is used to abut against the end effector (700).

6. A surgical robot, characterized in that, it includes the end structure (10) of the surgical robot according to any one of claims 1-5, and further includes a robot body (20) and an end effector (700). The end structure (10) of the surgical robot is installed at the end of the robot body (20), and the end effector (700) is installed on the end structure (10) of the surgical robot.

7. The end structure of the surgical robot according to claim 6, characterized in that, a positioning member (420) is passed through the end effector (700). The positioning member (420) is used to connect to the main body assembly (100) so as to connect the end effector (700) to the main body assembly (100).

8. The end structure of the surgical robot according to claim 7, characterized in that, a positioning groove (122) is provided on the main body assembly (100). The positioning member (420) includes a mounting post (421), a plug (422) and a second elastic member (430). The mounting post (421) passes through the end effector (700). One end of the second elastic member (430) abuts against the mounting post (421), and the other end abuts against the end effector (700). The plug (422) is connected to the end of the mounting post (421) away from the second elastic member (430) and is used to be received in the positioning groove (122). The positioning member (420) is configured to be able to rotate about its own axis to drive the plug (422) to rotate until it abuts against the groove wall of the positioning groove (122) to prevent the plug (422) from disengaging from the positioning groove (122).

9. The end structure of the surgical robot according to claim 7, characterized in that, The data tags include a first tag and a second tag. The end effector (700) includes an assembly component (720) and a surgical instrument (710). The first tag is provided on the surgical instrument (710). The second data tag and a guiding channel (510) for the surgical instrument (710) to pass through are provided on the assembly component (720). The positioning member (420) passes through the assembly component (720) and is connected to the main body component (100) so that the assembly component (720) is connected to the main body component (100).

10. The end structure of the surgical robot according to claim 9, wherein, the assembly component (720) includes a fixator (400) and an adapter (500) which are connected to each other. The fixator (400) is connected to the main body component (100) through the positioning member (420). The guiding channel (510) and the second tag are provided on the adapter (500).

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